CN102589781B - Cantilever beam type measuring device of crawling attaching force of insects or small animals and method thereof - Google Patents
Cantilever beam type measuring device of crawling attaching force of insects or small animals and method thereof Download PDFInfo
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- CN102589781B CN102589781B CN201210030831.4A CN201210030831A CN102589781B CN 102589781 B CN102589781 B CN 102589781B CN 201210030831 A CN201210030831 A CN 201210030831A CN 102589781 B CN102589781 B CN 102589781B
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Abstract
The invention provides a cantilever beam type measuring device of crawling attaching force of insects or small animals and a method thereof. The measuring device comprises a cantilever beam holder, a strain foil force measuring unit, a sample platform, an xy-axis moving mechanism, a z-axis moving mechanism and a charge coupled device (CCD) imaging system. The method includes tying an insect through a pull thread to one end of the cantilever beam; observing position of the insect and pull force of the insect to the cantilever beam when the insect crawling, conducting overlooking shooting to obtain the projection distance between the insect and a holding hole at the top end of the cantilever beam; conduct side-looking shooting to obtain the vertical distance z between the insect and the holding hole; enabling 4 strain foils in the z-axis direction and 4 strain foils in the y-axis direction to be sequentially symmetrically distributed in double-section alternating mode at the root portion of the cantilever beam and form two bridge circuits and respectively measuring component force of the insect in the vertical downward direction and the horizontal direction. Therefore, the crawling attaching force when the insect crawls or the sample platform descends can be obtained. The device is small in interference and accurate in measurement due to independent action of the insect, thereby being suitable for measurement of the crawling attaching force of the insect.
Description
Technical field
The present invention relates to a kind of beam type insect or meiofauna and climb attached force measurement apparatus and method, belong to biological living and surface and climb attached power field of measuring technique.
Background technology
Motion is the essential characteristic of animal, the basis of the 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 sufficient class animal living on ground is by the interaction between vola and ground, realizes and the motor behavior such as drives, stable, motor-driven.Insects such as fly, ant, cricket, at smooth surperficial Quick-climbing, even can hang upside down on ceiling.This has attracted countless biologists' interest, and has carried out research widely.Research finds have the viscosity coming in every shape to climb attached pad on many insect foots.These are climbed attached pad and can discharge rapidly, and advance and run by climbing the attached power control of climbing of attached pad generation.Its random system of climbing has shown surprising structure diversity and remarkable performance.To climbing the important channel that the test of attached power is understanding animal movement rule between foot-face, disclose the Laws of Mechanics of animal movement, to understanding the dynamics Design of robot, hoisting machine people's performance, and design has great importance to bio-robot to use obtained information.
Cantilever beam type measuring device is widely used in animal and climbs attached force measurement, " 2 D force transducer in small measurement range " that for example number of patent application is 200510094990.0 tested vertical and power horizontal direction by pasting respectively two foil gauges in square and semi-girder that do not have to reverse left and right with upper and lower surface, but this device minimum resolution is 1mN, can not meet the test request of small insects; Chinese Patent Application No. be 200510023641.x's " two-dimensional micro-force measuring sensors ", adopt elastic body cantilever design, by orthogonal vertical bent beam and horizontal bent beam, formed, the bridge circuit consisting of the foil gauge of pasting on it can record vertical stress component and horizontal component, and guarantee measuring accuracy and resolution, its shortcoming is that elastic body rigidity is little, easily distortion; Natural frequency is low, is unfavorable for dynamic test; There is no 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 micro-Newton level force loads, but testing range is less, can only be for fine measuring instruments such as scanning force microscopies.Above-mentioned patent is all different from apparatus and method of the present invention, is also not used in insect and climbs attached force measurement.
There were in recent years some about measuring animal and surperficial proving installation and the method for testing of touch indirectly.For example number of patent application is that 200810203235.5 " a kind of device for measuring force and method of testings of measuring biological living and adhesive force between objects " have proposed a kind of device for measuring force and method of testing of climbing attached power between lever principle measurement biological living and object of using, 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 the attached power of climbing of vertical direction, test specification is less.Number of patent application be CN200810156169.0's " method of testing of animal foot-face contact counter force and system " proposed to measure the animal method of testing that contacts counter-force and system between every sole and attaching surface when surface level, vertical plane and ceiling (outstanding position) motion simultaneously, it is too loaded down with trivial details that but this sensor array is arranged, and be confined to test the animal-Surface Contact situation under three kinds of special states.
Summary of the invention
The object of this invention is to provide a kind of beam type insect or meiofauna and climb attached force measurement apparatus and method, to solve the deficiency of apparatus and method, measurement complexity, low precision and the injury to insect or meiofauna on this type of is measured at present.By the z on torsional cantilever beam, to foil gauge and y, to foil gauge, measure vertical stress component and horizontal component, by overlooking shooting and side-looking shooting observation insect or meiofauna present position and gait, to realize high precision, digitizing, robotization, multiangular measurement insect or meiofauna, climb attached power.
In order to achieve the above object, the invention provides a kind of beam type insect or meiofauna and climb attached force measurement device, comprise semi-girder holder, foil gauge dynamometry unit, sample bench, xyZhou travel mechanism, z axle travel mechanism and CCD imaging system, xyZhou travel mechanism connects z axle travel mechanism and sample bench, and semi-girder holder connects foil gauge dynamometry unit.
Preferably, described semi-girder holder comprises torsional cantilever beam, and the front end of torsional cantilever beam is provided with and grips hole, grips hole connection and pulls strings, and the root of torsional cantilever beam is provided with the twist section that four beams form, and four beams rotate 90 ° successively.
Preferably, described foil gauge dynamometry unit comprises that z is to a, b foil gauge, z to c, d foil gauge, y to a, b foil gauge and y to c, d foil gauge; Described z to a, b foil gauge and z to c, d foil gauge and y to a, b foil gauge and y to c, d foil gauge forms respectively bridge circuit.
Preferably, described sample bench comprises pressure pin, and one end of pressure pin connects supporting plate, and supporting plate is provided with sample board, and sample board is provided with experiment cover, and experiment cover has door, four affixed fixed blocks in angle of supporting plate.
Preferably, described xy travel mechanism is comprised of x stepper motor, x screw rod, x nut, xy frame, y stepper motor, y screw rod and y nut; Described x stepper motor connects x screw rod, and x screw rod connects x nut, and described y stepper motor connects y screw rod, and y screw rod connects y nut, and described xy frame and x stepper motor, y nut is affixed and be connected with x bolt rotary.
Preferably, described z axle travel mechanism comprises z stepper motor, z screw rod, z nut and zy frame; Described z stepper motor connects z screw rod, and z screw rod connects z nut, the affixed zy frame of z nut.
Preferably, described CCD imaging system comprises and overlooks video camera, side-looking video camera and projection light source.
Preferably, described beam type insect or meiofauna are climbed attached force measurement device and are also comprised data processing and control system, described data processing and control system comprise computing machine, computing machine connects force-measuring module, image analysis module and drive control module, described foil gauge dynamometry unit 2 comprises that z is to a, b foil gauge, z is to c, d foil gauge, y is to a, b foil gauge and y are to c, d foil gauge, described xyZhou travel mechanism comprises x stepper motor and y stepper motor, described z axle travel mechanism comprises z stepper motor, described CCD imaging system comprises overlooks video camera, side-looking video camera and projection light source, described force-measuring module connects z to a, b foil gauge, z is to c, d foil gauge, y is to a, b foil gauge and y are to c, d foil gauge, described image analysis module connects overlooks video camera and side-looking video camera, described drive control module connects x stepper motor, y stepper motor, z stepper motor and projection light source.
The present invention also provides a kind of beam type insect or meiofauna to climb attached force measurement method, adopts above-mentioned beam type insect or meiofauna to climb attached force measurement device, and concrete steps are:
The first step: insect or meiofauna are placed on sample bench;
Second step: climb attached power and gait thereof while freely creeping with described foil gauge dynamometry unit and CCD imaging system observation insect or meiofauna, when described sample bench moves down, survey and climb attached power, or rapid horizontal is surveyed the unbalance speed of gait of insect or meiofauna and climbs attached power; Described gait refers to the step appearance that insect or meiofauna are creeped and the pin number that contacts to earth; Described unbalance rollover or the rolling that refers to insect or meiofauna;
The 3rd step: the attached power of climbing of calculating insect or meiofauna.
Described beam type insect or meiofauna are climbed attached force measurement device, are the independent behaviour of insect or meiofauna in test process, therefore can be used for the meiofaunas such as insect and gecko, tree frog, climb attached force measurement.
Owing to having adopted above-mentioned technical scheme, the present invention compared with prior art, there is following advantage and good effect: (a) owing to being the foil gauge measurement of beam type, its applicable object wider, can measure at variety classes insect or meiofauna live body, as the attached power of climbing between fly class, cricket, beetle or ant etc. and rough surface, also can be for the attached power research of climbing of the meiofaunas such as gecko, tree frog; (b) while testing, simple to the processing of insect or meiofauna live body sample, for the biological living sample that can not fly or jump, directly to test, test speed is fast, and cost is low; (c) both can measure insect or meiofauna and climb attached power under major state, can test again the attached power of climbing under insect or meiofauna particular state, and insect or the gait of meiofauna in whole experimentation and sole contact foot number and state, therefore can be for motor behavior and the sole function of research insect or meiofauna; (d) test process has been realized digitizing, robotization, and test insect or meiofauna independent behaviour, therefore this device interference is little, measurement is accurate, favorable reproducibility.
Accompanying drawing explanation
Fig. 1 is the front view that beam type insect or meiofauna are climbed attached force measuring device;
Fig. 2 is the vertical view that beam type insect or meiofauna are climbed attached force measuring device;
Fig. 3 is y, and z is to a, b, c, d, 4 bridge circuit figure that resistance strain gage forms;
Fig. 4 is the structural representation of experiment cover;
Fig. 5 is data processing and the control system figure of beam type insect or the meiofauna proving installation of climbing attached power;
In figure: 1-semi-girder holder, it comprises 11-torsional cantilever beam; 12-grips hole; 13-pulls strings; 14-twist section;
2-foil gauge dynamometry unit, it comprises that 21-z is to a, b foil gauge (a is upper, under b); 22-z is to c, d foil gauge (c is upper, under d); 23-y is to a, b foil gauge (before a, after b); 24-y is to c, d foil gauge (before c, after d);
3-sample bench, it comprises 31-sample board; 32-supporting plate; 33-pressure pin; 34-tests cover; 35-locating piece; 36-door;
4-xy travel mechanism, it comprises 41-x stepper motor; 42-x screw rod; 43-x nut; 44-xy frame; 45-y stepper motor; 46-y screw rod; 47-y nut;
5-zZhou travel mechanism, it comprises 51-z stepper motor; 52-z screw rod; 53-z nut; 54-zy frame;
6-CCD imaging system, it comprises that 61-overlooks video camera; 62-side-looking video camera; 63-projection light source;
7-data processing and control system, it comprises 71-force-measuring module; 72-image analysis module; 73-drive control module; 74-computing machine;
V
0for input voltage; V-output voltage.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment are only not used in and limit the scope of the invention for the present invention is described.In addition should be understood that those skilled in the art can make various changes or modifications the present invention after having read the content of the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
The present invention relates to a kind of beam type insect or meiofauna and climb attached force measurement device, as Fig. 1, shown in Fig. 2, described beam type insect or meiofauna are climbed attached force measurement device, comprise semi-girder holder 1, foil gauge dynamometry unit 2, sample bench 3, xyZhou travel mechanism 4, z axle travel mechanism 5 and CCD imaging system 6, xyZhou travel mechanism 4 connects z axle travel mechanism 5 and sample bench 3, and semi-girder holder 1 connects foil gauge dynamometry unit 2.Semi-girder holder 1 is for tying down insect or meiofauna and stickup foil gauge, and sample bench 3 is for placing insect or meiofauna, and CCD imaging system 6 is for observing insect or meiofauna present position, gait and whole test process.
Described semi-girder holder 1 comprises torsional cantilever beam 11, the front end of torsional cantilever beam 11 is provided with and grips hole 12, grips hole 12 connections and pulls strings 13, and the root of torsional cantilever beam 11 is provided with the twist section 14 that four beams form, four beams rotate 90 ° successively, and adjacent two beams are quadrature each other.Pull strings 13 for tying down insect or meiofauna, the beam of the root of torsional cantilever beam 11 is used for pasting dynamometry unit 2.Semi-girder is of a size of 40cm * 2cm * 0.5cm, and twist section length is 8cm.
Described foil gauge dynamometry unit 2 comprises that z is to a, b foil gauge 21, z to c, d foil gauge 22, y to a, b foil gauge 23 and y to c, d foil gauge 24; Described z to a, b foil gauge 21 and z to c, d foil gauge 22 is between two to being affixed on twist section 14 surface levels of torsional cantilever beam 11, for vertical force measurement; Same described y to a, b foil gauge 23 and y to c, d foil gauge 24 is between two to being affixed on twist section 14 vertical planes of torsional cantilever beam 11, for horizontal force measurement; As shown in Figure 3, described z to a, b foil gauge 21 and z to c, d foil gauge 22 and y to a, b foil gauge 23 and y to c, d foil gauge 24 forms respectively bridge circuit, and is connected with control system 7 with data processing; Described z to a, b foil gauge 21 for be affixed on twist section 14 upper and lower surface z to upper a, lower b foil gauge and z to c, d foil gauge 22, for being affixed on make progress c, lower d foil gauge of the z of twist section 14 upper and lower surfaces, form one group; Described y to a, b foil gauge 23 for the y that is affixed on twist section 14 two sides, front and back forward a, rear b foil gauge and y to c, d foil gauge 24 for the y that is affixed on twist section 14 two sides, front and back forward the foil gauge of c, rear d form another group.
Described sample bench 3 comprises pressure pin 33, and one end of pressure pin 33 connects supporting plate 32, and supporting plate 32 is provided with sample board 31, and sample board 31 is provided with experiment cover 34, and as shown in Figure 4, experiment cover 34 has door 36, and experiment cover 34 is made by transparent organic glass; Experiment cover 34 is shaped as cube, and length is 20cm * 20cm * 20cm, and door 36 is of a size of 15cm * 15cm, and window size is 10cm * 5cm, and jug on door 36; The affixed fixed block 35 in four angles of supporting plate 32, sample board and pallet size are 10cm * 10cm.Sample board 31 is creeped thereon for insect or meiofauna, the affixed x nut 43 of pressure pin 33 other end, experiment cover 34 is for keeping experimental situation constant and be synchronized with the movement with supporting plate 32, and described sample board 32 can be smooth glass or silicon chip or the flaky materials such as polishing paper with certain roughness; Described experiment cover 34 is the bottom cube identical with supporting plate 32 or rectangular parallelepiped cover, front has the door 36 being connected through the hinge, right flank has fenestella to be passed through for torsional cantilever beam 11 and guarantees contact with it in experimentation, is to be made by transparent organic glass or transparent high polymer plastics.
Described xy travel mechanism 4 is comprised of 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, y nut 47 is affixed and be rotationally connected with x screw rod 42.Described x stepper motor 41 drives x screw rods 42 synchronously to rotate, and then drives x nut 43 on it along x to movement; Same described y stepper motor 45 drives y screw rods 46 synchronously to rotate, and then drives y nut 47 on it along y to movement; The x of described xy travel mechanism 4, y direction move through the tangential movement that pressure pin 33 synthesizes testing table 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, the affixed zy frame 54 of z nut 53.Described z stepper motor 51 drives z screw rod 52 synchronously to rotate, then drive z nut 53 on it along z to movement, and zy frame 54 affixed by the y stepper motor 45 of the xy travel mechanism 4 with described, that be rotationally connected with y screw rod 46 drives sample benchs 3 to move along z axle, vertically move up and down.The acquiescence rotating speed of x stepper motor 41, y stepper motor 45, z stepper motor 51 is 10r/min.
Described CCD imaging system 6 comprises overlooks video camera 61, side-looking video camera 62 and projection light source 63.Overlook video camera 61 for observing insect or the meiofauna position of creeping, side-looking video camera 62 is for observing whole test process insect or meiofauna Crawl gait, and projection light source 63 provides illumination.
As shown in Figure 5, described beam type insect or meiofauna are climbed attached force measurement device and are also comprised data processing and control system, described data processing and control system comprise computing machine 74, computing machine 74 connects force-measuring module 71, image analysis module 72 and drive control module 73, described force-measuring module 71 connects z to a, b foil gauge 21, z is to c, d foil gauge 22, y is to a, b foil gauge 23 and y are to c, d foil gauge 24, described image analysis module 72 connects overlooks video camera 61 and side-looking video camera 62, described drive control module 73 connects x stepper motor 41, y stepper motor 45, z stepper motor 51 and projection light source 63.Dynamometry unit 2 is for the measured power value of acquisition and processing foil gauge, image analysis module 72 is for gathering and analyzing insect or meiofauna creep position and gait, drive control module 73 is for controlling x, y, the brightness of the motion of z stepper motor controlling projection light source 63.
Using said apparatus to carry out beam type insect or meiofauna, to climb the concrete grammar that attached power measures as follows:
Step 2, get the sample board that will test 31, be cut into supporting plate 32 sizes, and be put on supporting plate 32, from sample plasma bottle, choose the insect that will test or meiofauna, if the insect of testing or meiofauna have wing (or jumping foot) and can fly (or jump), fasten with glue (or clamping with sample holder) together, so that it can not fly (or jump); Claim its weight m
ithe nearly barycenter position of selected insect or meiofauna, nothing are creeped to ability injury and tie down and be placed in sample bench 3 centers, lead 13 other ends are walked around gripping hole 12 and are tethered on torsional cantilever beam 11, lead 13 length are slightly larger than sample and to guarantee test, become relaxed state before to cantilever depth of beam, and cover experiment cover 34;
The situation that contacts of insect or meiofauna and sample board in step 4, observation test process, treats that insect or meiofauna slide on sample board surface, roll, or all soles stops testing while departing from sample board;
Step 5, repeating step 1-step 4 are tested, and test 30 times, test result is averaged, and process experimental result with computing machine, by formula (5), calculate the attached power of climbing;
Step 6, close x stepper motor 41, y stepper motor 45, z stepper motor 51, overlook video camera 61 and side-looking video camera 62, open door 36, take out insect or meiofauna, and be put back in sample plasma bottle, close door 36 and side direction photography 63, shut down computer 74.
Measuring principle of the present invention is:
According to overlooking insect or the meiofauna barycenter that video camera 61 photographs, tie down point (x, y) insect that position synchronously photographs with side-looking video camera 62 or meiofauna barycenter tie down a little the height z value that grips point 12 to torsional cantilever beam 11 with synchronize the z that records to y to power value together with, calculate the pulling force acting on this insect or meiofauna, this insect or meiofauna climbs attached power, and can calculate the axial component Fy of insect or the axial component Fz of meiofauna z and y and with the relation of gait, to force analysis of the present invention, have:
Arrange,
So, climb power F ζ and be:
And the quality of insect or meiofauna is m, have:
Therefore final insect or meiofauna are climbed attached power F
afor:
In formula, F
xthe axial component of x; F
ythe axial component of y, by y to a, b foil gauge 23 and y to c, d foil gauge 24 records; F
zbe the axial component of z, by z, to a, b foil gauge 21, z records to c, d foil gauge 22; F
abe that insect or meiofauna are climbed attached power, it is divided into along creeping the tangential power F of face
ζbe called the power of climbing and perpendicular to the normal force of the face of creeping, F
nbe called grip; M is the quality of insect or meiofauna; G is acceleration of gravity, 9.8g/m
2; X overlooks video camera to record insect or meiofauna from the axial vertical range of y; Y overlooks insect that video camera records or meiofauna from the axial vertical range of x.
Embodiment 2
Adopt beam type insect or meiofauna described in embodiment 1 to climb attached force measurement device, using fly as the insect that will test, the polishing paper that the grain size of usining is 5 μ m is as sample board 31, when testing it and freely creeping, climbs attached power;
Step 2, get the sample board that will test 31, be cut into supporting plate 32 sizes, and be put on supporting plate 32, from sample plasma bottle, choose a fly, its wing is fastened with glue together, claim its weight m
ithe nearly barycenter position of selected fly, nothing are creeped to ability injury and tie down and be placed in sample bench 3 centers, lead 13 other ends are walked around gripping hole 12 and are tethered on torsional cantilever beam 11, lead 13 length are slightly larger than sample and to guarantee test, become relaxed state before to cantilever depth of beam, and cover experiment cover 34;
The situation that contacts of this fly and sample board in step 4, observation test process, treats that this fly slides on sample board surface, roll, or all soles stops testing while departing from sample board;
Step 5, repeating step 1-step 4 are tested, and test 30 times, test result is averaged, and process experimental result with computing machine, by formula (5), calculate the attached power of climbing;
Step 6, close x stepper motor 41, y stepper motor 45, z stepper motor 51, overlook video camera 61 and side-looking video camera 62, open door 36, take out this fly, and be put back in sample plasma bottle, close door 36 and side direction photography 63, shut down computer 74.Concrete stepper motor parameter and experimental result are as shown in table 1.
Beam type insect or meiofauna described in employing embodiment 1 are climbed attached force measurement device, using spider as the insect that will test, and the polishing paper that the grain size of usining is 5 μ m is as sample board 31, and normal direction maximum when test polishing paper moves down is climbed attached power;
Step 2, get the sample board that will test 31, be cut into supporting plate 32 sizes, and be put on supporting plate 32, from sample plasma bottle, choose a spider, claim its weight m
ithe nearly barycenter position of selected spider, nothing are creeped to ability injury and tie down and be placed in sample bench 3 centers, lead 13 other ends are walked around gripping hole 12 and are tethered on torsional cantilever beam 11, lead 13 length are slightly larger than sample and to guarantee test, become relaxed state before to cantilever depth of beam, and cover experiment cover 34;
The situation that contacts of this spider and sample board in step 4, observation test process, treats that this spider slides on sample board surface, roll, or all soles stops testing while departing from sample board;
Step 5, repeating step 1-step 4 are tested, and test 30 times, test result is averaged, and process experimental result with computing machine, by formula (5), calculate the attached power of climbing;
Step 6, close x stepper motor 41, y stepper motor 45, z stepper motor 51, overlook video camera 61 and side-looking video camera 62, open door 36, take out this spider, and be put back in sample plasma bottle, close door 36 and side direction photography 63, shut down computer 74.Concrete stepper motor parameter and experimental result are as shown in table 1.
Embodiment 4
Adopt beam type insect or meiofauna described in embodiment 1 to climb attached force measurement device, using ant as the insect that will test, the silicon chip that the grain size of usining is 10 μ m is as sample board 31, on test silicon wafer surface level, climbs attached power;
Step 2, get the sample board that will test 31, be cut into supporting plate 32 sizes, and be put on supporting plate 32, from sample plasma bottle, choose an ant, claim its weight m
ithe nearly barycenter position of selected ant, nothing are creeped to ability injury and tie down and be placed in sample bench 3 centers, lead 13 other ends are walked around gripping hole 12 and are tethered on torsional cantilever beam 11, lead 13 length are slightly larger than sample and to guarantee test, become relaxed state before to cantilever depth of beam, and cover experiment cover 34;
The situation that contacts of this ant and sample board in step 4, observation test process, treats that this ant slides on sample board surface, roll, or all soles stops testing while departing from sample board;
Step 5, repeating step 1-step 4 are tested, and test 30 times, test result is averaged, and process experimental result with computing machine, by formula (5), calculate the attached power of climbing;
Step 6, close x stepper motor 41, y stepper motor 45, z stepper motor 51, overlook video camera 61 and side-looking video camera 62, open door 36, take out this ant, and be put back in sample plasma bottle, close door 36 and side direction photography 63, shut down computer 74.Concrete stepper motor parameter and experimental result are as shown in table 1.
Table 1x, y, parameter setting and the experimental result of z stepper motor
Note: when rotating speed is negative value, represent stepper motor reversion.
Claims (6)
1. a beam type insect or other meiofauna are climbed attached force measurement device, it is characterized in that, comprise semi-girder holder (1), foil gauge dynamometry unit (2), sample bench (3), xyZhou travel mechanism (4), z axle travel mechanism (5) and CCD imaging system (6), xyZhou travel mechanism (4) connects z axle travel mechanism (5) and sample bench (3), and semi-girder holder (1) connects foil gauge dynamometry unit (2); Described semi-girder holder (1) comprises torsional cantilever beam (11), the front end of torsional cantilever beam (11) is provided with and grips hole (12), grip hole (12) and connect pull strings (13), the root of torsional cantilever beam (11) is provided with the twist section (14) that four beams form, and four beams rotate 90 ° successively; Described foil gauge dynamometry unit (2) comprises that z is to a, b foil gauge (21), z to c, d foil gauge (22), y to a, b foil gauge (23) and y to c, d foil gauge (24); Described z to a, b foil gauge (21) and z to c, d foil gauge (22) and y to a, b foil gauge (23) and y to c, d foil gauge (24) forms respectively bridge circuit; Described sample bench (3) comprises pressure pin (33), one end of pressure pin (33) connects supporting plate (32), supporting plate (32) is provided with sample board (31), sample board (31) is provided with experiment cover (34), experiment cover (34) has door (36), four affixed fixed blocks in angle (35) of supporting plate (32).
2. beam type insect as claimed in claim 1 or other meiofauna are climbed attached force measurement device, it is characterized in that, described xy travel mechanism (4) is comprised of 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), y screw rod (46) connects y nut (47), and described xy frame (44) and x stepper motor (41), y nut (47) is affixed and be rotationally connected with x screw rod (42).
3. beam type insect as claimed in claim 1 or other meiofauna are climbed attached force measurement device, 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), the affixed zy frame of z nut (53) (54).
4. beam type insect as claimed in claim 1 or other meiofauna are climbed attached force measurement device, it is characterized in that, described CCD imaging system (6) comprises overlooks video camera (61), side-looking video camera (62) and projection light source (63).
5. beam type insect as claimed in claim 1 or other meiofauna are climbed attached force measurement device, it is characterized in that, also comprise data processing and control system, described data processing and control system comprise computing machine (74), computing machine (74) connects force-measuring module (71), image analysis module (72) and drive control module (73), described xyZhou 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 CCD imaging system (6) comprises overlooks video camera (61), side-looking video camera (62) and projection light source (63), described force-measuring module (71) connects z to a, b foil gauge (21), z is to c, d foil gauge (22), y is to a, b foil gauge (23) and y are to c, d foil gauge (24), described image analysis module (72) connects overlooks video camera (61) and side-looking video camera (62), described drive control module (73) connects x stepper motor (41), y stepper motor (45), z stepper motor (51) and projection light source (63).
6. beam type insect or other meiofauna are climbed an attached force measurement method, it is characterized in that, adopt beam type insect claimed in claim 1 or other meiofauna to climb attached force measurement device, and concrete steps are:
The first step: insect or other meiofauna are placed on sample bench (3);
Second step: climb attached power and gait thereof while freely creeping with described foil gauge dynamometry unit (2) and CCD imaging system (6) observation insect or other meiofauna, when described sample bench (3) moves down, survey and climb attached power, or rapid horizontal is surveyed the unbalance speed of gait of insect or other meiofauna and climbs attached power;
The 3rd step: the attached power of climbing of calculating insect or other meiofauna.
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| CN104614109B (en) * | 2015-01-16 | 2017-01-25 | 上海交通大学 | Non-contact force measuring device and non-contact force measuring method |
| CN105258833B (en) * | 2015-09-25 | 2017-08-04 | 南京航空航天大学 | Climb wall animal and imitate face of cylinder climbing mechanics and performance testing system |
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