CN111184592A

CN111184592A - Active motion type animal experiment platform

Info

Publication number: CN111184592A
Application number: CN202010094671.4A
Authority: CN
Inventors: 胡耀中; 詹阳
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2020-02-16
Filing date: 2020-02-16
Publication date: 2020-05-22

Abstract

The invention relates to an active movement type animal experiment platform, which comprises a base and a fixing piece for fixing a certain part of an animal, wherein the base comprises a supporting platform, a field placing platform and a driving system, the field placing platform is horizontally and slidably connected to the supporting platform, the active movement type animal experiment platform also comprises a fixing arm, the fixing arm is provided with an outer ring, an inner ring is hinged to the inner ball of the outer ring, the fixing piece is arranged on the inner ring, pressure sensors are distributed on the outer ring at intervals, a first trigger arm which corresponds to and collides with the detection end of the pressure sensor is arranged on the inner ring, and the animal activity triggers the pressure sensor to enable the driving system to drive the field placing platform to move in; when the animal has horizontal migration's wish in the experiment, correspond pressure sensor transmission signal and order about place platform reverse movement for actuating system, satisfy the needs that the animal removed according to this, the animal need not to consume physical power and order about whole place platform and remove during, and is little to the physical power consumption of animal, and application range is wide and the suitability is good.

Description

Active motion type animal experiment platform

Technical Field

The invention relates to the technical field of animal experiments, in particular to an active motion type animal experiment platform.

Background

In biological experiments, the animal is placed in a field environment to observe the behavior of the animal, and common three-box social experiments of big and small mice, open field experiments of the big and small mice and the like exist. Sometimes, in order to study some related problems of neuroscience and the like, a certain part of the experimental animal needs to be fixed for observation and operation of the experimental animal, such as living observation and recording of the mouse brain by using a large-scale two-photon microscope. However, after the experimental animal is fixed, the experimental animal cannot move freely in the field, which is a contradiction.

The existing head fixing technology and the device for ensuring the relative free movement of the experimental animal are mostly in passive movement. For example, the fixed cognitive action detecting system of mouse head (Mobile homepage) of the science and technology (BLACKROCK) company, its theory of operation is after fixing the mouse head, place the mouse in a small circle ground that is floating with high-pressure draught blowing, because the ground is very little and air suspension has reduced the frictional force of place and lower part supporting platform, the mouse just can drive the place through the motion of self, so can accomplish the mouse motionless and the place is moving, thereby accomplish the relative free motion of mouse in two-dimensional plane. For example, the JetBall virtual reality system (https:// www.phenosys.com/products/virtual-real /) from PHENOSYS corporation operates by placing a laboratory mouse on a foam float that is floated by a high pressure air stream. The head of the experimental mouse is fixed, and the floating ball can rotate freely in all directions, and has small resistance and light weight, so that the mouse can drive the floating ball to rotate by self strength. After the rotation of the floating ball is detected by a computer, the virtual reality scene is displayed in front of the experimental mouse in real time through a display or a projector, so that the experimental mouse can be simulated to perform free motion in a two-dimensional plane in a certain field.

However, the above mentioned experiment uses the power of the mouse itself as the power source, drives the experiment external experiment equipment, the physical consumption of the experimental animal is large, and some objects with special shapes need to be added in some experiments as part of the experiment, such as three-box social experiments, the above mentioned experiment is difficult to add other real objects on the field, so the application range is limited, and needs further improvement.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an active movement type animal experiment platform which can be used for adding other real objects in the experiment process, has a wide application range and consumes less physical energy of animals in the period.

The above object of the present invention is achieved by the following technical solutions:

the utility model provides an initiative sport type animal experiment platform, includes the base and is used for the mounting of certain position of fixed animal, the base includes supporting platform and place placing platform, place placing platform horizontal sliding connection is on supporting platform, the last actuating system who orders about place placing platform horizontal direction and remove that is provided with of supporting platform still includes the fixed arm that is located place platform top, be provided with the outer loop on the fixed arm, outer intra-annular ball pivot has the inner ring, the mounting sets up on the inner ring, interval distribution has pressure sensor on the outer ring, be provided with the first arm that triggers that corresponds and contradict with pressure sensor's sense terminal on the inner ring, animal activity triggers pressure sensor makes actuating system order about place placing platform and remove in the opposite direction for the action of animal.

Therefore, the field placement platform can horizontally and freely move on the supporting platform, the field placement platform is fixed at a certain part of an animal, such as the head, by means of the fixing piece in a specific experimental process, when the animal has the desire of horizontal movement in the period, the pressure sensor is reflected to the pressure sensor on the corresponding outer ring according to the stress condition, then the pressure sensor transmits a signal to the driving system to drive the field placement platform to reversely move, the requirement of moving the animal is met, the animal does not need to consume physical power to drive the whole placement platform to move in the period, the physical power consumption of the animal is small, and other real objects can be used on the field placement platform according to the requirement of some experiments, so that the purposes of wide application range and good applicability are achieved; and the experimental animal is not shielded above the fixed position, so that observation is facilitated, and even large-scale instruments are used for observation.

The present invention in a preferred example may be further configured to: the animal steering triggering static torque sensor enables the driving system to drive the field placing platform to rotate reversely.

Because the animal activity is more than only horizontal migration, the condition that the period still can involve turning to further with the help of static torque sensor's setting, triggers static torque sensor when the animal turns left or turns right to this transmission signal drives place platform and rotates the action that turns to that adapts to the animal in the opposite direction for actuating system, thereby satisfies the animal and keeping under the certain motionless condition of position, can the natural activity, the better accuracy of guaranteeing the experiment.

The present invention in a preferred example may be further configured to: the drive system includes mecanum wheel driving system, mecanum wheel driving system includes organism and four symmetrical mecanum wheels, be provided with on the organism and order about each mecanum wheel pivoted driving motor, mecanum wheel top butt place platform diapire.

The Mecanum wheels are driven to rotate by the aid of the independent driving motors, so that the Mecanum wheel power system can well and stably drive the upper field placing platform to move in all directions on the horizontal plane, and the Mecanum wheel power system is better adapted to meet all movement actions of animals in the experimental process.

The present invention in a preferred example may be further configured to: a plurality of bull's eye universal wheels are evenly distributed on the supporting platform, and the bull's eye universal wheels butt on the place placing platform diapire.

Further with the help of evenly distributed's bull's eye universal wheel setting for supporting platform's top and place the platform diapire are the point contact, thereby effectively reduce frictional resistance, make place the platform's removal more smooth and easy.

The present invention in a preferred example may be further configured to: the pressure sensors are arranged in four directions which are uniformly distributed in the front, the back, the left and the right.

The pressure sensors arranged in this way are respectively positioned in four directions, namely front, back, left and right, so that the movement direction of the animals can be well corresponding to each other, the action intention of the animals on the field placement platform can be well reflected through the pressure sensors, and meanwhile, the driving system is convenient for driving the accuracy of horizontal movement of the field placement platform.

The present invention in a preferred example may be further configured to: the fixed arm includes the cantilever, the end connection of cantilever has electronic flexible piece, the outer loop sets up on electronic flexible piece.

Through setting up electronic flexible piece, the high position control to the mounting can be realized to the flexible of electronic flexible piece to can effectively adjust according to actual need, ensure that the mounting can be good fix certain position at the animal, the animal experiment of suitable not equidimension type that simultaneously can be better, the suitability is better.

The present invention in a preferred example may be further configured to: the mounting is including surrounding the fixed strip of circumference evenly distributed on the inner ring, the fixed strip is the arc strip form and bottom tip offers the fixed orifices that is used for fixing.

Each arc strip-shaped fixing strip evenly distributed is convenient for its tip and the fixed of certain position of animal on the one hand, and on the other hand ensures that all directions have the fixing strip to fix, and power can be even when the animal moves transmits to each fixing strip on to make the transmission that the atress can be good embody pressure sensor, also make the whole atress of mounting more even simultaneously, the durability is better.

The present invention in a preferred example may be further configured to: the highest point of the Mecanum wheel is consistent with the highest point of the bull-eye universal wheel in height.

The good levelness that keeps of place platform that can be good like this to and the levelness that place platform removed in the experimentation, be favorable to experimental data's the degree of accuracy.

The present invention in a preferred example may be further configured to: the detection end of the static torque sensor is provided with a V-shaped groove, and the end part of the second trigger arm is provided with a plug-in part matched with the V-shaped groove.

The second trigger arm is connected with the static torque sensor through the matching of the insertion part and the V-shaped groove, the end part of the second trigger arm is convenient to install and insert in the installation process due to the V-shaped structure, and force can be well transmitted to the static torque sensor to be reflected and triggered no matter the second trigger arm rotates clockwise or anticlockwise.

The present invention in a preferred example may be further configured to: the supporting platform is provided with an inwards concave mounting groove for mounting a driving system in the middle.

The installation of the driving system is facilitated by the arrangement of the installation groove, the installation groove is directly arranged in the middle of the supporting platform, the occupied space can be effectively saved, and the whole size is effectively reduced.

In summary, the invention includes at least one of the following beneficial technical effects:

1. the experimental animals are easier and more natural, and the tension feeling is less;

2. the free movement experiment of fixed animals can be carried out in a more complicated, large, heavier or other object-containing field;

3. meanwhile, the experimental animal is ensured to carry out experiments in a real environment, and all the sensory information is natural information.

4. Long-time adaptation training is not needed, and only a simple adaptation process is needed.

Drawings

Fig. 1 is a schematic view of the overall structure of the present embodiment.

Fig. 2 is an exploded view of the field placement platform and the support platform in this embodiment.

Fig. 3 is a structural view of the fixing arm in this embodiment.

Fig. 4 is a structural view of the fixing member in this embodiment.

Fig. 5 is a structural view of the inner ring in the present embodiment.

Fig. 6 is a schematic diagram of the side view of the inner ring of the experimental animal when the experimental animal is going forward.

FIG. 7 is a schematic diagram of the upper apparent force of the inner ring when the experimental animal performs right-turn simulation.

Fig. 8 is a schematic diagram of the side view force analysis of the inner ring when the experimental animal raises its head.

Reference numerals: 1. a base; 11. a support platform; 12. a field placement platform; 2. a fixed arm; 21. a fixed part; 22. a cantilever; 3. a fixing member; 31. an outer ring; 32. an inner ring; 33. a fixing strip; 34. a fixing hole; 35. mounting an arm; 4. mounting grooves; 5. a Mecanum wheel system; 51. a body; 52. a Mecanum wheel; 6. a bull's eye universal wheel; 71. a pressure sensor; 72. a static torque sensor; 73. a first trigger arm; 74. a second trigger arm; 75. a V-shaped groove; 76. a plug-in part; 8. an installation part; 9. an electric telescopic block.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1 and 3, the active movement type animal experiment platform disclosed by the invention comprises a base 1 and a fixed arm 2, wherein the fixed arm 2 is L-shaped and comprises a vertical fixed part 21 and a horizontal cantilever 22, the base 1 comprises a supporting platform 11 and a field placing platform 12, the field placing platform 12 is sheet-shaped and is placed on the supporting platform 11, the field placing platform 12 is horizontally arranged, the top surface of the field placing platform 12 is a horizontal plane, and the field placing platform 12 can freely and horizontally move on the supporting platform 11; the cantilever 22 is positioned above the supporting platform 11 and arranged in parallel, and the end of the cantilever 22 is provided with a fixing part 3 for fixing a certain part of the experimental animal, such as the head of a mouse; in addition, a mounting groove 4 is formed at the center of the base 1 and is inwards concave downwards, and a driving system for driving the field placing platform 12 to horizontally move is arranged in the mounting groove 4.

As shown in fig. 2, the driving system includes a mecanum wheel system 5, the mecanum wheel system 5 includes a central body 51 and four mecanum wheels 52 symmetrically disposed on two sides, meanwhile, a driving motor (not shown in the figure) is disposed on the body 51 for independently driving each mecanum wheel 52 to rotate, and the top of the mecanum wheel 52 abuts against the bottom wall of the venue placing platform 12, so that the upper venue placing platform 12 can be driven to perform omnidirectional movement (forward, backward, leftward, rightward, leftward and rightward rotations) on the horizontal plane well and stably by the mecanum wheel system 5; in order to effectively reduce the friction resistance of the field placement platform 12 in the moving process, the top surface of the field placement platform 12 is provided with the evenly distributed bull-eye universal wheels 6, and the highest points of the bull-eye universal wheels 6 are consistent with the highest points of the Mecanum wheels 52 in height, so that the field placement platform 12 is in one plane when moving on the ground placement platform 12, and the Mecanum wheels 52 and the bull-eye universal wheels 6 are in point contact with the bottom wall of the field placement platform 12, so that the field placement platform 12 can be driven more easily and has better moving smoothness.

As shown in fig. 4 and 5, the fixing member 3 includes an outer ring 31 and an inner ring 32, the outer surface of the inner ring 32 is a cambered surface and is spherically hinged in the outer ring 31, that is, the inner ring 32 can perform universal movement relative to the outer ring 31, the outer ring 31 and the inner ring 32 form an annular hollow spherical joint structure, that is, a centripetal joint bearing structure, and at the same time, fixing strips 33 extending downward are uniformly arranged around the circumference at the bottom of the inner ring 32, the fixing strips 33 are provided with four fixing holes 34, each of which is arc-shaped and has an end portion opened for fixing, and are fixed with the head of a mouse by means of the fixing holes 34 (in the figure, the head of a mouse is fixed, and in practice, the fixing member can be applied to similar rodent experimental animals, reptiles, or the head of a larger primate experimental animal, vertebrae, or other parts under the condition that the size of the head sensor module is appropriately changed). In addition, the outer circumference of the outer ring 31 extends upwards to form four mounting arms 35, the four mounting arms 35 are uniformly arranged around the circumference of the outer ring 31, each mounting arm 35 is fixedly provided with a pressure sensor 71, each pressure sensor 71 is a high-sensitivity static pressure sensor and is used for transmitting a signal to the Mecanum wheel system 5 to drive the field placing platform 12 to move, the moving direction of the field placing platform 12 driven by the Mecanum wheel system 5 in an experiment is opposite to the moving intention direction of an experimental animal, the detection end of each pressure sensor 71 is arranged downwards, and the four pressure sensors 71 are distributed in four directions corresponding to the front, the back, the left and the right; and first trigger arms 73 corresponding to the respective pressure sensors 71 are fixed to the top surface of the inner ring 32, and the top surfaces of the ends of the first trigger arms 73 contact the sensing ends of the pressure sensors 71.

Taking the example of the fixture 3 for fixing the head of the experimental animal, when the animal has a desire to move forward, the animal grips the ground and forces it forward to apply a forward force F1 (shown in fig. 6) to the inner ring 32, due to the lever principle and moment balance:

F1*r=F2*L

and:

F3=F2*sin(θ)

therefore, the pressure sensor 71 will detect the force F3, and by detecting the magnitude of the force F3, the experimental animal can sense whether the experimental animal has the intention of running forward and the intention degree of the experimental animal. In the same way, whether the experimental animal has the willingness to move leftwards, rightwards and backwards can be detected. When the pressure sensor 71 detects that the animal has a forward movement intention, a feedback signal drives the field placing platform 12 to move backwards for the mecanum wheel system 5 to meet the forward movement of the animal, and the directions of other movement intentions are the same, so that the movement of the field placing platform 12 is not driven by the physical strength of the animal, the physical strength consumption of the experimental animal is small, and other real objects required by the experiment can be placed on the field placing platform 12 according to different experiment requirements.

As shown in fig. 4 and 5, a static torque sensor 72 is fixed at the rear portion of the outer ring 31, the static torque sensor 72 also has high sensitivity, a detection end of the static torque sensor 72 faces the center of the outer ring 31, a second trigger arm 74 is fixed on the top surface of the inner ring 32, a V-shaped groove 75 is formed at the detection end of the static torque sensor 72, and an insertion portion 76 adapted to the V-shaped groove 75 is arranged at an end portion of the second trigger arm 74.

When the animal has the intention to rotate to the right, the animal twists the body to apply a rightward tangential force F4 (fig. 7) to the outer socket ring 31, according to the lever principle and moment balance:

F4*r1=F5*r2

the torsion sensor detects the size of the F5, so that whether the experimental animal intends to turn right or not and the intention degree of the experimental animal are sensed. The same can detect whether the experimental animal has the intention of turning left. When the experimental animal is detected to have the intention of turning left, corresponding signals are transmitted to the Mecanum wheel 52 system 5 to drive the field placing platform 12 to turn right.

Therefore, no matter the animal moves or turns to, the field placing platform 12 can be driven to move correspondingly in time through the pressure sensor 71 and the static torque sensor 72 to meet the activity requirement, so that the experimental animal is enabled to feel easier, natural and less tense, the experimental animal is enabled to perform experiments in the real environment, and all senses are acquired and are natural information.

In addition, if the experimental animal translates the body up and down or tilts the body back and forth and left and right, the situation of false recognition of the sensor is caused.

If the experimental animal only moves the body up and down in parallel (for example, when the experimental animal is a mouse, the fixed part is a back spine, and the mouse does an arch back or lies prone), the false recognition of the static torque sensor 72 cannot be caused, because of the special structure of the ball joint, the inner ring 32 only rotates along all directions, and all forces pointing to the center of the ball joint cannot cause any rotation of the ball joint. When the animal translates up and down, the force applied to the inner ring 32 of the ball joint is just directed to the center of the ball joint, so the force does not cause the inner ring 32 to rotate, and the static torque sensor 72 only detects the stress of the rotation of the inner ring 32, so the static torque sensor 72 cannot be mistakenly identified.

If the experimental animal is tilted (for example, if the experimental animal is a mouse, the fixed part is the head, and the mouse performs the head-up or head-down movement), the force applied to the inner ring 32 when the head is fixed is analyzed as shown in fig. 8. Since the animal's head can only rotate around the rotation center (O') of the fixed part, according to the lever principle and moment balance:

F7*r=F2*L

and:

F7=sin(α)*F6

F3=F2*sin(θ)

therefore, the method comprises the following steps:

F3=F6*sin(α)*sin(θ)*r/L

since sin (α) is small, F3 is also small, and at this time, the effective motion detection threshold value at the time of detection by the pressure sensor 71 is reasonably set at the control end (that is, if the force detected by the pressure sensor 71 is smaller than the threshold value, the detected force is regarded as 0), the small force can be ignored, and thus, false detection is not achieved.

As shown in fig. 3 and 4, a mounting portion 8 extends on one side of the outer ring 31, while an electric telescopic block 9 is provided at an end portion of the boom 22, the mounting portion 8 being fixed on one side of the electric telescopic block 9; thereby can realize the altitude mixture control of mounting 3 with the help of electronic flexible piece 9, can satisfy the experimental demand of more not co-altitude animals, the suitability is better, wherein electronic flexible piece 9 adopt current electric telescopic handle can.

The implementation principle of the embodiment is as follows: firstly, an experimental animal is placed on the field placing platform 12, then the experimental animal is fixed with a certain part of the animal by virtue of the fixing strip 33 on the inner ring 32, when the animal has a desire to move forwards, the animal is transmitted to the pressure sensor 71 positioned in front by force transmission, and the pressure sensor 71 transmits a signal to the driving system to drive the field placing platform 12 to move backwards, so that the requirement of animal activity is met; when the animal has the desire to turn right, the force is transmitted to the static torque sensor 72, and the static torque sensor 72 transmits a signal to the driving system to drive the field placing platform 12 to turn left; the experimental animal can still freely move after being fixed at a certain position, and the detection and observation are carried out by other detection equipment or observation equipment during the period, so that the accuracy of the obtained experimental data is better.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.

Claims

1. The utility model provides an initiative moving type animal experiment platform, includes base (1) and is used for fixed mounting (3) of certain position of fixed animal, its characterized in that: the base (1) comprises a supporting platform (11) and a field placing platform (12), the field placing platform (12) is horizontally connected on the supporting platform (11) in a sliding way, the supporting platform (11) is provided with a driving system which drives the field placing platform (12) to move in the horizontal direction and also comprises a fixed arm (2) positioned above the field platform, an outer ring (31) is arranged on the fixed arm (2), an inner ring (32) is hinged in the outer ring (31) in a spherical way, the fixing piece (3) is arranged on the inner ring (32), the pressure sensors (71) are distributed on the outer ring (31) at intervals, the inner ring (32) is provided with a first trigger arm (73) which corresponds to and is abutted against the detection end of the pressure sensor (71), and the pressure sensor (71) is triggered by the movement of the animal, so that the driving system drives the field placing platform (12) to move in the opposite direction relative to the action of the animal.

2. The active sports animal experiment platform of claim 1, wherein: the animal turning and triggering device is characterized in that a static torque sensor (72) is arranged on the outer ring (31), a second triggering arm (74) which is in contact with the detection end of the static torque sensor (72) and is used for triggering is arranged on the inner ring (32), and the animal turning and triggering the static torque sensor (72) enables the driving system to drive the field placing platform (12) to rotate reversely.

3. The active sports animal experiment platform of claim 1, wherein: the driving system comprises a Mecanum wheel power system (5), the Mecanum wheel power system (5) comprises a machine body (51) and four symmetrical Mecanum wheels (52), a driving motor for driving each Mecanum wheel (52) to rotate is arranged on the machine body (51), and the top of each Mecanum wheel (52) abuts against the bottom wall of the field placement platform (12).

4. The active locomotion animal experiment platform of claim 3, wherein: a plurality of bull's eye universal wheels (6) are evenly distributed on the supporting platform (11), and the bull's eye universal wheels (6) butt on place platform (12) diapire.

5. The active sports animal experiment platform of claim 1, wherein: the four pressure sensors (71) are uniformly distributed in the front direction, the rear direction, the left direction and the right direction.

6. The active sports animal experiment platform of claim 1, wherein: the fixing arm (2) comprises a cantilever (22), the end part of the cantilever (22) is connected with an electric telescopic block (9), and the outer ring (31) is arranged on the electric telescopic block (9).

7. The active sports animal experiment platform of claim 1, wherein: the fixing piece (3) comprises fixing strips (33) which are uniformly distributed on the inner ring (32) around the circumference, wherein the fixing strips (33) are arc-shaped, and the end part of the bottom of the fixing strip is provided with a fixing hole (34) for fixing.

8. The active sports animal experiment platform of claim 4, wherein: the highest point of the Mecanum wheel (52) is consistent with the height of the highest point of the bull-eye universal wheel (6).

9. The active sports animal experiment platform of claim 2, wherein: the detection end of the static torque sensor (72) is provided with a V-shaped groove (75), and the end part of the second trigger arm (74) is provided with an insertion part (76) matched with the V-shaped groove (75).

10. The active locomotion animal experiment platform of claim 3, wherein: and the middle part of the supporting platform (11) is provided with an inwards concave mounting groove (4) for mounting a driving system.