CN113317906B - Automatic injection robot for piglet vaccines - Google Patents
Automatic injection robot for piglet vaccines Download PDFInfo
- Publication number
- CN113317906B CN113317906B CN202110528383.XA CN202110528383A CN113317906B CN 113317906 B CN113317906 B CN 113317906B CN 202110528383 A CN202110528383 A CN 202110528383A CN 113317906 B CN113317906 B CN 113317906B
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- injection
- piglet
- conveying device
- belt
- belt conveying
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- 238000002347 injection Methods 0.000 title claims abstract description 76
- 239000007924 injection Substances 0.000 title claims abstract description 76
- 229960005486 vaccine Drugs 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 abstract description 8
- 238000010009 beating Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 241000282887 Suidae Species 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D3/00—Appliances for supporting or fettering animals for operative purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
- A61M5/2033—Spring-loaded one-shot injectors with or without automatic needle insertion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
- A61M2005/206—With automatic needle insertion
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Hematology (AREA)
- Heart & Thoracic Surgery (AREA)
- Anesthesiology (AREA)
- Vascular Medicine (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Control Of Conveyors (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
The invention relates to the technical field of piglet vaccine injection equipment, in particular to an automatic piglet vaccine injection robot. Comprises a frame, a belt conveying device, a position sensor, an injection device and a controller; the belt conveying device, the position sensor and the injection device are arranged on the rack, the position sensor is positioned at the injection device, and the belt conveying device, the position sensor and the injection device are electrically connected with the controller; the piglet is placed on belt conveyor, and belt conveyor drives the piglet and removes, through the position of position sensor discernment piglet, and then conveys the piglet to the assigned position, and injection device carries out the injection bacterin to the piglet after reacing the assigned position, and belt conveyor continues the operation after accomplishing the injection and carries out the injection of next piglet. The automatic injection of the piglet vaccine is realized, technicians are not needed to inoculate one by one, and the injection process does not need personnel to participate, so that the efficiency is improved, and the errors of missed beating, mistaken beating and the like are prevented.
Description
Technical Field
The invention relates to the technical field of piglet vaccine injection equipment, in particular to an automatic piglet vaccine injection robot.
Background
In the process of breeding pigs, particularly in the process of large-scale breeding, diseases are often accompanied, and after the piglets live down, in order to improve the immunity and reduce the diseases, a common method is to inject vaccines into the piglets, so that the pigs are prevented from being infected by the diseases, and meanwhile, the human beings are protected.
Because the large number of sow groups in a large-scale pig farm is large, a large number of piglets are born every day, and then a large number of piglets need to be injected, the actual injection amount is larger in consideration of the problem of vaccine antibody occupation interference. At present, no equipment for piglet vaccine injection exists, only technicians in a pig farm can carry out vaccine injection on each piglet one by one, and due to the fact that the number of piglets in a large-scale pig farm is large, the workload of vaccine injection on the piglets in the large-scale pig farm is large, the labor intensity is high, and the errors that the injection is not standard, the missed beating and the mistaken beating are caused easily occur.
Disclosure of Invention
In order to solve the technical problems, the invention provides the automatic piglet vaccine injection robot, which realizes the automatic injection of piglet vaccines, does not need technical personnel to inoculate one by one, does not need personnel to participate in the injection process, improves the efficiency, and prevents the errors of missed shooting, mistaken shooting and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
the piglet vaccine automatic injection robot comprises a rack, a belt conveying device, a position sensor, an injection device and a controller; the belt conveying device, the position sensor and the injection device are arranged on the rack, the position sensor is positioned at the injection device, and the belt conveying device, the position sensor and the injection device are electrically connected with the controller; the piglet is placed on belt conveyor, and belt conveyor drives the piglet and removes, through the position of position sensor discernment piglet, and then conveys the piglet to the assigned position, and injection device carries out the injection bacterin to the piglet after reacing the assigned position, and belt conveyor continues the operation after accomplishing the injection and carries out the injection of next piglet.
The belt conveying device comprises a first belt conveying device and a second belt conveying device, and the first belt conveying device and the second belt conveying device are arranged on the rack in a V shape; the first belt conveying device and the second belt conveying device have the same structure and respectively comprise a conveying belt, a conveying belt motor, a roller and a conveying rack; the roller is arranged on the conveying rack, the conveying belt is arranged on the roller, and the conveying motor drives the roller and the conveying belt to run.
The first belt conveying device and the second belt conveying device are hinged to the frame at one end and hinged to the adjusting device at the other end, and the adjusting device adjusts an included angle between the first belt conveying device and the second belt conveying device.
The adjusting device comprises an adjusting motor, an adjusting rod, a screw rod and a nut, the adjusting motor is connected with the screw rod and drives the screw rod to rotate, the nut is installed on the screw rod, one end of the adjusting rod is hinged to the conveying rack, and the other end of the adjusting rod is hinged to the nut.
The adjusting device further comprises a bearing and a bearing seat, the screw rod is installed on the bearing, the bearing is installed in the bearing seat, and the bearing seat is installed on the rack.
The position sensor adopts an infrared sensor.
The injection device comprises a needleless injector, an electric push rod, a connecting rod and an injector motor; the injection motor is connected with the connecting rod, the needleless injector is arranged on the connecting rod, and the injection motor drives the connecting rod to rotate so as to drive the needleless injector to rotate; the electric push rod pushes the trigger of the needleless injector.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention comprises a belt conveying device, a position sensor and an injection device; put into belt conveyor's conveyer belt with the porkling, the conveyer belt drives the porkling removal, position through position sensor discernment porkling, and then convey the porkling to the assigned position, then injection device carries out the automatic injection of bacterin to the porkling, do not need staff to participate in the injection process, realize the automatic injection of porkling bacterin, it inoculates one by one to need not technical staff, porkling staff's intensity of labour has been reduced, porkling bacterin injection efficiency has both been improved, the missed play has been prevented again, mistake such as the mistake is beaten.
2. The belt conveying device comprises a first belt conveying device and a second belt conveying device, wherein the first belt conveying device and the second belt conveying device are arranged on a rack in a V shape; the piglet is placed on the V-shaped conveyer belt, is fixed stably, can effectively prevent the piglet from moving, and is convenient for injection.
3. The belt conveyor is provided with an adjusting device, the adjusting device comprises an adjusting motor, an adjusting rod, a screw rod and a nut, the adjusting motor is connected with the screw rod, the nut is arranged on the screw rod, one end of the adjusting rod is hinged to a conveying rack of a belt conveyor, and the other end of the adjusting rod is hinged to the nut; the adjusting motor drives the screw rod to rotate, and then drives the screw to move, and the screw drives the belt conveyor to rotate through the adjusting rod, and then adjusts the contained angle between the first belt conveyor and the second belt conveyor to adapt to the piglets of different sizes.
4. The invention is provided with an injection device, wherein the injection device comprises a needleless injector, a connecting rod and an injector motor; the injection motor is connected with the connecting rod, the needleless injector is arranged on the connecting rod, and the injection motor drives the connecting rod to rotate so as to drive the needleless injector to rotate; after the piglet is conveyed to the designated position, the injection motor drives the needleless injector to rotate to be vertical to the ground and aims at the part of the piglet needing to inject the vaccine, and after the vaccine is injected by the needleless injector, the injection motor drives the needleless injector to rotate and lift the needleless injector.
5. The invention is provided with an injection device which is provided with an electric push rod, and the electric push rod pushes a trigger of a needleless injector to realize the automatic injection of vaccine.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of another embodiment of the present invention;
FIG. 3 is a front view of the present invention in a schematic configuration;
FIG. 4 is a schematic side view of the structure of the present invention;
FIG. 5 is a schematic top view of the structure of the present invention;
fig. 6 is a schematic perspective view of the injection device of the present invention.
In the figure: 1-a frame; 2-a first belt conveyor; 3-a second belt conveyor; 4-an infrared sensor; 5-an injection device; 6-a regulating device; 11-a cross beam; 12-a stringer; 13-vertical beam; 21-a conveyor belt; 22-conveyer belt motor; 23-a driving roller; 24-a direction-changing drum; 25-a conveyor frame; 51-needleless injector; 52-electric push rod; 53-connecting rod; 54-injector motor; 61-adjusting the motor; 62-adjusting the rod; 63-a screw rod; 64-a nut; 65-a bearing seat; 66-a hinged seat;
Detailed Description
Example (b):
the following further illustrates embodiments of the invention in conjunction with the drawings:
as shown in fig. 1 to 5, an automatic piglet vaccine injection robot comprises a frame 1, a belt conveyor, an infrared sensor 4, an injection device 5, an adjusting device 6 and a controller.
The frame 1 is a rectangular frame formed by welding sectional materials, and the frame 1 is formed by welding a plurality of cross beams 11, longitudinal beams 12 and vertical beams 13. The two infrared sensors 4 are respectively and symmetrically fixedly connected to the top ends of two vertical beams 13 of the frame 1.
The belt conveying device comprises a first belt conveying device 2 and a second belt conveying device 3, and the first belt conveying device 2 and the second belt conveying device 3 are arranged on the rack 1 in a V shape. The first belt conveying device 2 and the second belt conveying device 3 have the same structure and respectively comprise a conveying belt 21, a conveying belt motor 22, a transmission roller 23, a turnabout roller 24 and a conveying rack 25; the transmission roller 23 is arranged at the head of the conveying rack 25, the direction-changing roller 24 is arranged at the tail of the conveying rack 25, the conveying belt 21 is arranged on the transmission roller 23 and the direction-changing roller 24, the conveying motor 22 is connected with the direction-changing roller 24, and the conveying motor 22 drives the direction-changing roller 24 to rotate so as to drive the conveying belt 21 to operate.
The adjusting device 6 comprises an adjusting motor 61, an adjusting rod 62, a screw 63, a nut 64, a bearing and a bearing seat 65. The two ends of the screw 63 are respectively installed on two bearings, the two bearings are respectively installed in two bearing seats 65, and the two bearing seats 65 are respectively installed on two longitudinal beams 12 of the frame 1.
The adjusting motor 61 is connected with the screw rod 63 and drives the screw rod 63 to rotate, the screw nut 64 is installed on the screw rod 63 and is in threaded connection with the screw rod 63, one end of the adjusting rod 62 is hinged to the side face of the conveying rack 25 through the hinge seat 66, and the other end of the adjusting rod is hinged to the screw nut 64 through the hinge seat 66. The adjusting motor 61 drives the screw rod 63 to rotate, and further drives the nut 64 to move along the screw rod 63, and drives the adjusting rod 62 to rotate, and further drives the conveying frame 25 to rotate.
Two sets of adjusting devices 6 are arranged, one end of each of the first belt conveying device 2 and the second belt conveying device 3 is hinged to the rack 1, the other end of each of the first belt conveying device 2 and the second belt conveying device 3 is hinged to the adjusting devices 6, the adjusting devices 6 adjust an included angle between the first belt conveying device 2 and the second belt conveying device 3 to convey the rack 25, and then an included angle between the first belt conveying device 2 and the second belt conveying device 3 to convey the belt 21 is adjusted.
As shown in fig. 6, the injection device 5 includes a needleless injector 51, an electric push rod 52, a link 53, and an injector motor 54. The needleless injector 51 is an existing product, two injector motors 54 are respectively and fixedly connected to the longitudinal beam 12 at the top of the rack 1, two ends of a connecting rod 53 are respectively connected with the two injector motors 54, the needleless injector 51 is fixedly connected to a shaft sleeve, and the shaft sleeve is arranged on the connecting rod 53. The injection motor 54 rotates the link 53, which in turn rotates the needleless injector 51.
The electric push rod 52 is fixedly connected on the connecting rod 53 through a bracket, the rod head of the electric push rod 52 is opposite to the trigger of the needle-free injector 51, and the electric push rod 52 extends to push the trigger of the needle-free injector 51.
The conveyer belt motor 22, the adjusting motor 61, the electric push rod 52 and the infrared sensor 4 are electrically connected with the controller.
The working principle and the working process of the invention are as follows:
1) Firstly, the position of the nut 3 on the screw rod 4 is adjusted by controlling the adjusting motor 61 through the controller according to the size of the piglet, and then the included angle between the first belt conveying device 2 and the conveying belt 21 of the second belt conveying device 3 is adjusted.
2) And (3) putting the piglets on the conveyer belt 21, starting the conveyer motor 22, starting the conveyer belt 21 to run, and stopping the conveyer belt 21 after the head of the piglet contacts the infrared sensor 4 and the conveyer belt 21 continues to run to the distance of one piglet head.
3) The injector motor 54 is started to drive the needleless injector 51 to rotate to a place vertical to the ground and aligned to a place where the piglet needs to inject the vaccine, the electric push rod 52 pushes the trigger of the needleless injector 51 to complete injection, and the injector motor 54 lifts the needleless injector 51.
4) The conveyor motor 22 continues to run and the next piglet is injected.
According to the piglet vaccine injection device, workers do not need to participate in the injection process, automatic injection of the piglet vaccine is realized, technicians do not need to inoculate one by one, the labor intensity of workers in a pig farm is reduced, the piglet vaccine injection efficiency is improved, and mistakes such as missed injection and mistaken injection are prevented.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. Piglet bacterin automatic injection robot, its characterized in that: comprises a frame, a belt conveying device, a position sensor, an injection device and a controller; the belt conveying device, the position sensor and the injection device are arranged on the rack, the position sensor is positioned at the injection device, and the belt conveying device, the position sensor and the injection device are electrically connected with the controller; the piglet is placed on the belt conveying device, the belt conveying device drives the piglet to move, the position of the piglet is identified through the position sensor, the piglet is further conveyed to an appointed position, the injection device injects vaccines into the piglet after the piglet reaches the appointed position, and the belt conveying device continues to operate to inject the next piglet after the injection is completed;
the belt conveying device comprises a first belt conveying device and a second belt conveying device, and the first belt conveying device and the second belt conveying device are arranged on the rack in a V shape; the first belt conveying device and the second belt conveying device have the same structure and respectively comprise a conveying belt, a conveying belt motor, a roller and a conveying rack; the roller is arranged on the conveying rack, the conveying belt is arranged on the roller, and the conveying motor drives the roller and the conveying belt to run;
the first belt conveying device and the second belt conveying device are hinged to the rack at one end and hinged to the adjusting device at the other end, and the adjusting device adjusts an included angle between the first belt conveying device and the second belt conveying device;
the adjusting device comprises an adjusting motor, an adjusting rod, a screw rod and a nut, wherein the adjusting motor is connected with the screw rod and drives the screw rod to rotate;
the adjusting device further comprises a bearing and a bearing seat, the screw rod is installed on the bearing, the bearing is installed in the bearing seat, and the bearing seat is installed on the rack.
2. The piglet vaccine automatic injection robot of claim 1, wherein: the position sensor adopts an infrared sensor.
3. The piglet vaccine automatic injection robot of claim 1, wherein: the injection device comprises a needleless injector, an electric push rod, a connecting rod and an injector motor; the injection motor is connected with the connecting rod, the needleless injector is arranged on the connecting rod, and the injection motor drives the connecting rod to rotate so as to drive the needleless injector to rotate; the electric push rod pushes the trigger of the needleless injector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110528383.XA CN113317906B (en) | 2021-05-14 | 2021-05-14 | Automatic injection robot for piglet vaccines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110528383.XA CN113317906B (en) | 2021-05-14 | 2021-05-14 | Automatic injection robot for piglet vaccines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113317906A CN113317906A (en) | 2021-08-31 |
| CN113317906B true CN113317906B (en) | 2022-11-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110528383.XA Active CN113317906B (en) | 2021-05-14 | 2021-05-14 | Automatic injection robot for piglet vaccines |
Country Status (1)
| Country | Link |
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| CN (1) | CN113317906B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030056729A1 (en) * | 2001-09-12 | 2003-03-27 | Correa Rafael S. | Automated egg injection machine and method |
| GB201104146D0 (en) * | 2011-03-11 | 2011-04-27 | Mcgillivray David J | Livestock conveyor |
| CN208319361U (en) * | 2017-07-10 | 2019-01-04 | 中国人民解放军总医院 | animal operating table |
| CN211131509U (en) * | 2019-09-27 | 2020-07-31 | 牧原食品股份有限公司 | Unmanned robot of injecing |
| CN110882083B (en) * | 2019-12-10 | 2021-06-18 | 四川七环猪种改良有限公司 | Automatic injection equipment for pig vaccines |
| CN211381953U (en) * | 2019-12-17 | 2020-09-01 | 内蒙古北奇软件技术有限公司 | Epidemic prevention automatic channel for sheep |
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2021
- 2021-05-14 CN CN202110528383.XA patent/CN113317906B/en active Active
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| Publication number | Publication date |
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| CN113317906A (en) | 2021-08-31 |
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