CN203506917U - Animal limb stretching instrument - Google Patents
Animal limb stretching instrument Download PDFInfo
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- CN203506917U CN203506917U CN201320632758.8U CN201320632758U CN203506917U CN 203506917 U CN203506917 U CN 203506917U CN 201320632758 U CN201320632758 U CN 201320632758U CN 203506917 U CN203506917 U CN 203506917U
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Abstract
The utility model provides an animal limb stretching instrument. The animal limb stretching instrument comprises a body supporting plate, a limb fixator, a transmission device and a control device. The limb fixator is symmetrically arranged on the two sides of the body supporting plate and is connected with the control device in a matching mode through the transmission device. The specific implementation method of the animal limb stretching instrument comprises the steps that (1) an animal is fixed to the body supporting plate in a supine or prostrate mode and the upper limbs of the animal and/or the lower limbs of the animal are fixed through the limb fixator; (2) under operation and control of the control device, the transmission device drives the limb fixator to conduct stretching motion. The animal limb stretching instrument can be used for conducting stretching experiments on a living animal model and can precisely determine relevant biomechanics parameters such as the stretching amplitude, the stretching time span and the stretching frequency.
Description
Technical field
This utility model relates to a kind of tensile loading device, especially a kind of animal limb tensilometer.
Background technology
Distraction force is the principal element that determines cell deformation and function, and the biological processes such as the propagation of human body and animal body inner cell, differentiation, migration, apoptosis are subject to comprising the impact of the multiple environmental factors of mechanics factor.
There is whole rearrangement in all members of cytoskeleton under different tensile stress effects, thereby cause cell generation deformation, and the change of cell shape is sent information and to transmitting in karyon, caused Different Results.Current stretching research is mainly in cellular level, and related tensile test device is also the stretching for microstructures such as cells.Yet, under body state, study the various reactions of cell counter stress under physiological status, comprise the environment of body fluid static pressure, fluid shear stress, electric current and biochemical environment and external series of complex, rarely have and relate to.Like this, cause stretching to study in somatic cell being difficult to carry out.
Current stretching research is mainly in cellular level, and related tensile test device is also the stretching for microstructures such as cells.Yet, under body state, study the various reactions of cell counter stress under physiological status, comprise the environment of body fluid static pressure, fluid shear stress, electric current and biochemical environment and external series of complex, rarely have and relate to.As inquiring into the various mechanics response mechanisms of living sample to mechanical stress, the live body limbs tensile loading device of the result of study of comparing animals living sample and cell model does not still exist.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of animal limb tensilometer.
Another technical problem to be solved in the utility model is to provide the implementation method of the tensilometer with above-mentioned animal limb stretch function.
For solving the problems of the technologies described above, the technical solution of the utility model is:
An animal limb tensilometer, comprises body gripper shoe, limb fixer, actuating device and control device, and described limb fixer is symmetricly set in described body gripper shoe both sides, and described limb fixer is connected by actuating device and control device.
Preferably, above-mentioned animal limb tensilometer, described body gripper shoe both sides of the edge are dentalation, the end of this body gripper shoe is provided with head holder, animal is lain low when body gripper shoe, guarantee head and trunk at grade, described limb fixer is fixedly comprised of with limbs fixed support arm is vertical limbs swing arm, the both sides of the edge of this limbs fixed support arm are dentalation, by the dentalation of body gripper shoe and limbs fixed support arm, utilize the winding of cotton rope, can closely fix animal, described limbs fixed support arm is fixing animal upper limb both, also fixing animal lower limb.
Preferably, above-mentioned animal limb tensilometer, described body gripper shoe middle part, for for placing the concave structure of animal, is for placing the concave structure of animal limb in the middle part of described limbs fixed support arm.
Preferably, above-mentioned animal limb tensilometer, described limbs fixed support arm is ball-and-socket joint, can realize the rotation in trunk plane.
Preferably, above-mentioned animal limb tensilometer, described head holder is soft head holder, adopts the ring-type of flexible strand material can stretch pull-up structure.
Preferably, above-mentioned animal limb tensilometer, coordinates by the gear of described actuating device and the transmission of driving belt, realizes the stretching of described limb fixer is controlled.
Preferably, above-mentioned animal limb tensilometer, described actuating device also comprises the limiting component of avoiding limb fixer excessively to stretch.
Preferably, above-mentioned animal limb tensilometer, described control device comprises angle dial, control panel, ARM development board and servomotor, wherein, servomotor is used for providing power, the communication connection of described ARM development board and servomotor, signal is mutual, described angle dial and control panel respectively with described ARM development board connection.
Preferably, above-mentioned animal limb tensilometer, described ARM development board comprises power module, photoswitch module, GPIO interface module, servo-driver parallel port interface module and impulse line driver module, wherein,
Power module, for providing the power supply of interface circuit;
Photoswitch module, with power module connection, for limiting the stretch position of limb fixer;
GPIO interface module, port of GPIO and photoswitch module connection, the instrument extended state feeding back for control & monitor angle dial and control panel;
Servo-driver parallel port interface module, is connected with another port line of GPIO, for connecting servomotor;
Impulse line driver module, is connected with another port line of GPIO, for filtering interfering.
Preferably; above-mentioned animal limb tensilometer; described impulse line driver module comprises Schmidt trigger, chip S3C2440 and chip 26LS31; after the signal of photoswitch module output disturbs by Schmidt trigger filtering spine; by external interrupt EINT3, EINT4 notice chip S3C2440; and in interrupt service routine, take protective measure; stop PWM(pulse width modulation) output; in case the stretching of limb fixer is over spacing; chip 26LS31 is divided into differential pulse signal, the capacity of resisting disturbance of enhancing signal by the pulse of GPIO interface module output.
Preferably; above-mentioned animal limb tensilometer; described protective measure refers to by the interrupt service routine of WinCE6.0 bottom (Interrupt Service Routine; ISR) reporting system; and create break in service thread (Interrupt Service Thread; IST), in IST, realize the response to this interruption.
The implementation method with the tensilometer of above-mentioned animal limb stretch function, concrete methods of realizing is:
(1) animal lies on the back or prostrate posture is fixed in described body gripper shoe, and upper limb and/or the lower limb of animal are fixed by limb fixer;
(2), under the controlling of described control device, described actuating device drives limb fixer to carry out extensional motion.
Preferably, the implementation method of above-mentioned tensilometer, the control mode that realizes of described control device is:
(1) power module of ARM development board energising, to the module information of the GPIO interface module of the ARM development board power-up initializing of starting shooting;
(2) module information of GPIO interface module is set by control panel, extensograph parameter is arranged;
(3) GPIO interface module is preserved set extensograph parameter, and calculates, and obtains corresponding parameters;
(4) open photoswitch module, after impulse line driver module filtering interfering, servo-driver parallel port interface module receives the parameters of GPIO interface module transmission, control servomotor corresponding power is provided, by actuating device, drive limb fixer to carry out extensional motion, extensograph parameter shows by angle dial constantly, until stretched, stretching arranges to wait for next time.
Preferably, the implementation method of above-mentioned tensilometer, described extensograph parameter comprises the relevant parameters of biomechanics such as the amplitude, time span, frequency of stretching.
The beneficial effects of the utility model are:
Above-mentioned animal limb tensilometer, not only can determine accurately the relevant parameters of biomechanics such as the amplitude that stretches, time span, frequency, and the scope of application is very extensive, for example, can be used for the stretching experiment of rat animal model; This animal limb tensilometer can carry out stretching experiment in living Animal Models, power adopts servomotor to provide, accurate control can be provided, and the core of Based Intelligent Control adopts ARM development board, not only with low cost, and develop convenient, flexible, and can accurate restrained stretching amount, thereby can on the impact of body, study Biomechanical factor such as stretchings, for further carrying out the clinical practice experiment of biomechanics stretching, lay the first stone.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of animal limb tensilometer of providing of this utility model,
In figure: 1-servomotor 2-body gripper shoe 3-limbs swing arm 4-angle dial
5-limbs fixed support arm 6-fixed bar 7-mechanical position limitation arm
The secondary driven gear power transmission shaft of 8-first 9-the second secondary driven gear power transmission shaft
The secondary driven gear of the secondary driven gear 12-second of 10-main driven gear 11-first
13-mechanical position limitation baffle plate 14-optoelectronic position switch baffle plate 15-driving belt
The initial optoelectronic position switch of 16-servomotor driven gear 17-
18-extreme position photoswitch 19-member installing plate;
Fig. 2 is the servomotor of control device and the interface circuit figure of ARM development board of animal limb tensilometer,
In figure: P1 is the signaling interface that ARM development board is drawn, comprise that some have the pin of specific function, as external interrupt signal EINT3, EINT4, intervalometer output TOUT0, TOUT1 etc., and some GPIO,
J1 is DB25 interface, for connecting the control interface of servo-driver, and the pulse input that has comprised servo-driver, A, B, Z phase pulse feedback, signal input IN1～IN4 and signal output OUT1 and OUT2,
U1, U2 are Schmidt trigger, for the photoimpact of ARM output is carried out to Filtering Processing, in case the sparkle noise in signal produces interference to the action of servomotor,
U3, U4 are limiting photoelectric switch, for determining the position of power transmission shaft back baffle plate, in case stretching arm surpasses safe range of stretch,
U5, U6 are respectively 26LS31 and 26LS32, are a kind of line drives, for monophasic pulses if being converted to differential pulse signal or carrying out contrary transformation process;
Fig. 3 is the flow chart of implementation method with the tensilometer of above-mentioned animal limb stretch function.
The specific embodiment
In order to make those skilled in the art better understand the technical solution of the utility model, below in conjunction with the drawings and the specific embodiments, technical scheme described in the utility model is described in further detail.
As depicted in figs. 1 and 2, described animal limb tensilometer, comprise member installing plate, body gripper shoe, limb fixer, actuating device and control device, described control device comprises angle dial, control panel, ARM development board and servomotor, wherein, servomotor is used for providing power, described ARM development board and servomotor communication connection, signal is mutual, described angle dial and control panel respectively with described ARM development board connection, described ARM development board comprises power module, photoswitch module, GPIO interface module, servo-driver parallel port interface module, and impulse line driver module, wherein,
Power module, for providing the power supply of interface circuit;
Photoswitch module, with power module connection, comprise initial optoelectronic position switch and extreme position photoswitch, this initial optoelectronic position switch and extreme position photoswitch are individually fixed on described member installing plate, for limiting the stretch position of limb fixer;
GPIO interface module, port of GPIO and photoswitch module connection, the instrument extended state feeding back for control & monitor angle dial and control panel;
Servo-driver parallel port interface module, is connected with another port line of GPIO, for connecting servomotor;
Impulse line driver module, be connected with another port line of GPIO, for filtering interfering, this impulse line driver module comprises Schmidt trigger, chip S3C2440 and chip 26LS31, after the signal of photoswitch module output disturbs by Schmidt trigger filtering spine, by external interrupt EINT3, EINT4 notice chip S3C2440, by interrupt service routine (the Interrupt Service Routine of WinCE6.0 bottom, ISR) reporting system, and create break in service thread (Interrupt Service Thread, IST), in IST, realize the response to this interruption, in interrupt service routine, take protective measure, stop the PWM(pulse width modulation of intervalometer) output, the corresponding flag bit of set, and notification application, in case the stretching of limb fixer is over spacing, chip 26LS31 is divided into differential pulse signal by the pulse of GPIO interface module output, the capacity of resisting disturbance of enhancing signal,
Described body gripper shoe is fixedly connected with described member installing plate by fixed bar, described body gripper shoe middle part is for placing the concave structure of animal, these body gripper shoe both sides of the edge are dentalation, the end of this body gripper shoe is provided with soft head holder, soft holder adopts flexible strand material, for ring-type, can stretch pull-up structure, animal is lain low when body gripper shoe, guarantee head and trunk at grade; Described limb fixer is symmetricly set in described body gripper shoe both sides, this limb fixer is fixedly comprised of with limbs fixed support arm is vertical limbs swing arm, this limbs fixed support arm is ball-and-socket joint, can realize the rotation in trunk plane, the both sides of the edge of this limbs fixed support arm are dentalation, by the dentalation of body gripper shoe and limbs fixed support arm, utilize the winding of cotton rope, can closely fix animal, described limbs fixed support arm is fixing animal upper limb both, also fixing animal lower limb;
Described actuating device comprises mechanical position limitation arm, the first secondary driven gear power transmission shaft, the second secondary driven gear power transmission shaft, main driven gear, the first secondary driven gear, the second secondary driven gear, mechanical position limitation baffle plate, optoelectronic position switch baffle plate, driving belt and servomotor driven gear, wherein, mechanical position limitation baffle plate, main driven gear, the first secondary driven gear is connected with the limbs swing arm of described limb fixer through described member installing plate with the second secondary driven gear power transmission shaft by the first secondary driven gear power transmission shaft respectively with the second secondary driven gear, wherein, main driven gear and the first secondary driven gear link together, simultaneously, mechanical position limitation arm is fixed on described member installing plate, coordinate with mechanical position limitation arm, play position-limiting action, described optoelectronic position switch baffle plate is arranged on described main driven gear, and be dynamically connected with main driven gear axle, this optoelectronic position switch baffle plate coordinates with described initial optoelectronic position switch and extreme position photoswitch, play position-limiting action, described main driven gear and servomotor driven gear are in transmission connection by driving belt, this servomotor driven gear is connected with the servomotor of described control device.
Above-mentioned animal limb tensilometer operation principle is summarized as follows:
Apply above-mentioned animal limb tensilometer, its transmission is that servomotor drives main driven gear by driving belt, main driven gear and the first secondary driven gear link together, and the first secondary driven gear and the second secondary driven gear are meshed by gear, drive limbs swing arm to stretch.Angle in drawing process shows and can indicate by angle dial.The position of described tensilometer limits and is divided into two parts, the electric limiting part that a part is comprised of initial optoelectronic position switch, extreme position photoswitch and optoelectronic position switch baffle plate, and electric limiting partly limits original position and the maximum angle of stretching; Another part is the mechanical position limitation part that mechanical position limitation arm and mechanical position limitation baffle plate form, and mechanical position limitation is partly avoided stretching and caused damage.The little fixing breach of using of the dentalation being furnished with on body gripper shoe and limbs fixed support arm, is used for meeting flexible fixed demand.
As shown in Figure 3, have the implementation method of the tensilometer of above-mentioned animal limb stretch function, concrete methods of realizing is:
(1) animal lies on the back or prostrate posture is fixed in described body gripper shoe, and upper limb and/or the lower limb of animal are fixed by limb fixer;
(2), under the controlling of described control device, described actuating device drives limb fixer to carry out extensional motion.
Specific implementation process is:
(1) power module of ARM development board energising, to the module information of the GPIO interface module of the ARM development board power-up initializing of starting shooting;
(2) module information of GPIO interface module is set by control panel, extensograph parameter is arranged, described extensograph parameter comprises the relevant parameters of biomechanics such as the amplitude, time span, frequency of stretching;
(3) GPIO interface module is preserved set extensograph parameter, and calculates, and obtains corresponding parameters;
Because servomotor operates under mode position, thereby by controlling the frequency of P-pulse of its input and speed and the angle that umber of pulse is controlled electric machine rotation.On ARM9 panel, by the PWM pattern of intervalometer, carry out output pulse signal, by being set, timer parameter gets final product control wave frequency, dutycycle and number of pulses, and the computing formula of the angle of stretching, speed and time is as follows:
θ＝θ
0+NΔθ
P＝αlv＝αl(v
0+NΔv)
θ, ν, T are each angle, speed, time stretching, θ
0, ν
0, T
0for initial angle, speed, time, Δ θ, Δ ν, Δ T are angle, speed, incremental time, its unit degree of being respectively, revolutions per second (rps), second (s), i is the speed reducing ratio of reducing motor, in native system, be 5:1, α represents the motor required pulse number that circles, and its value is 10000, β represents that motor often turns the required umber of pulse of 1 degree, with the relational expression of α be β=α l/360.
(4) open photoswitch module, after impulse line driver module filtering interfering, servo-driver parallel port interface module receives the parameters of GPIO interface module transmission, control servomotor corresponding power is provided, by actuating device, drive limb fixer to carry out extensional motion, extensograph parameter shows by angle dial constantly, until stretched, stretching arranges to wait for next time.
Above-mentioned animal limb tensilometer adopts control sequence to manage different motion process, mainly realizes following function: (1) control respectively to upper limb and lower extremity movement; (2) upper limb lower limb are controlled at any angle; (3) to upper limb and lower limb different angles in the control of rotational angle arbitrarily; (4) control to the arbitrarily angled time of staying in upper limb and lower limb different angles; (5) control of upper limb and lower limb being rotated with different scales (angle); (6) control of different quiescent times on different scales to upper limb and lower limb.
These functions mainly by extensograph parameter arrange realize, set after extensograph parameter, by ARM development board, controls processing, drive servomotor to move, thereby reach stretching object.
Above-mentioned detailed description of this kind of animal limb tensilometer being carried out with reference to the specific embodiment; illustrative rather than determinate; can list several embodiment according to institute's limited range; therefore in the variation and the modification that do not depart under this utility model general plotting, within should belonging to protection domain of the present utility model.
Claims (8)
1. an animal limb tensilometer, it is characterized in that: comprise body gripper shoe, limb fixer, actuating device and control device, described limb fixer is symmetricly set in described body gripper shoe both sides, and described limb fixer is connected by actuating device and control device.
2. animal limb tensilometer according to claim 1, it is characterized in that: described body gripper shoe both sides of the edge are dentalation, the end of this body gripper shoe is provided with head holder, animal is lain low when body gripper shoe, guarantee head and trunk at grade, described limb fixer is fixedly comprised of with limbs fixed support arm is vertical limbs swing arm, the both sides of the edge of this limbs fixed support arm are dentalation, by the dentalation of body gripper shoe and limbs fixed support arm, utilize the winding of cotton rope, can closely fix animal, described limbs fixed support arm is fixing animal upper limb both, also fixing animal lower limb, described body gripper shoe middle part, for for placing the concave structure of animal, is for placing the concave structure of animal limb in the middle part of described limbs fixed support arm.
3. animal limb tensilometer according to claim 2, is characterized in that: described limbs fixed support arm is ball-and-socket joint, can realize the rotation in trunk plane.
4. animal limb tensilometer according to claim 2, is characterized in that: described head holder is for adopting the ring-type of flexible strand material can stretch pull-up structure.
5. animal limb tensilometer according to claim 1, it is characterized in that: by the gear of described actuating device and the transmission of driving belt, coordinate, realization is controlled the stretching of described limb fixer, and described actuating device also comprises the limiting component of avoiding limb fixer excessively to stretch.
6. animal limb tensilometer according to claim 1, it is characterized in that: described control device comprises angle dial, control panel, ARM development board and servomotor, wherein, servomotor is used for providing power, described ARM development board and servomotor communication connection, signal is mutual, described angle dial and control panel respectively with described ARM development board connection.
7. animal limb tensilometer according to claim 6, is characterized in that: described ARM development board comprises power module, photoswitch module, GPIO interface module, servo-driver parallel port interface module and impulse line driver module, wherein,
Power module, for providing the power supply of interface circuit;
Photoswitch module, with power module connection, for limiting the stretch position of limb fixer;
GPIO interface module, port of GPIO and photoswitch module connection, the instrument extended state feeding back for control & monitor angle dial and control panel;
Servo-driver parallel port interface module, is connected with another port line of GPIO, for connecting servomotor;
Impulse line driver module, is connected with another port line of GPIO, for filtering interfering.
8. animal limb tensilometer according to claim 7, it is characterized in that: described impulse line driver module comprises Schmidt trigger, chip S3C2440 and chip 26LS31, after the signal of photoswitch module output disturbs by Schmidt trigger filtering spine, by external interrupt EINT3, EINT4 notice chip S3C2440, and in interrupt service routine, take protective measure, the output of stop pulse width modulated, in case the stretching of limb fixer is over spacing, described protective measure refers to the interrupt service routine reporting system by WinCE6.0 bottom, and create break in service thread, in break in service thread, realize the response to this interruption, chip 26LS31 is divided into differential pulse signal, the capacity of resisting disturbance of enhancing signal by the pulse of GPIO interface module output.
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| CN201320632758.8U CN203506917U (en) | 2013-10-14 | 2013-10-14 | Animal limb stretching instrument |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320632758.8U CN203506917U (en) | 2013-10-14 | 2013-10-14 | Animal limb stretching instrument |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103494655A (en) * | 2013-10-14 | 2014-01-08 | 中国医学科学院生物医学工程研究所 | Animal limb stretching instrument and achieving method thereof |
| CN112120893A (en) * | 2020-09-27 | 2020-12-25 | 北京航空航天大学 | Animal hind limb stretching device |
| US12115409B2 (en) | 2019-10-03 | 2024-10-15 | Vanessa Rachmaninoff | Stretching device and methods relating to same |
-
2013
- 2013-10-14 CN CN201320632758.8U patent/CN203506917U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103494655A (en) * | 2013-10-14 | 2014-01-08 | 中国医学科学院生物医学工程研究所 | Animal limb stretching instrument and achieving method thereof |
| CN103494655B (en) * | 2013-10-14 | 2015-10-07 | 中国医学科学院生物医学工程研究所 | A kind of animal limb tensilometer and its implementation |
| US12115409B2 (en) | 2019-10-03 | 2024-10-15 | Vanessa Rachmaninoff | Stretching device and methods relating to same |
| CN112120893A (en) * | 2020-09-27 | 2020-12-25 | 北京航空航天大学 | Animal hind limb stretching device |
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