CN102589776A - Device and method for measuring climbing force of inset in multiple poses and in different climbing ways - Google Patents
Device and method for measuring climbing force of inset in multiple poses and in different climbing ways Download PDFInfo
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- CN102589776A CN102589776A CN2012100305513A CN201210030551A CN102589776A CN 102589776 A CN102589776 A CN 102589776A CN 2012100305513 A CN2012100305513 A CN 2012100305513A CN 201210030551 A CN201210030551 A CN 201210030551A CN 102589776 A CN102589776 A CN 102589776A
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Abstract
The invention provides a device and a method for measuring climbing force of an insect in multiple poses and in different climbing ways. The device comprises a force measuring unit, an experiment box, a test box, an x and y axis moving mechanism, a z-axis moving mechanism, a rotating mechanism and a charge coupled device (CCD) imaging system. The method comprises the following steps of: rotating the test box to a required angle, tying the insect to a head end of a cantilever beam by using a wire, putting the insect on a sample board with different-roughness climbing ways, and matching overlooking shooting with side-looking shooting to measure gaits of the insect and a position of the insect in the space; and measuring vertically downward component force and horizontal component force of the insect through two bridge circuits consisting of y-axis strain gages and z-axis strain gages, which are uniformly arranged at the root of the cantilever beam, thus obtaining the climbing force when the insect climbs or a sample table descends. The device realizes non-interference measurement of the climbing force of the insect in a three-dimensional space, can be used for analyzing the tendency of the insect in the three-dimensional space in the testing process, and has the advantages of simple operation, low testing interference, accurate measurement and the like.
Description
Technical field
The present invention relates to a kind of colourful attitude of insect that is suitable for and attach force measuring device and method, belong to biological living and surface and climb and attach the power field of measuring technique with different climbing of creeping.
Background technology
Motion is the essential characteristic of animal, the basis of behavior such as be animal predation, escape, reproduction, migrate.The motor behavior of animal is the result of (muscular force) animal and environment interphase interaction under endogenetic process.The foot type animal that lives on the ground is through the interaction between vola and ground, motor behavior such as realizes driving, stable, motor-driven.Especially people usually see insects such as fly, ant, cricket and creep fast on smooth surface, even can hang upside down on ceiling.This has attracted countless biologists' interest, and has carried out extensive studies.Discover that the viscosity foot pad that comes in every shape is all arranged on many insect foots.These sufficient pads can discharge rapidly, and attach power control through climbing of foot pad generation and advance and run.Its random system of climbing has shown surprising structure diversity and remarkable performance.To climbing the important channel that the test that attaches power is a understanding animal movement rule between foot-face; Disclose the mechanics rule of animal movement; Can know the dynamics Design of robot, hoisting machine people's performance, and also the information that is obtained has great importance to bio-robot design.
The beam type measurement mechanism is widely used in animal and climbs and attach force measurement; For example to be 200510094990.0 " 2 D force transducer in small measurement range " test vertical and power horizontal direction through about square and the semi-girder that do not reverse, pasting 2 foil gauges respectively with upper and lower surface to number of patent application; But this device minimum resolution is 1mN, can not satisfy the test request of small insects; One Chinese patent application number is 200510023641.x " two-dimensional micro-force measuring sensors "; Adopt the elastic body cantilever design; Be made up of orthogonal vertical bent beam and horizontal bent beam, the bridge circuit of forming through the foil gauge of pasting on it can record vertical stress component and horizontal component, and guarantees measuring accuracy and resolution; Its shortcoming is that elastic body rigidity is little, easy deformation; Natural frequency is low, is unfavorable for dynamic test; There is not overcurrent protection structure; Number of patent application is 200710011275.5 " micro-force loading device of piezoelectric membrane cantilever chain type Micro-force sensor ", solved the measurement that little Newton level force loads, but testing range is less, can only be used for fine measuring instruments such as scanning force microscopy.Above-mentioned patent is all different with apparatus and method of the present invention, also is not used in insect and climbs and attach force measurement.
There were some to climb the proving installation and the method for testing of attaching power in recent years about measuring between animal and surface.For example number of patent application is that 200810203235.5 " a kind of device for measuring force and method of testings of measuring adhesion between biological living and object " have proposed a kind ofly to use lever principle to measure between biological living and object to climb the device for measuring force and the method for testing of attaching power; But this method of testing sample preparation is complicated, testing procedure is loaded down with trivial details; And sample bench is fixed; Can only test climbing of vertical direction and attach power, test specification is less.Number of patent application be CN200810156169.0's " method of testing of animal foot-foot-face contact counter force and system " proposed to measure simultaneously the animal method of testing that contacts counter-force and system between every sole and attaching surface when surface level, vertical plane and ceiling move; It is too loaded down with trivial details that but this sensor array is arranged, and be confined to test three kinds of animals under the special state and the surperficial situation that contacts.
Summary of the invention
Because the pawl that insect creeps, sufficient structure difference, the mechanism of gripping is different, therefore climbing of different roughness surface is attached the power difference, the also difference of stability of creeping of different stances.This will cause that insect is different to the adaptability or the hobby on different spatial and roughness surface.And suitable at present, objective characterization method shortcoming.The purpose of this invention is to provide a kind of colourful attitude of insect that is suitable for and attach force measuring device and method, to solve at present on this type of the is measured deficiency of apparatus and method, measuring complex, low precision and the injury of insect with different climbing of creeping.Through the z on the torsional cantilever beam to foil gauge and y to foil gauge measuring vertical component and horizontal component; Observe insect present position and gait through overlooking shooting and side-looking shooting, climb with realization high precision, digitizing, robotization, multi-angle measurement insect and attach power and analyze the taxis of insect the different roughness surface.
In order to achieve the above object; The invention provides a kind of colourful attitude of insect that is suitable for and attach force measuring device with different climbing of creeping; It is characterized in that, comprise dynamometry unit, experimental box, test box, xy axle travel mechanism, z axle travel mechanism, rotating mechanism and CCD imaging system; Experimental box is located in the test box, and experimental box connects xy axle travel mechanism, and xy axle travel mechanism connects z axle travel mechanism, and test box connects rotating mechanism.
Preferably; Described dynamometry unit comprises the connection semi-girder; Y is to foil gauge; Z to foil gauge with pull strings; The front end of described semi-girder connects pulls strings, and described y comprises two tactic a foil gauges that stick on semi-girder root front and two tactic b foil gauges that stick on semi-girder root back to foil gauge, and described z comprises two tactic a foil gauges sticking on above the semi-girder root and two tactic b foil gauges that stick on below the semi-girder root to foil gauge.
Preferably, described experimental box comprises the experiment casing, and the front of experiment casing has the experiment door, is pasted with sample board on the inner bottom surface of experiment casing, and the experiment casing is fixedly connected the top of pressure pin.Described sample board can be smooth glass or silicon chip, or have the flaky materials such as polishing paper of certain roughness, also can be to have that circle as shown in Figure 5 that the different roughness material processes is climbed or the vertical bar type is climbed; Described experiment casing is a rectangular parallelepiped, is to be processed by transparent organic glass or transparent high polymer plastics.
Preferably, described test box comprises the test casing, and the front of test casing has test gate.
Preferably, described xy travel mechanism comprises x stepper motor, x screw rod, x nut, xy frame, y stepper motor, y screw rod and y nut; Described x stepper motor connects the x screw rod, and the x screw rod connects the x nut, and described y stepper motor connects the y screw rod, and the y screw rod connects the y nut, and described xy frame and x stepper motor and y nut are affixed and be rotationally connected with the x screw rod.
Preferably, described z axle travel mechanism comprises z stepper motor, z screw rod, z nut and zy frame; Described z stepper motor connects the z screw rod, and the z screw rod connects the z nut, and the z nut is fixedly connected the zy frame.
Preferably, described rotating mechanism comprises r stepper motor and the rotation axis that is connected with the r stepper motor, and described rotation axis and test box two ends are affixed.
Preferably, described CCD imaging system comprises being fixed on and overlooks video camera, side-looking video camera and projection light source on the test box inwall.
Preferably; The described colourful attitude of insect that is suitable for is attached force measuring device and also comprises data processing and control system with different climbing of creeping; Described data processing and control system comprise computing machine; Computing machine connects force-measuring module, image analysis module and drive control module, described dynamometry unit comprise y to foil gauge and z to foil gauge, described xy travel mechanism comprises x stepper motor and y stepper motor; Described z axle travel mechanism comprises the z stepper motor; Described rotating mechanism comprises the r stepper motor, and described CCD imaging system comprises overlooks video camera, side-looking video camera and projection light source, described force-measuring module connect y to foil gauge and z to foil gauge; Described image analysis module connects overlooks video camera and side-looking video camera, and described drive control module connects x stepper motor, y stepper motor, z stepper motor, r stepper motor and projection light source.
The present invention also provides a kind of colourful attitude of insect that is suitable for to attach force measuring method with different climbing of creeping, and adopts the above-mentioned colourful attitude of insect that is suitable for to attach force measuring device with different climbing of creeping, and concrete steps are:
The first step: insect is connected the dynamometry unit and places in the experimental box;
Second step: climbing when freely creeping with described dynamometry unit and CCD imaging system observation insect attaches power and gait thereof; Survey climbing of insect when experimental box is moved down and attach power; Or the unbalance speed of gait of rapid horizontal experimental box survey insect attaches power with climbing; Described gait is meant the step appearance that insect creeps and the pin number that contacts to earth; Described unbalance rollover or the rolling that is meant insect;
The 3rd step: calculate climbing of insect and attach power.
The described colourful attitude of insect that is suitable for attaches force measuring device with different climbing of creeping, and is the independent behaviour of insect in the test process, climbs and attaches force measurement so can be used for meiofaunas such as insect and gecko, tree frog.
Owing to adopted above-mentioned technical scheme; The present invention compared with prior art; Have following advantage and good effect: (a) owing to be that the foil gauge of beam type is measured, its applicable object wider can be measured at variety classes insect live body; Attach power like climbing between fly class, cricket, beetle or ant etc. and different rough surfaces, also can be used for climbing of meiofauna such as gecko, tree frog and attach power research; (b) need test different spatial insect to climb when attaching characteristic, do not change platform, simplify the operation, avoid insect damage and physiology life state to change; (c) both can measure insect climbing under major state and attach power; Can test insect climbing under any spatiality again and attach power; And the gait of insect in whole experiment and sole contact foot number and state, so can be used to study motor behavior and the sole function of insect; (d) test process has been realized digitizing, robotization and test insect independent behaviour, so this device interference is little, measures precisely favorable reproducibility.
Description of drawings
Fig. 1 is that the beam type insect climbs the front view that attaches force measuring device;
Fig. 2 is that the beam type insect climbs the vertical view that attaches force measuring device;
Fig. 3 is y, and z is to a, b, 4 bridge circuit figure that resistance strain gage constitutes;
Fig. 4 is the structural representation of experimental box;
Fig. 5 sample board form;
Fig. 6 is data processing and the control system figure that the beam type insect climbs the proving installation that attaches power;
Among the figure: 1-dynamometry unit, it comprises the 11-semi-girder; 12-y is to foil gauge (a is last, under the b); 13-z is to foil gauge (before a, behind the b); 14-pulls strings;
The 2-experimental box, it comprises 21-experiment cover; 22-tests door; The 23-sample board; The 24-pressure pin;
The 3-test box, it comprises 31-test cover; The 32-test gate;
4-xy travel mechanism, it comprises the 41-x stepper motor; The 42-x screw rod; The 43-x nut; The 44-xy frame; The 45-y stepper motor; The 46-y screw rod; The 47-y nut;
5-z axle travel mechanism, it comprises the 51-z stepper motor; The 52-z screw rod; The 53-z nut; The 54-zy frame;
The 6-rotating mechanism, it comprises the 61-r stepper motor; The 62-rotation axis;
The 7-CCD imaging system, it comprises that 71-overlooks video camera; 72-side-looking video camera; The 73-projection light source;
8-data processing and control system, it comprises the 81-force-measuring module; The 82-image analysis module; The 83-drive control module; The 84-computing machine;
V0 is an input voltage; The V-output voltage; The A-vertical bar shaped is climbed; The B-circle is climbed.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in the restriction scope of the present invention.Should be understood that in addition those skilled in the art can do various changes or modification to the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Embodiment of the present invention relates to a kind of colourful attitude of insect that is suitable for and attaches force measuring device with different climbing of creeping; Like Fig. 1; Shown in Figure 2; The described colourful attitude of insect that is suitable for attaches force measuring device with different climbing of creeping, and comprises dynamometry unit 1, experimental box 2, test box 3, xy axle travel mechanism 4, z axle travel mechanism 5, rotating mechanism 6 and CCD imaging system; Experimental box 2 is located in the test box 3, and experimental box 2 connects xy axle travel mechanism 4, and xy axle travel mechanism 4 connects z axle travel mechanism 5, and test box 3 connects rotating mechanism 6.Experimental box 2 is used to place insect, but test box 3 space positioned at arbitrary angles, rotating mechanism 6 can realize that test box 3 rotates, the CCD imaging system is used to observe insect present position, gait and whole test process.
Described dynamometry unit 1 comprises connection semi-girder 11; Y is to foil gauge 12; Z is to foil gauge 13 and pull strings 14; The front end of described semi-girder 11 connects pulls strings 14, and described y comprises two tactic a foil gauges that stick on semi-girder 11 root fronts and two tactic b foil gauges that stick on semi-girder 11 roots back to foil gauge 12, and described z comprises two tactic a foil gauges sticking on above semi-girder 11 roots and two tactic b foil gauges that stick on below semi-girder 11 roots to foil gauge 13; As shown in Figure 3, described y respectively connects into bridge circuit with z to the foil gauge of foil gauge 13 to foil gauge 12.Described semi-girder 11 is a right cylinder; Be installed on the test box 3, semi-girder 11 be used to tie down insect and the semi-girder 11 of pasting foil gauge, y to foil gauge 12 be used to detect insect climb attach force level component, z is used to detect insect to foil gauge 13 and climbs and attach the power vertical stress component.Semi-girder 11 is of a size of 20cm * 2cm * 0.5cm.
Described experimental box 2 comprises experiment casing 21, and is as shown in Figure 4, and the front of experiment casing 21 has experiment door 22, is pasted with sample board 23 on the inner bottom surface of experiment casing 21, and experiment casing 21 is fixedly connected the top of pressure pin 24.Experiment casing 21 is used to keep experimental situation constant, and the bottom of pressure pin 24 and x spindle nut 43 are affixed.Described experiment casing 21 is a rectangular parallelepiped, and the front has the experiment door 22 that is connected through the hinge, and right flank has fenestella to be passed through and guarantee not contact with it in the experimentation for semi-girder 11; Be equipped with handle on the described experiment door 22, can open and close easily.Experiment casing 21 is processed by transparent organic glass, and length is 20cm * 20cm * 20cm, and experiment door 22 is of a size of 15cm * 15cm, and window size is 10cm * 5cm.
Described test box 3 comprises test casing 31, and the front of test casing 31 has test gate 32.Described test casing 31 is a rectangular parallelepiped, supports experimental box 2, xy travel mechanism 4, z travel mechanism 5, and affixed with rotation axis 62, and its front has the test gate 32 that is connected through the hinge, and is equipped with handle on the door, can conveniently open and close.Test box 3 is of a size of 40cm * 40cm * 60cm, and test gate 32 is of a size of 30cm * 50cm.
Described xy travel mechanism 4 comprises x stepper motor 41, x screw rod 42, x nut 43, xy frame 44, y stepper motor 45, y screw rod 46 and y nut 47; Described x stepper motor 41 connects x screw rods 42, and x screw rod 42 connects x nuts 43, and described y stepper motor 45 connects y screw rods 46, and y screw rod 46 connects y nuts 47, and described xy frame 44 and x stepper motor 41 and y nut 47 are affixed and be rotationally connected with x screw rod 42.Described x stepper motor 41 drives x screw rods 42 and rotates synchronously, drive then x nut 43 on it along x to moving; Same described y stepper motor 45 drives y screw rods 46 and rotates synchronously, drive then y nut 47 on it along y to moving; The x of described xy travel mechanism 4, the y direction move through the tangential movement that pressure pin 33 synthesizes experimental box 2 with respect to test box 3.
Described z axle travel mechanism 5 comprises z stepper motor 51, z screw rod 52, z nut 53 and zy frame 54; Described z stepper motor 51 connects z screw rod 52, and z screw rod 52 connects z nut 53, and z nut 53 is fixedly connected zy frame 54.Described z stepper motor 51 drives z screw rod 52 and rotates synchronously; Then drive z nut 53 on it along z to moving; And drive experimental boxs 2 through zy frame 54 45 affixed with the y stepper motor of described xy travel mechanism 4, that be rotationally connected with y screw rod 46 and move along the z axle, promptly with respect to the vertical moving up and down of test box 3.The acquiescence rotating speed of x stepper motor 41, y stepper motor 45, z stepper motor 51 is 10r/min, and the model of x screw rod 42, x nut 43, y screw rod 46, y nut 47, z screw rod 52 and z nut 53 is M16, and pitch is 1mm.
Described rotating mechanism 6 comprises r stepper motor 61 and the rotation axis 62 that is connected with r stepper motor 61, and described rotation axis 62 is affixed with test box 3 two ends.Rotation axis 62 rotates with r stepper motor 61 synchronously, and with semi-girder 11 on same axis.R stepper motor 61 rotating speeds are 0.5r/min; Rotation axis 62 diameters are 2cm.
Described CCD imaging system 7 comprises being fixed on overlooks video camera 71, side-looking video camera 72 and projection light source 73 on test box 3 inwalls.Overlook video camera 71 and be used to observe the insect position of creeping, side-looking video camera 72 is used for observing the whole test process insect gait of creeping, and projection light source 73 is used to provide illumination.Overlooking video camera 71 was 100 frame/seconds with side-looking video camera 72 video frame numbers.
As shown in Figure 6; The described colourful attitude of insect that is suitable for is attached force measuring device and also comprises data processing and control system 8 with different climbing of creeping; Described data processing and control system 8 comprise computing machine 84; Computing machine 84 connects force-measuring module 81, image analysis module 82 and drive control module 83; Described force-measuring module 81 connect y to foil gauge 12 and z to foil gauge 13, described image analysis module 82 connects overlooks video camera 71 and side-looking video camera 72, described drive control module 83 connects x stepper motor 41, y stepper motor 45, z stepper motor 51, r stepper motor 61 and projection light source 73.Force-measuring module 81 is used for gathering and processing dynamometry unit 1 measured power value; Image analysis module 82 is used for gathering and the analysis insect creeps position and gait; Drive control module 83 is used for control step motor movement and the brightness that is used to control projection light source 73; Drive control module 82 needed control signals produce through computing machine 84, and control signal comprises: driving pulse, direction control, complete/half-angle control, utilize the external output data line on the computing machine 84 to produce easily.
The use said apparatus is suitable for the colourful attitude of insect:
Video camera 71 and side-looking video camera 72 are overlooked in step 3, unlatching; Start r stepper motor 61 drive test boxs 3 simultaneously and forward special angle θ to; Then open x stepper motor 41, y stepper motor 45, z stepper motor 51; Control experimental box 3 moves to pull strings and 14 just is the tensioning state and the state that do not stress, and configures turning to and rotating speed of x stepper motor 41, y stepper motor 45, z stepper motor 51 with computing machine, begins experiment;
The situation that contacts of insect and sample board 23 in step 4, the observation test process treats that insect slides, rolls on sample board 23 surfaces or all soles stop to test when breaking away from sample boards;
Step 6, startup r stepper motor 61 drive experimental boxs 3 and get back to horizontality; Then start x stepper motor 41, y stepper motor 45, z stepper motor 51 and reset, close and overlook video camera 71 and side-looking video camera 72, open test gate 32 and experiment door 22; Take out insect; And it is put back in the sample plasma bottle, close experiment door 22, test gate 32 and side direction photography 73, shut down computer 84.
The said calculating principle of attaching power of climbing is: cooperate the insect barycenter that photographs promptly to tie down point (x according to overlooking video camera 71 with side-looking video camera 72; Y; Z) position and the insect barycenter that photographs synchronously tie down a little to the height value of semi-girder 11 with the z that records synchronously to y to the power value; Calculate the pulling force that acts on this insect, promptly climbing of this insect attaches power, and can calculate insect vertical direction and horizontal direction component and with the relation of gait; To force analysis of the present invention, then have:
In the formula, F
xBe the axial component of x; F
yBe the axial component of y, record to foil gauge 12 by y; X overlooks video camera to record insect from the axial vertical range of y; Y overlooks insect that video camera records from the axial vertical range of x.
Put in order,
X axial thrust load F
xWith the x of the suffered power of climbing of insect to component F
X 'Relation is:
F
x＝F
x′+mgsinθ (3)
In the formula, F
X 'The x that is the suffered power of climbing of insect is to component; M is the quality of insect; G is an acceleration of gravity, 9.8g/m
2θ is the angle that test box 3 rotates.
So, climb power F
ζFor:
In the formula, F
ζBe that insect climbs and attaches power along creeping the component of face tangential.
Z axial thrust load F
zWith insect suffered climb attach power z to component F
Z 'Relation is:
F
z′＝F
z-mgcosθ (5)
In the formula, F
Z 'It is the suffered normal component of force that attaches power of climbing of insect; F
zBe the axial component of z, record to foil gauge 13 by z.
So final insect climbs and attaches power F
aFor:
With fly is insect to be measured, is 1 μ m with grain size, 2 μ m; 3 μ m, 4 μ m, the polishing paper of 5 μ m press among Fig. 5 the arrangement mode shown in the A and arrange as sample board; Test when prosposition and grain size be 1 μ m, 2 μ m, 3 μ m; 4 μ m, 5 μ m vertical bar shapeds are climbed climbs when moving horizontally and attaches power, and concrete steps are:
Video camera 71 and side-looking video camera 72 are overlooked in step 3, unlatching; Start r stepper motor 61 drive test boxs 3 simultaneously and forward special angle θ to; Then open x stepper motor 41, y stepper motor 45, z stepper motor 51; Control experimental box 3 moves to pull strings and 14 just is the tensioning state and the state that do not stress, and configures turning to and rotating speed of x stepper motor 41, y stepper motor 45, z stepper motor 51 with computing machine, begins experiment;
The situation that contacts of this fly and sample board 23 in step 4, the observation test process treats that this fly slides, rolls on sample board 23 surfaces or all soles stop to test when breaking away from sample boards;
Step 6, startup r stepper motor 61 drive experimental boxs 3 and get back to horizontality; Then start x stepper motor 41, y stepper motor 45, z stepper motor 51 and reset, close and overlook video camera 71 and side-looking video camera 72, open test gate 32 and experiment door 22; Take out this fly; And it is put back in the sample plasma bottle, close experiment door 22, test gate 32 and side direction photography 73, shut down computer 84.Concrete experiment parameter is as shown in table 1.
With spider is insect to be measured, with grain size be the polishing paper of 5 μ m as sample board, the maximum during the perpendicular position of test polishing paper is climbed attaches power, concrete steps are:
Video camera 71 and side-looking video camera 72 are overlooked in step 3, unlatching; Start r stepper motor 61 drive test boxs 3 simultaneously and forward special angle θ to; Then open x stepper motor 41, y stepper motor 45, z stepper motor 51; Control experimental box 3 moves to pull strings and 14 just is the tensioning state and the state that do not stress, and configures turning to and rotating speed of x stepper motor 41, y stepper motor 45, z stepper motor 51 with computing machine, begins experiment;
The situation that contacts of this spider and sample board 23 in step 4, the observation test process treats that this spider slides, rolls on sample board 23 surfaces or all soles stop to test when breaking away from sample boards;
Step 6, startup r stepper motor 61 drive experimental boxs 3 and get back to horizontality; Then start x stepper motor 41, y stepper motor 45, z stepper motor 51 and reset, close and overlook video camera 71 and side-looking video camera 72, open test gate 32 and experiment door 22; Take out this spider; And it is put back in the sample plasma bottle, close experiment door 22, test gate 32 and side direction photography 73, shut down computer 84.Concrete experiment parameter is as shown in table 1.
With ant is insect to be measured, with grain size be the silicon chip of 10 μ m as sample board, climbing during the outstanding position of test silicon wafer attaches power, concrete steps are:
Video camera 71 and side-looking video camera 72 are overlooked in step 3, unlatching; Start r stepper motor 61 drive test boxs 3 simultaneously and forward special angle θ to; Then open x stepper motor 41, y stepper motor 45, z stepper motor 51; Control experimental box 3 moves to pull strings and 14 just is the tensioning state and the state that do not stress, and configures turning to and rotating speed of x stepper motor 41, y stepper motor 45, z stepper motor 51 with computing machine, begins experiment;
The situation that contacts of this ant and sample board 23 in step 4, the observation test process treats that this ant slides, rolls on sample board 23 surfaces or all soles stop to test when breaking away from sample boards;
Step 6, startup r stepper motor 61 drive experimental boxs 3 and get back to horizontality; Then start x stepper motor 41, y stepper motor 45, z stepper motor 51 and reset, close and overlook video camera 71 and side-looking video camera 72, open test gate 32 and experiment door 22; Take out this ant; And it is put back in the sample plasma bottle, close experiment door 22, test gate 32 and side direction photography 73, shut down computer 84.Concrete experiment parameter is as shown in table 1.
Table 1x, y, the parameter setting and the experimental result of z stepper motor
Annotate: when rotating speed is negative value, the counter-rotating of expression stepper motor.
Claims (10)
1. one kind is suitable for the colourful attitude of insect and attaches force measuring device with different climbing of creeping; It is characterized in that, comprise dynamometry unit (1), experimental box (2), test box (3), xy axle travel mechanism (4), z axle travel mechanism (5), rotating mechanism (6) and CCD imaging system; Experimental box (2) is located in the test box (3), and experimental box (2) connects xy axle travel mechanism (4), and xy axle travel mechanism (4) connects z axle travel mechanism (5), and test box (3) connects rotating mechanism (6).
2. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping; It is characterized in that; Described dynamometry unit (1) comprises connection semi-girder (11); Y is to foil gauge (12); Z is to foil gauge (13) and pull strings (14); The front end of described semi-girder (11) connects pulls strings (14), and described y comprises two tactic a foil gauges that stick on semi-girder (11) root front and two tactic b foil gauges that stick on semi-girder (11) root back to foil gauge (12), and described z comprises to foil gauge (13) and sticks on the two slice tactic a foil gauges of semi-girder (11) above the root and two tactic b foil gauges that stick on below semi-girder (11) root.
3. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping; It is characterized in that; Described experimental box 2 comprises experiment casing (21); The front of experiment casing (21) has experiment door (22), is pasted with sample board (23) on the inner bottom surface of experiment casing (21), and experiment casing (21) is fixedly connected the top of pressure pin (24).
4. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping, and it is characterized in that, described test box (3) comprises test casing (31), and the front of test casing (31) has test gate (32).
5. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping; It is characterized in that described xy travel mechanism (4) comprises x stepper motor (41), x screw rod (42), x nut (43), xy frame (44), y stepper motor (45), y screw rod (46) and y nut (47); Described x stepper motor (41) connects x screw rod (42); X screw rod (42) connects x nut (43); Described y stepper motor (45) connects y screw rod (46), and y screw rod (46) connects y nut (47), described xy frame (44) and x stepper motor (41) and y nut (47) is affixed and be rotationally connected with x screw rod (42).
6. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping, and it is characterized in that described z axle travel mechanism (5) comprises z stepper motor (51), z screw rod (52), z nut (53) and zy frame (54); Described z stepper motor (51) connects z screw rod (52), and z screw rod (52) connects z nut (53), and z nut (53) is fixedly connected zy frame (54).
7. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping; It is characterized in that; Described rotating mechanism (6) comprises r stepper motor (61) and the rotation axis (62) that is connected with r stepper motor (61), and described rotation axis (62) is affixed with test box (3) two ends.
8. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping; It is characterized in that described CCD imaging system (7) comprises being fixed on overlooks video camera (71), side-looking video camera (72) and projection light source (73) on test box (3) inwall.
9. the colourful attitude of insect that is suitable for as claimed in claim 1 attaches force measuring device with different climbing of creeping; It is characterized in that; Also comprise data processing and control system (8); Described data processing and control system (8) comprise computing machine (84); Computing machine (84) connects force-measuring module (81), image analysis module (82) and drive control module (83), described dynamometry unit (1) comprise y to foil gauge (12) and z to foil gauge (13), described xy travel mechanism (4) comprises x stepper motor (41) and y stepper motor (45); Described z axle travel mechanism (5) comprises z stepper motor (51); Described rotating mechanism (6) comprises r stepper motor (61), and described CCD imaging system (7) comprises overlooks video camera (71), side-looking video camera (72) and projection light source (73), described force-measuring module (81) connect y to foil gauge (12) and z to foil gauge (13); Described image analysis module (82) connects overlooks video camera (71) and side-looking video camera (72), and described drive control module (83) connects x stepper motor (41), y stepper motor (45), z stepper motor (51), r stepper motor (61) and projection light source (73).
10. one kind is suitable for the colourful attitude of insect and attaches force measuring method with different climbing of creeping, and it is characterized in that, adopts the described colourful attitude of insect that is suitable for of claim 1 to attach force measuring device with different climbing of creeping, and concrete steps are:
The first step: insect is connected dynamometry unit (1) and places in the experimental box (2);
Second step: climbing when freely creeping with described dynamometry unit (1) and CCD imaging system observation insect attaches power and gait thereof; Experimental box (2) is surveyed climbing of insect when moving down attach power; Or the unbalance speed of gait of rapid horizontal experimental box (2) survey insect attaches power with climbing;
The 3rd step: calculate climbing of insect and attach power.
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