CN202016516U - Simulated mouse moving structure used for animal memory training system - Google Patents
Simulated mouse moving structure used for animal memory training system Download PDFInfo
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- CN202016516U CN202016516U CN2011200559811U CN201120055981U CN202016516U CN 202016516 U CN202016516 U CN 202016516U CN 2011200559811 U CN2011200559811 U CN 2011200559811U CN 201120055981 U CN201120055981 U CN 201120055981U CN 202016516 U CN202016516 U CN 202016516U
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Abstract
A simulated mouse moving structure used for an animal memory training system solves the problem that a simulated mouse cannot move agilely on a rotating screen of a maze device. The simulated mouse moving structure used for the animal memory training system comprises a moving cart and is characterized by further comprising a wheel driving system and a swing leg driving system. Combined with the existing robot technology, a novel moving platform is designed according to requirements of moving ability of the simulated mouse from the memory training system, and a combined wheel-leg driving mode is adopted. Besides, the simulated mouse moving structure has the advantages of agileness in moving, compact and skillful structure, higher interchanging performance and the like, and is particularly applicable to a closed rotating type maze device.
Description
Technical field
The utility model relates to the bionic mechanical mouse structure that animal memory training system uses, particularly a kind of bionical mouse moving structure that is used for animal memory training system that adopts the compound move mode of wheel-leg, be not only applicable to ground grading, and can be on rotary screen flexible motion.Be specially adapted to closed rotary labyrinth device.
Background technology
At present, the research of bio-robot is to the development of AUTONOMOUS TASK aspects such as the monitoring of aerospace, space exploration, military surveillance, public safety, radioactivation or hazardous environment, underfloor duct maintenance, disease examination treatment, rescue and relief work.Complicated along with robot working environment and task requires robot to have higher kinematic dexterity and at the comformability of special circumstances not known.
In like manner in animal memory training system, press for a kind of bionic mechanical mouse of development.With biological mouse and bionical mouse is support, can carry out initial analysis and bionical research to the intelligent independent behavior of biological mouse, fully observes biological mouse and bionical mouse to formed adaptive behavior of different stimulated and learning behavior.On the basis of animal independent behaviour The Characteristics, carry out the comparison behaviouristics research of animal behavior and artificial intelligence and the study and the comformability research of animal intelligence, this Research Significance is also very great.Yet realize this research, the primary problem that solves is exactly the maneuvering performance of bionic mechanical mouse, and it needs can advance flexibly in training system, retreat and turn to.
The memory training system that mentions herein is a kind of checking system that adopts circular camera bellows formula labyrinth as the behavioral data harvester, allow experimental mouse by the door opening in the device of labyrinth, C/LOOP is passed through in path along appointment, finish circuit training successively, utilize autokinetic movement of mouse and the passive movement that rotation drives, again in conjunction with each the data processing and control unit that is integrated in data collecting card, gather and handle corresponding signal respectively, by the MySQL data bank of PCP/IP protocol transmission in the microprocessor control system, and utilize statistical package to handle, control and monitor the crawler behavior of mouse at any time.This software adopts the C# programming language to finish the work of writing of software in conjunction with the .NET framework, and translation and compiling environment adopts Visual Studio 2008.Native system degree of automation height, easy and simple to handle, data handing science, accurate.But sieve shape supporting network structure is adopted in the fence of this training system bottom, and in use sieving the shape supporting network can be according to training program rotating rotation and speed governing.At the iron wire screen cloth of this landform-----rotation, require the bionic mechanical mouse must possess well behaved travel mechanism more and realize various motor functions, freely advance, retreat and turn to.
Existing literature survey shows, the bionic machine mouse, English name is called Micromouse, it is a member in the bio-robot big family, the mobile form of imitation mouse is come project organization, uses a kind of intelligent walking device (microrobot) of embedded microcontroller, sensor and electromechanical movement component set-up, and the path can be remembered and select to the bionic machine mouse automatically in different " labyrinth ", adopt corresponding algorithm, reach the destination that sets apace.The bionic machine mouse is a small-sized robotic vehicle by microprocessor control, has decoding and navigation function in complicated labyrinth.Yet these bionic mechanical mouse all are to be applicable to the ground grading motion.Application number is that 001287002.8 patent of invention discloses a kind of " mechanical mouse ", this patent is mentioned a kind of mechanical mouse of driveing mouse by threatening, it comprises simulation mouse, simulation mousetrap, sound circuit and CD-ROM drive motor, and the state of struggling, calling out when being caught with the simulation mouse reaches the purpose of initiatively driveing mouse.It is characterized in that having the simulation mousetrap, the simulation mouse links to each other with the simulation mousetrap, and sound circuit is fixed in the simulation mousetrap or simulates in the mouse; Described mechanical mouse has CD-ROM drive motor, and CD-ROM drive motor links to each other with the simulation mouse or CD-ROM drive motor links to each other with the simulation mousetrap; But it is a kind of irremovable structure.
To sum up, from available data, can not find as yet by the bionical mouse of flexible motion on rotary screen, the bionical mouse moving structure that can reach above-mentioned flexible motion is demanded exploitation urgently.
The utility model content
The purpose of this utility model is for the bionical mouse moving structure that provides a kind of structure design simply, reasonably to be used for animal memory training system, overcome existing bionical mouse can not be on the rotary screen of labyrinth device the problem of flexible motion.
The technical solution of the utility model is: a kind of bionical mouse moving structure that is used for animal memory training system, comprise moving body, and its technical essential is: also comprise wheel drive system and swinging kick drive system;
Described wheel drive system is provided with in described moving body bilateral symmetry, comprise left and right limit drive motor, left and right front-wheel, left and right trailing wheel, left and right preamble belt wheel, left and right in synchronous pulley, left and right back synchronous pulley, left and right synchronous band; Described the near front wheel and left front synchronous pulley be coaxial to be fixed on the output shaft of described left side drive motor, described left side drive motor is installed in the front portion of described moving body, the coaxial described moving body rear portion that is fixed on of described left rear wheel and left back synchronous pulley, described left side drive motor by a described left side be with synchronously, left front synchronous pulley, left back synchronous pulley, drive the near front wheel and left rear wheel and do continuous rotation; The coaxial described moving body front portion that is fixed on of described off front wheel and right front synchronous pulley, described off hind wheel and right back synchronous pulley be coaxial to be fixed on the output shaft of described the right drive motor, described the right drive motor is installed in the rear portion of described moving body, described the right drive motor by the described right side be with synchronously, right front synchronous pulley, right back synchronous pulley, drive off front wheel and off hind wheel and do continuous rotation;
Described swinging kick drive system is provided with in described moving body rear portion bilateral symmetry, comprise the left and right side swinging kick, described left and right side swinging kick inboard is provided with the left and right rocking bar of chute respectively and is driven by described left and right middle synchronous pulley respectively, described left and right middle synchronous pulley is separately fixed at described moving body outer cover both sides, is driven by described left and right synchronous band respectively; Coaxial first right gear of fixing of synchronous pulley in the described right side, described first right gear is meshing with each other with second right gear that is fixed on the described moving body outer cover, described first right gear and the second right gear side are fixed with bearing pin respectively, the free end that is fixed on the bearing pin on described first right gear stretches in the chute of described right rocking bar and can slide within it, being fixed on the other end of the bearing pin on described second right gear and right rocking bar and right side swinging kick fixes, when described first right gear and second right gear are meshing with each other transmission, bearing pin on described first right gear slides in the chute of described right rocking bar, realizes the periodic wobble of right side swinging kick; Coaxial first left gear of fixing of synchronous pulley in the described left side, described first left gear is meshing with each other with second left gear that is fixed on the described moving body outer cover, described first left gear and the second left gear side are fixed with bearing pin respectively, the free end that is fixed on the bearing pin on described first left gear stretches in the chute of described left rocking bar and can slide within it, being fixed on the other end of the bearing pin on described second left gear and left rocking bar and left side swinging kick fixes, when described first left gear and second left gear are meshing with each other transmission, bearing pin on described first left gear slides in the chute of described left rocking bar, realizes the periodic wobble of left side swinging kick.
The left and right front-wheel of described wheel drive system, left and right trailing wheel are in the rectangular layout in described moving body both sides.
The left and right limit drive motor of described wheel drive system can be adjusted rotating, and then it is consistent or not to drive described moving body both sides sense of motions, sense of motion unanimity when left and right both sides, can realize moving forward and backward of bionical mouse, inconsistent when the sense of motion on left and right both sides, can realize left and right sides divertical motion.
Advantage of the present utility model and positive technique effect are: the utility model in conjunction with existing Robotics, designs a kind of later-model mobile platform according to the requirement of memory training system to bionical mouse motor function, has adopted the compound type of drive of wheel-leg.Moving of bionical mouse by adopting four-wheel to drive (main motion) entirely and the double pendulum leg intermittently drives (auxilliary driving) and unites realization.Wheeled drive mechanism is adopted in bionical mouse main motion, adopt the plate-type chassis structure simultaneously, make the mobile robot guarantee that its scantling of structure can lower the center of gravity as much as possible, by passing through hole in the memory training system, and have certain space, can guarantee in learning and memory behavior training system, to become the autonomous mobile robot platform that carries multiple device.Simultaneously in order to have the ability that moves on mesh-like ground, in order to make that wheel can proper motion, can not produce the situation that wheel is stuck in network interface, at the appropriate design wheel diameter with when adopting the full drive pattern of four-wheel, increased the double pendulum leg and intermittently driven.The full drive pattern of four-wheel can guarantee kinematic velocity and drive efficiency faster, wheel is in case sink in screen cloth, the double pendulum leg intermittently drives and can produce upwards and thrust forward, so can not produce stuck phenomenon, guarantee the normal walking of bionical mouse on wire side, and then guaranteed the condition of readiness of observed data.To sum up, the utlity model has and move advantages such as active and intelligent, advantages of compact and light structure, exchange performance are stronger.
Description of drawings
The utility model is described in further detail in conjunction with the accompanying drawings:
Fig. 1 is a kind of structural representation of the present utility model;
Fig. 2 is the structural representation that the utility model is laid down moving body;
Fig. 3 is the structural representation of swinging kick of the utility model right side and drive element thereof;
Fig. 4 is the structural representation of the utility model right side swinging kick, and the bearing pin of fixing on first right gear among the figure stretches in the right rocking bar chute, and the bearing pin of second right gear then is fixed on the right rocking bar simultaneously;
Fig. 5 is the structural representation that the utility model outside installs outer cover additional, the i.e. outside drawing of bionical mouse;
Fig. 6 is the structural representation that electrical controller is set on the utility model moving body;
Fig. 7 utilizes the stroke scheme drawing of the bionical mouse of the utility model design-calculated on rotary screen;
Fig. 8 is the concrete structure scheme drawing of labyrinth device;
Fig. 9 is the birds-eye view of Fig. 8.
Sequence number explanation among the figure: 1 moving body, 2 off front wheel, 3 right bands synchronously, 4 right side swinging kicks, 5 off hind wheels, 6 left rear wheels, 7 left back synchronous pulleys, 8 left side swinging kicks, 9 left sides are band synchronously, 10 the near front wheels, 11 left front synchronous pulleys, 12 left side drive motor, 13 the right drive motor, 14 right rocking bars, 15 first right gears, 16 bearing pins, 17 second right gears, 18 bearing pins, 19 outer covers, 20 right antennas, 21 left antennas, 22 electric machine controller I, 23 electric machine controller II, 24 power supplys, 25 wireless receiving and dispatching controllers, 26 wireless transmit/receive units, 27 sieve shape supporting networks, 28 rotating disks, 29 motors, 30 liquid crystal displays, 31 dividing plates, 32 casings, 33 door openings, 34 rotating disk pulleys, 35 supports, 36 support pulleys, 37 water brush, 38 tanks, 39 water pipes, 40 food grooves.
The specific embodiment
The utility model is the moving structure in the physical construction of bionical mouse system.The complete autonomous bionical mouse system that moves should comprise parts such as physical construction, power system, sensor-based system, control system.Simultaneously function is determining its structure, can carry camera, distance measuring sensor, circuit version etc., work such as be used for carrying out that real-time demonstration, obstacle are passed through.In the course of the work, robot (bionical mouse) moving body self then is responsible for pulsation-free and is carried, and is bearing its ground task.The utility model makes that whole bionical mouse is little, in light weight in the prerequisite lower volume of finishing functional parameter, dependable performance, and simple to operate, motion flexibly, and is also practical more economically simultaneously.
One, be described in detail according to Fig. 1-7 pair the utility model: bionical mouse described in the utility model travel mechanism comprises wheel drive system and swinging kick drive system, adopt less drive motor promptly to realize wheel-leg compound motion, and can realize the automatic switchover of two kinds of mode of motion, this structure not only has plane motion function flexibly, also has certain climbing and obstacle detouring hinders ability.
Wherein the wheel drive system is provided with in the moving body bilateral symmetry, by left and right limit drive motor 12,13, left and right front-wheel 10,2, left and right trailing wheel 6,5, left and right preamble belt wheel 11, left and right in synchronous pulley, left and right back synchronous pulley 7, left and rightly be with 9,18 etc. to form synchronously.The near front wheel 10 and left front synchronous pulley 11 be coaxial to be fixed on the output shaft of left side drive motor 12, left side drive motor 12 is installed in the front portion of moving body 1, left rear wheel 6 and left back synchronous pulley 7 coaxial moving body 1 rear portions that are fixed on, left side drive motor 12 by a left side be with 9 synchronously, left front synchronous pulley 11, left back synchronous pulley 7, drive the near front wheel 10 and left rear wheel 6 and do synchronous continuous rotation; Coaxial moving body 1 front portion that is fixed on of off front wheel 2 and right front synchronous pulley, off hind wheel 5 and right back synchronous pulley be coaxial to be fixed on the output shaft of the right drive motor 13, the right drive motor 13 is installed in the rear portion of moving body 1, the right drive motor 13 by the right side be with 3 synchronously, right front synchronous pulley, right back synchronous pulley, drive off front wheel 2 and off hind wheel 5 and do synchronous continuous rotation; Left and right front-wheel 10,2 and left and right trailing wheel 6,5 rectangular layouts.When the sense of motion of the right and left is consistent, can realize moving forward and backward of bionical mouse, otherwise, when the motion on both sides is inconsistent, can realize left and right sides divertical motion.
The full drive pattern of above-mentioned four-wheel can guarantee kinematic velocity and drive efficiency faster, but wheel is in a single day sagging in rotary screen, and double pendulum leg intermittently drive system can produce upwards and thrust forward, like this, can not produce stuck phenomenon.The concrete structure of swinging kick drive system is as follows:
The swinging kick drive system is provided with in moving body 1 rear portion bilateral symmetry, comprises left and right side swinging kick 8,4 etc.Left and right side swinging kick 8,4 inboards are provided with the left and right rocking bar 14 of chute respectively and are driven by synchronous pulley in left and right respectively, synchronous pulley is separately fixed at moving body 1 outer cover 19 both sides in left and right, drive by left and right synchronous 9,3 bands respectively, promptly when left and right front-wheel 10,2 and left and right trailing wheel 6,5 rotate, left and right be with synchronously 9,3 also drive left and right in synchronous pulley move in turn; Coaxial first right gear 15 of fixing of synchronous pulley in the right side, first right gear 15 is meshing with each other with second right gear 17 that is fixed on the moving body outer cover 19, first right gear 15 and second right gear, 17 sides are fixed with bearing pin respectively, the free end that is fixed on the bearing pin 16 on first right gear stretches in the chute of right rocking bar 14 and can slide within it, be fixed on the other end of the bearing pin 18 on second right gear and right rocking bar 14 and right side swinging kick 4 is fixing, when first right gear 15 and second right gear 17 are meshing with each other transmission, bearing pin 16 on first right gear slides in the chute of right rocking bar 14, form quadric linkage, realized the periodic wobble of right side swinging kick 4; In like manner, coaxial first left gear of fixing of synchronous pulley in the left side, first left gear is meshing with each other with second left gear that is fixed on the moving body outer cover, first left gear and the second left gear side are fixed with bearing pin respectively, the free end that is fixed on the bearing pin on first left gear stretches in the chute of left rocking bar and can slide within it, being fixed on the other end of the bearing pin on second left gear and left rocking bar and left side swinging kick fixes, when first left gear and second left gear are meshing with each other transmission, bearing pin on first left gear slides in the chute of left rocking bar, form quadric linkage, realized the periodic wobble of left side swinging kick 8.
For being fit to behavior training system feature, the every index of bionical mouse is shown in table 1.
Two, for the preceence of outstanding this travel mechanism as the carrier of bionical mouse, existing with its with use more widely travel mechanism such as wheel formula, crawler type, leg formula structure compares.
(1) wheel formula travel mechanism characteristics
Wheel formula travel mechanism have can stably move at a high speed, energy utilization efficiency is high, mechanism and control are simple, can use for reference manufacturing technology, experience and the achievement of automobile, in light weight, characteristics such as cost is low, the speed of a motor vehicle is high, range is big, long service life, maintenance convenience that structure has are not so good as crawler type travel mechanism but weak point is cross-country carrying capacity and protective capacities.Wheeled travel mechanism is because its higher kinematic velocity has unique advantages in smooth environment, and the also more sufficient formula of stability travel mechanism is good.Shortcoming is relatively poor to the comformability on athletic ground, and wheeled travel mechanism only limits to work on relatively flat, hard road surface, and soft road surface may produce skids or depression, so there is its corresponding Applicable scope in wheeled travel mechanism.
(2) crawler type travel mechanism characteristics
The crawler belt of crawler type travel mechanism can be arranged in the left and right sides of car body or be arranged in the both sides, front and back of car body.The crawler belt move mode has a lot of advantages, because it is that circular cyclic track is wound on outside some wheels, wheel is not directly contacted with ground, and it is ground-surface uneven to utilize crawler belt to relax.Make it have good stable performance, obstacle climbing ability and long service life like this, be more suitable on rugged ground, travelling.Its maneuvering performance is good thus, and off-road capability is strong.Because the Area of bearing of crawler belt is big, so grounding pressure is little, damping in roll is little, and performance ratio such as ditch is better more for crossing ability, climbing.Have grouser non-slip on the crawler belt bearing surface, the traction adhesion value is good, helps bringing into play bigger tractive force.Shortcoming is exactly the structure more complicated, and weight is big, and motional inertia is big, and shock-absorbing function is poor, and part is fragile.Friction drag is big, and mechanical efficiency is low, can road pavement produce certain destruction under the bigger situation of own wt.
(3) leg formula travel mechanism characteristics
The landform adaptive capacity of leg formula travel mechanism is strong, and its path of motion is made up of some discrete points, for some coarse and rugged ground better adaptivity, manoevreability and stationarity is arranged.Meanwhile, leg formula travel mechanism has a plurality of degree of freedom, motion has more alerting ability, can control the single-piece center-of-gravity position by the length of regulating leg, not prone to tip over, stability is higher, has improved the manoevreability of mechanism simultaneously, both enlarged the landform scope of walking, strengthened the ability of mechanism again with various gait walkings.Leg formula travel mechanism major defect comprises the complexity of power and machinery.Because its moving velocity is slower, cause manoevreability will be worse than wheeled and crawler type mechanism in one's power, and its load can not be too heavy.The complicated of mechanical system also causes the loaded down with trivial details of control system simultaneously, the control method more complicated, though it has application scenario widely, present correlation technique is ripe not enough, does not enter the practicability stage.
Comprehensive above various travel mechanism all is subjected to structural limitations, has limitation, and merits and faults is summarized in table 2.
The number of wheels of the bionical mouse of the utility model travel mechanism is a four-wheel, mainly considered more than the wheel complex structure, wheel has lacked unstable properties, but three-wheel travel mechanism is a mobile robot travel mechanism relatively more commonly used, and the applicant does not select for use mainly and considers: four wheel mechanism is better than the three-wheel turning efficiency on the road surface of injustice; Stationarity also has apparent in view advantage than three-wheel, can not produce and tumble.Because the particularity of rotary screen, three-wheel travel mechanism can so four-wheel travel mechanism is more stable than it, be fit to the behavior training system more because the raising of speed causes single-piece to tumble.And the drive form of four wheel drive, then be owing to take all factors into consideration the selection that the characteristics of four-wheel arrangement are made: the wheel that contacts with screen cloth is if not traction wheel, will certainly be absorbed in wherein, should make the wheel that contacts with ground all is traction wheel, even the vehicle of two-wheel drive is on fair running road surface, running into situations such as snowfield, iron wire screen cloth, Slippery road also may skid, start when quickening also than being easier to the phenomenon of wagging the tail, also just mean the collision that bionical mouse and behavior training system wall of container can take place, four wheel drive just can prevent that this phenomenon from taking place.Simultaneously, because the full driver train of four-wheel can utilize the total weight of carrier as adhering to pressure, thereby adhesive ability is significantly increased, promptly expanded tractive force limit, and power is reached each wheel respectively, promptly reduced the propulsive effort burden of each drive wheel, thereby can guarantee under the situation that tyre skidding does not take place, enough power to be reached the road surface, make wheel have very strong cross country power, and the wearing and tearing homogeneous of wheel, help prolonging service life of wheel.Four-wheel drive system has the driven by engine power application efficiency more excellent than two-wheel drive, can reach effective performance of better tire traction and steering effort.With regard to safety, also can form better roadability.Drive the travel mechanism that mode that front-wheel operates the rudder is best suited for being applied in the bionical mouse in the behavior training system entirely so use the four-wheel of rectangular arrangement.In addition, also increased the double pendulum leg at the rear portion of bionical mouse and intermittently driven, the full drive pattern of four-wheel can guarantee kinematic velocity and drive efficiency faster, but wheel is in case sink in screen cloth, the double pendulum leg intermittently drives and can produce upwards and thrust forward, like this, can not produce stuck phenomenon.
Three, the simple description of the labyrinth device of animal memory training system.
This labyrinth device comprises round box 32 and circuit control system, is provided with some dividing plates 31 between round box 32 inwalls and the center column, thereby casing is separated into plurality of data acquisition zone, purpose district, the identical door opening 33 of the uniform outward appearance in each dividing plate 31 bottom.The improvement main points of labyrinth device are that as shown in Figure 8 bottom half is provided with rotating disk 28, and center column is provided with motor 29, and motor 29 output shafts axially are fastenedly connected with rotating disk 28 centers along center column, and then rotating disk 28 can rotate around center column under motor 29 drives.Casing frame lower periphery is provided with the pulley 34 of some rotating disks, in supporting wheel, does not influence its rotation again.Rotating disk 28 tops are provided with sieve shape supporting network 27, and this supporting network 27 can be other materials such as metal gauze or plastics and makes.Rotating disk 28 belows are provided with tank 38 and form the collecting dung processing equipment, and tank 38 upper edge periphery have water pipe 39, evenly offer mouth spray on the water pipe 39, and tank 38 bottoms are provided with the bracing frame and the following mouth of a river, are provided with water brush 37 in tank 38 is gone back.
Circuit control system comprises power supply, micro controller system, looks the sense of smell controller, flush discharge system controller etc. automatically.Micro controller system sends a signal to the motor 29 of control rotating disk, realizes rotatablely moving of rotating disk 28.The application's electric machine control adopts solid-state relay control, the power＜100w of drive motor.Solid-state relay adopts 1000w's herein.Micro controller system is managed indirect control relay by MOS.The instruction of Single-chip Controlling motor comes from upper computer and sends the instruction of getting off by the CAN bus.CAN and RS232 conversion interface circuit are realized the data transfer between CAN bus protocol and the RS232 agreement.The upper computer instruction sends to each child node by this system.Automatically flush discharge system (dung collection system) controller receives AT89S51 micro controller system P3.6 (I/O) and sends control signal, control its BFC-2 type electric valve controller work, and then control the electronic motorized valve that is installed on the collecting dung processing equipment and open/close, the water pipe that the tank upper edge of collecting dung processing equipment is arranged is communicated with the water source or intercepts, the tap water water source by motorized valve to launching gear, be that tank regularly washes, sewage flows out from the described mouth of a river down.The water portion of brushing that is provided with in the tank is fixed on the rotating disk bottom, its underpart brush body contacts with trench bottom with the tank sidewall, in the time of the Single-chip Controlling dial rotation, the water brush rotates thereupon, then the bottom brush body can be scrubbed tank, dispose the excrement of realization animal etc., and then eliminate the influence that smell brings experiment effect.The smell release gear: micro controller system is controlled liquid crystal display LCD and smell controller simultaneously by looking the sense of smell controller, micro controller system is after detecting scent signal, by air compressor, control cock, smell producer, reducing valve fresh air is sent to the mechanical arm that training system is provided with, is delivered to the smell jar that is provided with in the position, labyrinth by mechanical arm again.
The general structure of labyrinth device is that the classic dividing plate number of establishing is 6, and the round box equal angles is separated into A, B, C, D, six intervals of E, F, as shown in Figure 9, wherein 5 of data collection zone, 1 in purpose district, equidistant respectively 4 door openings that distribute in each dividing plate below, each interval dividing plate is provided with liquid crystal display, and the purpose district is provided with food groove.Each door opening place that dividing plate below is provided with is provided with two photoelectricity correlation sensor units, places respectively behind the door in front of the door, with the form output of ' or ', thereby just can detect the direction that mouse is moved into one's husband's household upon marriage, so that the run trace of detection mouse.Acousto-optic to experimental mouse stimulates: by micro controller system IO mouth, the grid of control MOS pipe is realized the control to light emitting source (liquid crystal display) and sound generation source, can control the frequency of sounding and luminous intensity.Wherein, micro controller system connects the data message that main control unit sends as sub-receiving element, extracts command information from data message, and then sends sound stimulation, light stimulus.The control data that can extract stimulation from data message has luminous intensity, audible frequency etc.Visual stimulus unit to experimental mouse: adopt the ViSaGe visual stimulus generator, belong to prior art.ViSaGe adopts 14bitDCAs image export technique, thereby visual stimulus color of image, the brightness of guaranteeing ViSaGe control output accurately and accurately show the time, even also the frame losing phenomenon can not take place when image switches fast.CRS MATLAB tool bag makes and adopts MATLAB Programming with Pascal Language output visual stimulus image to become more convenient.Simultaneously, multiple interfaces guarantee ViSaGe can with other device synchronization uses, as ResonseBox, EyeTracker, EEG, Optotrak and fMRI etc.Food groove is the drum type that the side has grid, and the one bottom surface can be attached on the smooth separator face.On another bottom surface on the other side, the opening of food groove is arranged, utilize folding semi-round upper half plane, food can be put into food groove.The round sides periphery of food groove is provided with ring-shaped jacket, overcoat is divided into two, under can separately expose grid, by circuit control system control, when overcoat is opened, animal can be had food as the award of finishing training mission from the grid below of food groove, after through certain hour (10s), power supply disconnects, and then overcoat is closed, seal grid, animal promptly can't be had food.
It is desirable more that the utility model disposes the animal memory training system experimentation effect that above-mentioned labyrinth device forms, and the research in fields such as neuro-physiology, Neuropharmacology and psychology is had unusual meaning.
The every index of the bionical mouse of table 1:
The typical travel mechanism of table 2 performance comparison table:
| Move mode | Wheeled moving | Crawler type moves | The leg formula moves |
| Moving velocity | Hurry up | Comparatively fast | Slowly |
| Complexity | Simply | Generally | Complicated |
| Obstacle climbing ability | Relatively poor | Generally | Very strong |
| Stationarity | Good | Better | Generally |
| Manoevreability | Good | Generally | Relatively poor |
| Economy | Good | Generally | Difference |
| Mechanical efficiency | High | Lower | Low |
| The control complexity | Simply | Difficult | Difficult |
Claims (2)
1. a bionical mouse moving structure that is used for animal memory training system comprises moving body, it is characterized in that: also comprise wheel drive system and swinging kick drive system;
Described wheel drive system is provided with in described moving body bilateral symmetry, comprise left and right limit drive motor, left and right front-wheel, left and right trailing wheel, left and right preamble belt wheel, left and right in synchronous pulley, left and right back synchronous pulley, left and right synchronous band; Described the near front wheel and left front synchronous pulley be coaxial to be fixed on the output shaft of described left side drive motor, described left side drive motor is installed in the front portion of described moving body, the coaxial described moving body rear portion that is fixed on of described left rear wheel and left back synchronous pulley, described left side drive motor by a described left side be with synchronously, left front synchronous pulley, left back synchronous pulley, drive the near front wheel and left rear wheel and do continuous rotation; The coaxial described moving body front portion that is fixed on of described off front wheel and right front synchronous pulley, described off hind wheel and right back synchronous pulley be coaxial to be fixed on the output shaft of described the right drive motor, described the right drive motor is installed in the rear portion of described moving body, described the right drive motor by the described right side be with synchronously, right front synchronous pulley, right back synchronous pulley, drive off front wheel and off hind wheel and do continuous rotation;
Described swinging kick drive system is provided with in described moving body rear portion bilateral symmetry, comprise the left and right side swinging kick, described left and right side swinging kick inboard is provided with the left and right rocking bar of chute respectively and is driven by described left and right middle synchronous pulley respectively, described left and right middle synchronous pulley is separately fixed at described moving body outer cover both sides, is driven by described left and right synchronous band respectively; Coaxial first right gear of fixing of synchronous pulley in the described right side, described first right gear is meshing with each other with second right gear that is fixed on the described moving body outer cover, described first right gear and the second right gear side are fixed with bearing pin respectively, the free end that is fixed on the bearing pin on described first right gear stretches in the chute of described right rocking bar and can slide within it, being fixed on the other end of the bearing pin on described second right gear and right rocking bar and right side swinging kick fixes, when described first right gear and second right gear are meshing with each other transmission, bearing pin on described first right gear slides in the chute of described right rocking bar, realizes the periodic wobble of right side swinging kick; Coaxial first left gear of fixing of synchronous pulley in the described left side, described first left gear is meshing with each other with second left gear that is fixed on the described moving body outer cover, described first left gear and the second left gear side are fixed with bearing pin respectively, the free end that is fixed on the bearing pin on described first left gear stretches in the chute of described left rocking bar and can slide within it, being fixed on the other end of the bearing pin on described second left gear and left rocking bar and left side swinging kick fixes, when described first left gear and second left gear are meshing with each other transmission, bearing pin on described first left gear slides in the chute of described left rocking bar, realizes the periodic wobble of left side swinging kick.
2. the bionical mouse moving structure that is used for animal memory training system according to claim 1 is characterized in that: the left and right front-wheel of described wheel drive system, left and right trailing wheel are in the rectangular layout in described moving body both sides.
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| CN2011200559811U CN202016516U (en) | 2011-03-07 | 2011-03-07 | Simulated mouse moving structure used for animal memory training system |
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| CN2011200559811U CN202016516U (en) | 2011-03-07 | 2011-03-07 | Simulated mouse moving structure used for animal memory training system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102133908A (en) * | 2011-03-07 | 2011-07-27 | 沈阳医学院 | Bionic rat moving structure for memory training system for animals |
| WO2012119322A1 (en) * | 2011-03-07 | 2012-09-13 | 沈阳医学院 | Closed rotary maze device for animal memory training system |
-
2011
- 2011-03-07 CN CN2011200559811U patent/CN202016516U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102133908A (en) * | 2011-03-07 | 2011-07-27 | 沈阳医学院 | Bionic rat moving structure for memory training system for animals |
| CN102133908B (en) * | 2011-03-07 | 2012-07-04 | 沈阳医学院 | Bionic rat moving structure for memory training system for animals |
| WO2012119325A1 (en) * | 2011-03-07 | 2012-09-13 | 沈阳医学院 | Bionic mouse moving structure for animal memory training system |
| WO2012119322A1 (en) * | 2011-03-07 | 2012-09-13 | 沈阳医学院 | Closed rotary maze device for animal memory training system |
| GB2498685A (en) * | 2011-03-07 | 2013-07-24 | Shenyang Medical College | Closed rotary maze device for animal memory training system |
| GB2498685B (en) * | 2011-03-07 | 2015-06-10 | Shenyang Medical College | Closed rotary maze device for animal memory training system |
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