Multi-degree-of-freedom animal centrifuge, automatic anti-g accommodation and vital sign detection protection method

Abstract

The application provides a multi-degree-of-freedom animal centrifuge, an automatic anti-G regulation and a sign detection protection method, which comprises a base, a driving motor, a rotating main shaft, a centrifugal arm, a centrifugal cylinder, a posture adjusting structure and a self-adapting conforming and damping binding device; the centrifugal cylinder is fixed on the centrifugal arm through the posture adjusting structure; after a test animal is wrapped by the self-adapting conforming and damping binding device, the test animal is installed in the centrifugal cylinder, the inside of the self-adapting conforming and damping binding device is in contact with the test animal, and the outside of the self-adapting conforming and damping binding device is in contact with the inner wall of the centrifugal cylinder. The test animal is wrapped by the self-adapting conforming and damping binding device and then is put into the centrifugal cylinder, so that the animal is difficult to struggle, and even if the animal struggles during the test, the self-adapting conforming and damping binding device can reduce the impact and vibration generated by the animal due to the struggle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of animal experiment equipment, in particular to a multi-degree-of-freedom animal centrifuge, an automatic anti-G regulation and vital sign detection protection method, and more particularly to a multi-degree-of-freedom animal centrifuge for simulating a supergravity environment, an automatic anti-G regulation and vital sign detection protection method. BACKGROUND

[0002] With the rapid development of aerospace technology, the maneuverability and combat performance of new-generation fighter jets are becoming increasingly powerful, and manned spacecraft and launch vehicles are being launched more and more frequently. Pilots and astronauts often need to withstand extreme environments such as high G-value acceleration when performing tasks. These environments can have serious effects on the human body, including loss of consciousness. However, directly subjecting the human body to these extreme conditions for experiments poses a significant risk and makes it difficult to obtain detailed physiological data. Therefore, using animals for centrifuge experiments has become an important means of aerospace medical research. Animal centrifuges are not only limited to the field of aerospace medicine, but also have broad application prospects in the fields of biomechanics, sports physiology, and others. By studying the physiological responses of animals under different G forces, valuable scientific evidence and technical support can be provided for human survival and work in extreme environments.

[0003] Compared with human experiments, animal experiments can be conducted under more extreme conditions and obtain more comprehensive physiological data. Currently, animal centrifuges are usually fixed using a clamping structure when in use, but the animal's body will constantly struggle and shake during the experiment. These vibrations caused by struggling and shaking will generate forces on the centrifuge arm, affecting the experimental data. SUMMARY

[0004] In view of the defects in the prior art, the present application aims to provide a multi-degree-of-freedom animal centrifuge, an automatic anti-G regulation and vital sign detection protection method.

[0005] According to the present application, a multi-degree-of-freedom animal centrifuge is provided, comprising a base, a drive motor, a rotating main shaft, a centrifuge arm, a centrifuge cylinder, a posture adjustment structure, and a self-adaptive conforming and damping restraint device.

[0006] The drive motor is installed on the base, and at least one centrifuge arm is installed on the drive motor through the rotating main shaft.

[0007] The output shaft of the drive motor is connected to the rotating main shaft, and the drive motor can drive the rotating main shaft to rotate.

[0008] The centrifuge cylinder is fixed to the centrifuge arm through the posture adjustment structure.

[0009] After the experimental animal is wrapped by the adaptive shaped and damping restraint device, the experimental animal is installed in the centrifugal cylinder, and the inside of the adaptive shaped and damping restraint device abuts against the experimental animal, and the outside of the adaptive shaped and damping restraint device abuts against the inner wall of the centrifugal cylinder.

[0010] Preferably,

[0011] A shaft flat is further arranged on the rotating main shaft, and a tightening screw is used to fix the centrifugal arm sleeve on the rotating main shaft, and the centrifugal arm is installed in the centrifugal arm sleeve and is fixed by a fastener.

[0012] Preferably,

[0013] The posture adjusting structure comprises two electric rotating tables driven by stepping motors and used for controlling the rotation of the centrifugal cylinder in horizontal and vertical directions respectively.

[0014] Preferably,

[0015] The distance adjusting structure comprises a sliding block, a lead screw and a lead screw driving motor, the lead screw is installed on the centrifugal arm, the end of the lead screw is connected with the lead screw driving motor, the sliding block is sleeved on the lead screw, and the posture adjusting structure is connected with the sliding block.

[0016] Preferably,

[0017] A damping system is further arranged between the base and the external environment and used for reducing the vibration generated in the centrifugal process.

[0018] Preferably,

[0019] The adaptive shaped and damping restraint device comprises a flexible shell and a pressure controller, the inner cavity of the flexible shell is filled with a granular material and a fluid medium, and the pressure controller is connected with the inner cavity of the flexible shell through a pipeline and is used for increasing or reducing the fluid medium in the inner cavity of the flexible shell to adjust the pressure difference between the inside and outside of the flexible shell.

[0020] Preferably,

[0021] The fluid medium is air;

[0022] The granular material is silica gel particles, rubber particles, plastic particles, glass beads, metal powder, ceramic particles or sand;

[0023] The pressure controller comprises a pressure sensor and an air pump connected with each other;

[0024] The flexible shell is a polymer, fabric or composite material flexible shell.

[0025] Preferably,

[0026] The monitoring system is fixed on the centrifugal arm through a monitoring system support and is used for monitoring physiological indexes of the experimental animal in the centrifugal cylinder in real time.

[0027] The multi-degree-of-freedom animal centrifuge further comprises a control unit in wireless communication connection with the driving motor, the posture adjusting structure, the distance adjusting mechanism and the monitoring system.

[0028] The automatic anti-G regulation method is based on the multi-degree-of-freedom animal centrifuge.

[0029] The number of the adaptive conforming and damping binding devices is 4, which are a neck conforming and damping binding module, a chest conforming and damping binding module, an abdomen conforming and damping binding module and a lower limb conforming and damping binding module, or the number of the adaptive conforming and damping binding devices is 1, and the adaptive conforming and damping binding device comprises the neck conforming and damping binding module, the chest conforming and damping binding module, the abdomen conforming and damping binding module and the lower limb conforming and damping binding module, each module has a flexible shell and corresponds to a pressure controller.

[0030] The automatic anti-G regulation method further comprises the following steps.

[0031] Step 1: Start;

[0032] Step 2: Input an overload acceleration, ideal pose information and a sign warning line;

[0033] Step 3: Calculate a head-basin direction overload acceleration;

[0034] Step 3: Calculate a head-basin direction overload acceleration;

[0035] The head-basin direction overload acceleration calculation formula is as follows:

[0036]

[0037] Wherein,

[0038] : Animal head-basin direction overload acceleration;

[0039] : Centrifuge preset overload acceleration;

[0040] : Centrifugal cylinder yaw angle;

[0041] : Centrifugal cylinder pitch angle.

[0042] Step 4: Calculate a negative pressure value of an ideal adaptive conforming and damping binding device (100);

[0043] The calculation formula of the ideal negative pressure value is as follows:

[0044]

[0045] Wherein,

[0046] : the ideal negative pressure value of the self-adaptive shaping and damping binding device 100;

[0047] : the negative pressure coefficient;

[0048] : the blood density of the experimental animal;

[0049] : the gravitational acceleration, about equal to 9.81 m / s2;

[0050] : the blood column height, usually the distance from the heart to the sole;

[0051] Fifth step: the pressure controller works:

[0052] Sixth step: the operation of the pressure controller is applied to the neck shaping and damping binding module, the chest shaping and damping binding module, the abdomen shaping and damping binding module and the lower limb shaping and damping binding module respectively;

[0053] Seventh step: the neck shaping and damping binding module, the chest shaping and damping binding module, the abdomen shaping and damping binding module and the lower limb shaping and damping binding module act on the experimental animal respectively;

[0054] Eighth step: the vital sign sensor is used to monitor the vital sign data of the experimental animal;

[0055] Ninth step: it is judged whether the warning line is exceeded, and it is checked whether the vital sign data exceeds the pre-set warning line;

[0056] If the warning line is exceeded, the negative pressure of the lower limb module needs to be increased, and the pressure of the shaping and damping binding module of the lower limb is adjusted by the pressure controller in the sixth step.

[0057] According to the animal vital sign detection protection method provided by the application, based on the automatic anti-load adjustment method, the following steps are further included:

[0058] First step: start;

[0059] Second step: input the vital sign critical value;

[0060] Third step: according to the input vital sign critical value, the automatic anti-load adjustment mechanism is started;

[0061] Fourth step: after the automatic anti-load adjustment mechanism is completed, the data of the sign sensor is combined to determine whether the animal sign exceeds the critical value set in the second step;

[0062] If yes, go to the fifth step;

[0063] If no, go to the seventh step;

[0064] Fifth step: determine that the animal has syncope;

[0065] Sixth step: centrifuge deceleration and LED warning light flashing;

[0066] Seventh step: the animal has no syncope;

[0067] Eighth step: the centrifuge speed is unchanged;

[0068] Ninth step: continue to collect experimental animal data by using the sign sensor, and return to the fourth step.

[0069] Compared with the prior art, the present application has the following beneficial effects:

[0070] 1. The self-adaptive shaping and damping restraint device is used to wrap the experimental animal after the experimental animal is put into the centrifuge, on the one hand, the animal is difficult to struggle, on the other hand, even if the animal struggles during the test, the self-adaptive shaping and damping restraint device can reduce the impact and vibration caused by the struggle of the animal. That is, by the setting of the self-adaptive shaping and damping restraint device, the defect that the test data is affected due to the struggle of the animal is avoided.

[0071] 2. The automatic anti-load adjustment method provided by the present application can automatically calculate the size of the head-pelvis direction overload acceleration of the animal according to the size and posture of the overload acceleration, and automatically adjust the internal and external pressure difference of the damping shaping device by comparing with the preset sign warning line. The damping shaping device can be designed in a modular manner, and the internal and external pressure difference of the lower limb module can be adjusted to force the blood to return to the heart and flow to the brain, so that the experimental animal can be effectively prevented from blacking out and syncope.

[0072] 3. The animal sign detection protection method provided by the present application can perform negative feedback adjustment on the centrifuge in real time. When syncope of the experimental animal is detected, an emergency speed reduction braking instruction can be sent to the centrifuge to prevent further harm to the animal. BRIEF DESCRIPTION OF DRAWINGS

[0073] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0074] Figure 1 The figure is a structural schematic diagram of the present application;

[0075] Figure 2 Structure diagram of connection relationship of driving motor, rotating main shaft and centrifugal arm;

[0076] Figure 3 Structure diagram of centrifugal cylinder and attitude adjusting structure;

[0077] Figure 4 Principle diagram of self-adaptive shaping and damping binding device with damping effect;

[0078] Figure 5 Flowchart diagram of automatic anti-load adjusting method;

[0079] Figure 6 Structure diagram of animal sign detection protection method;

[0080] Figure 7 Structure diagram of self-adaptive shaping and damping binding device;

[0081] Figure 8 Structure diagram of flexible shell inner cavity with more fluid medium;

[0082] Figure 9 Structure diagram of fluid medium being extracted from the inner cavity by the pressure controller;

[0083] Figure 10 Structure diagram of test animal wrapped by the self-adaptive shaping and damping binding device and installed in the centrifugal cylinder 5;

[0084] Figure 11 Figure 10 Sectional view diagram.

[0085] The figure shows:

[0086] DETAILED DESCRIPTION

[0087] The present application will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These are within the scope of protection of the present application.

[0088] The present application provides a multi-degree-of-freedom animal centrifuge, as shown in Figure 1 including a base 1, a driving motor 2, a rotating main shaft 3, a centrifugal arm 4, a centrifugal cylinder 5, an attitude adjusting structure 6 and a self-adaptive shaping and damping binding device 100;

[0089] ​The driving motor 2 is installed on the base 1, and at least one centrifugal arm 4 is installed on the driving motor 2 through a rotating main shaft 3. Specifically, the base 1 is fixedly installed on the ground to support the entire device; the driving motor 2 is fixed on the base 1 through a motor support 21, the output shaft of the driving motor 2 is connected with the rotating main shaft 3, and the driving motor 2 can drive the rotating main shaft 3 to rotate. More specifically, as shown in Figure 2 The rotating main shaft 3 is further provided with a shaft flat portion 31, and in the installation process, the centrifugal arm sleeve 33 is first fixed on the rotating main shaft 3 through the use of a set screw 32, then the centrifugal arm 4 is installed in the centrifugal arm sleeve 33 and fixed through a screw to realize the connection between the centrifugal arm 4 and the rotating main shaft 3. In a preferred example, the driving motor 2 is further connected with a speed reducer to ensure the stable operation of the centrifuge under high load.

[0090] The end of the centrifugal arm 4 is provided with a posture adjusting structure 6, which is arranged between the centrifugal cylinder 5 and the centrifugal arm 4 and is used to adjust the inclination angle of the centrifugal cylinder 5, that is, the centrifugal cylinder 5 is fixed on the centrifugal arm 4 through the posture adjusting structure 6. In a preferred example, the centrifugal cylinder 5 is detachably installed on the posture adjusting structure 6. In a preferred example, the opposite side of the centrifugal arm 4 is provided with the same centrifugal cylinder 5 and posture adjusting structure 6, and another experimental animal or weight can be placed according to the experimental requirements to realize the counterweight purpose.

[0091] As shown in Figure 10 , Figure 11 After the experimental animal 50 is wrapped by the self-adapting and damping binding device 100, the experimental animal 50 is installed in the centrifugal cylinder 5, the inside of the self-adapting and damping binding device 100 abuts against the experimental animal 50, and the outside abuts against the inner wall of the centrifugal cylinder 5.

[0092] As shown in Figure 3 The posture adjusting structure 6 is a multi-axis rotating table, which realizes the rotation in two mutually perpendicular directions. Specifically, the posture adjusting structure 6 includes two electric rotating tables driven by a stepping motor 61 and used to control the rotation of the centrifugal cylinder 5 in the horizontal and vertical directions, respectively. Each electric rotating table is driven by a servo motor and can accurately control the rotation angle and speed, that is, the posture adjusting mechanism can adjust the angle of the centrifugal cylinder relative to the centrifugal arm through the electric rotating table. In addition, the rotation angle of the animal in the centrifugal cylinder can also be adjusted during the installation process. Through the action of the above-mentioned mechanism, the rotation freedom of the animal in three mutually perpendicular directions is realized.

[0093] The centrifugal arm 4 is provided with a distance adjusting structure for adjusting the distance between the centrifugal cylinder and the rotating main shaft. Specifically, the distance adjusting structure includes a sliding block, a lead screw and a lead screw driving motor. The lead screw is installed on the centrifugal arm 4, the end of the lead screw is connected with the lead screw driving motor, the sliding block is sleeved on the lead screw, and the posture adjusting structure 6 is connected with the sliding block. By adjusting the lead screw, the distance between the posture adjusting structure 6 and the center of the rotating main shaft 3 can be changed, so that the distance between the centrifugal cylinder 5 and the center of the rotating main shaft 3 is changed.

[0094] The multi-degree-of-freedom animal centrifuge further comprises a monitoring system 7 fixed on the centrifugal arm 4 through a monitoring system support 41, which is used for real-time monitoring of the physiological indicators of the experimental animals in the centrifugal cylinder 5.

[0095] The multi-degree-of-freedom animal centrifuge further comprises a control unit 8 which can store instructions, execute different instructions according to different overload experiment requirements, and display the rotation speed and equivalent overload acceleration in real time, so as to facilitate the monitoring of the experiment state. The centrifuge start-stop, state control and state monitoring of the control unit 8 can also be transmitted wirelessly, so that the experimental personnel can operate in a safe area away from the centrifuge. Specifically, the control unit 8 includes a rotation speed sensor (such as a Hall sensor or an optical encoder) and a closed-loop control function (such as a PID control) for rotation speed, which can accurately feedback and control the angle position, angular velocity and angular acceleration of the centrifugal arm. The control unit 8 is used to control the rotation speed and direction of the rotating main shaft 3 to simulate different supergravity environment conditions. Specifically, the control unit 8 has a preset program which can automatically adjust the rotation speed and direction according to the experimental requirements to realize dynamic simulation of supergravity environment. In one preferred embodiment, the control unit 8 has a wireless communication function which is connected with the driving motor 2 through wireless communication technology, and can remotely adjust the rotation speed and direction of the centrifugal arm 4. In another preferred embodiment, the control unit 8 is connected with the posture adjusting structure 6 through wireless mode in addition to being connected with the driving motor 2, so as to control the real-time posture adjustment of the centrifugal cylinder 5 during the centrifugation process. The distance adjusting mechanism can also be connected with the control unit 8 through wireless mode, and can receive the instructions of the control unit 8 to adjust the distance in real time. The monitoring system 7 and the control unit 8 can receive instructions from each other, realize the synchronization of monitoring data and centrifugation data, and automatically adjust the centrifugation parameters in real time according to the monitoring data; specifically, the monitoring system 7 has a wireless communication function which can wirelessly transmit physiological indicators, that is, the monitoring data of the monitoring system are sent to the client through the wireless transmission module, and the researchers can view and analyze the data in real time through the operation interface.

[0096] The multi-degree-of-freedom animal centrifuge further comprises a video monitoring system arranged on the centrifugal arm 4, which is used for observing the state and behavior of the animals during the centrifugation process.

[0097] The multi-degree-of-freedom animal centrifuge further comprises a damping system 9 arranged between the base 1 and the external environment, for reducing the vibration generated during the centrifugation process. The damping system 9 can be passive damping such as viscoelastic material, damper, etc., or active damping such as electromagnetic brake, piezoelectric actuator, etc., or a combination of passive and active damping.

[0098] The centrifuge arm is made of lightweight high-strength material, such as 7075 aluminum alloy. In order to resist the torque generated by the centrifuge cylinder and the centrifuge during acceleration and deceleration while being lightweight, the cross section of the centrifuge arm is designed with a high area moment of inertia, such as I-shaped, H-shaped, and M-shaped, etc. Preferably, the diameter of the centrifuge arm should be greater than five times the diameter of the experimental animal body to reduce the overload acceleration gradient on the experimental animal body.

[0099] The centrifuge cylinder 5 is a cylindrical symmetric structure composed of two parts, which are firmly connected by threaded fasteners. The inner surface is a circular arc to accommodate the placement of animals. The centrifuge cylinder is fixed on the centrifuge arm by bolts to ensure stability during centrifugation.

[0100] In order to reduce vibration and absorb impact, the centrifuge cylinder is internally laid with a self-adapting and damping restraint device 100. On the one hand, the animal is tightly wrapped by the self-adapting and damping restraint device 100, making it difficult for the animal to struggle. On the other hand, even if the animal struggles during the test, the self-adapting and damping restraint device 100 can reduce the impact and vibration caused by the animal's struggle.

[0101] Specifically, the self-adapting and damping restraint device 100 utilizes the particle jamming effect to achieve self-adapting, and utilizes the inelastic deformation, damping motion, and friction between particles to achieve vibration damping and impact absorption. The self-adapting feature of the self-adapting and damping restraint device 100 allows it to adapt and fix animals of different sizes. Figures 7-9 As shown, the self-adapting and damping restraint device 100 comprises a flexible shell 101 and a pressure controller 104. The flexible shell 101 is filled with particle material 102 and fluid medium 103 in the inner cavity. The pressure controller 104 is connected to the inner cavity of the flexible shell 101 through the pipeline 105, for increasing or decreasing the fluid medium 103 in the inner cavity of the flexible shell 101 to adjust the pressure difference between the inside and outside of the flexible shell 101. The fluid medium 103 can be gas or liquid, which is used to fill the gap between particles. Preferably, the fluid medium 103 is air.

[0102] When the pressure difference between the inside and outside of the flexible shell 101 is small, the self-adapting and vibration-damping binding device 100 shows good fluidity due to the presence of more fluid medium 103 in the inner cavity, and can be self-adapted to the surface of the test animal 50.

[0103] When the fluid medium 103 is extracted from the inner cavity by the pressure controller 104, the pressure difference between the inside and outside of the flexible shell 101 is large, that is, the granular material 102 can be pressed and rubbed with each other under the action of external pressure, forming a shape-locked shaping structure. When the fluid medium 103 is introduced into the flexible shell 101 again by using the pressure controller 104, the self-adapting and vibration-damping binding device 100 can restore fluidity again.

[0104] Specifically, the working process of the self-adapting and vibration-damping binding device 100 is as follows:

[0105] In the initial state, the granular material 102 is distributed loosely in the flexible shell 101, and the device shows a soft state with good fluidity. At this time, the self-adapting and vibration-damping binding device 100 is wrapped on the test animal 50.

[0106] When the fluid medium 103 is extracted from the inner cavity by the pressure controller 104, the granular material 102 will move relatively, so that the device can be self-adapted to the shape of the protected object. That is, by the pressure controller 104, a negative pressure is applied to the inside of the flexible shell 101, so that the granular material 102 is tightly packed, and a particle blocking effect is generated. At this time, the self-adapting and vibration-damping binding device 100 is in a blocked state. During this process, the friction between the particles increases significantly, and the overall stiffness of the device increases. The size of the negative pressure can be adjusted by the pressure controller 104, so as to realize the continuous controllability of the stiffness of the device, the contact force between the device and the test animal 50, and the vibration damping capacity of the device. In the blocked state, the non-elastic deformation, damping collision and friction force among the granular materials 102 jointly dissipate the vibration energy, and play a vibration damping protection role. When it is necessary to restore the soft state of the self-adapting and vibration-damping binding device 100, the negative pressure is removed, that is, the fluid medium 103 is introduced into the flexible shell 101 again, and the granular material 102 will be distributed loosely again, and the device returns to the soft state.

[0107] The self-adapting and vibration-damping binding device 100 fills the granular material in the flexible shell, and under the action of external force, the particles are pressed and rubbed with each other, forming a self-adapting shaping structure. By applying a negative pressure in the flexible shell, the granular material is further compressed, forming a more compact blocked state, thereby improving the stiffness and impact absorption capacity of the device, and absorbing vibration and impact energy, thereby providing effective protection and comfort.

[0108] The packing ratio of the granular material is 20% to 90% of the volume of the flexible shell. With a high packing ratio, there are more contact points between the particles, which can provide higher stiffness and better shape adaptability, but too high a packing ratio will reduce the flowability of the particles and their adaptability to the shape of the test object. With a low packing ratio, the particles have more space to move, and can better collide and rub to dissipate more energy, thus providing better damping effect. However, with too low a packing ratio, even if the particles produce a jamming effect, the structure formed by them has low stiffness and the shaped structure is unstable.

[0109] The mechanical properties of the granular material, including hardness, friction coefficient, and elastic modulus, can affect the shaping and damping functions of the device. In terms of hardness, harder particles can provide better stiffness, but may reduce shape adaptability. In terms of friction coefficient, a higher friction coefficient helps to improve the jamming effect and shape retention ability, but too high a friction coefficient will also reduce shape adaptability. In terms of elastic modulus, a lower elastic modulus can improve shape adaptability, but may reduce the vibration damping effect.

[0110] The size of the granular material can also affect the shaping and damping functions of the device. Smaller particle sizes, <1 mm in diameter, generally provide better shape adaptability, as they can better fill complex geometries. However, too small a particle diameter, <50 μm, can cause local jamming, which is difficult to achieve by adjusting the pressure difference between the inside and outside of the flexible shell. For vibration damping, larger particles, >1 mm in diameter, generally have better effects, as there is more space between the particles, and more energy is dissipated due to relative motion. Specifically, the granular material 102 can be selected from silica gel particles, rubber particles, plastic particles, glass beads, metal powder, ceramic particles, or sand, etc.

[0111] The flexible shell 101 can be made of flexible materials such as polymers, fabrics, or composites, and its shape and size can be designed according to specific application scenarios. The flexible shell 101 can be customized according to the size of the animal, providing necessary fixation and protection while ensuring animal comfort. The flexible shell 101 can include fastening devices such as zippers. The flexible shell 101 can also use a porous design to achieve good air permeability, which is of great value in long-term wear scenarios for animals. In a preferred example, a layered structure can be used inside the flexible shell, with smaller particles in the inner layer to achieve better flowability, and larger particles in the outer layer to provide better damping effect. In a preferred example, the motion of the particles can be actively controlled, such as using magnetically responsive particles, which can be regulated by an external magnetic field to control the performance of the device. The mechanical properties of the particles can also be controlled by temperature, allowing for more flexible performance adjustment.

[0112] The pressure controller 104 comprises a pressure sensor and an air pump. In a preferred embodiment, the adaptive conforming and shock-absorbing restraint device 100 further comprises a sensor assembly comprising an acceleration sensor, a strain sensor or a displacement sensor, etc. for detecting external forces and deformation states of the device, and the sensor assembly is signal-connected with the control system.

[0113] The adaptive conforming and shock-absorbing restraint device 100 has the following advantages: a. adaptive conforming: the particle jamming effect enables the device to adapt to different shapes and sizes of protected objects; b. variable stiffness: by adjusting the internal and external pressure difference, the stiffness of the device can be continuously controlled; c. shock-absorbing: the inelastic deformation, damping motion and friction between particles can effectively absorb vibration and impact energy; d. simple to use, and can quickly switch between non-conforming and conforming states; e. adaptive adjustment: the cooperation of the sensor assembly and the control system realizes real-time adaptive adjustment of the performance of the device; f. simple structure, easy to manufacture and maintain.

[0114] The shock-absorbing effect of the adaptive conforming and shock-absorbing restraint device of the present application is achieved through three forms of interaction between the particle materials: elastic contact, damping motion and friction. As shown in Figure 4 The particle material 102 has an elastic hysteresis effect, that is, when the load force is removed, due to the strain lagging behind the stress, the loading line and the unloading line do not coincide to form a closed loop. The existence of the elastic hysteresis effect indicates that the deformation work consumed by the particle material 102 during loading is greater than the deformation work released by the particle material 102 during unloading, so a part of the deformation work is absorbed by the particle material 102, which shows the weakening of vibration energy.

[0115] The working process of the present application is as follows:

[0116] S1. The experimental animal is fixed in the centrifuge cylinder 5 by using the adaptive conforming and shock-absorbing restraint device 100, and the sensors of the monitoring system 7 are connected.

[0117] S2. The experimental parameters are set by the control unit 8, including the rotation speed, acceleration, posture of the centrifuge cylinder 5, etc.

[0118] S3. Start the system, drive the motor 2 to rotate the rotating shaft 3 and the centrifuge arm 4, and apply a centrifugal force to the animal.

[0119] S4. During the experiment, the posture of the centrifuge cylinder 5 can be changed by the posture adjusting structure 6 to simulate different hypergravity environments.

[0120] S5. After the experiment is completed, stop the rotation, and take out the animal for subsequent observation.

[0121] The application can simulate the supergravity environment more comprehensively, obtain richer experimental data, and provide a powerful tool for aerospace medicine and biomechanics research through the multi-degree-of-freedom design and real-time monitoring system. The radial position and inclination angle of the centrifugal cylinder can be adjusted through the distance adjusting structure and the attitude adjusting structure, multi-degree-of-freedom motion can be realized, and more complex supergravity environments can be simulated. The monitoring system is provided, the physiological indicators of experimental animals can be monitored in real time, and more comprehensive experimental data can be obtained. The application adopts a detachable centrifugal cylinder design, which facilitates the replacement of experimental objects before and after the experiment, and improves the experimental efficiency. Each centrifugal arm in the application can conduct two-group control experiments at a time, improving the experimental efficiency and simplifying the weight requirement.

[0122] The application has the advantages of small size, high degree of freedom, safety and reliability, low cost, real-time monitoring of animal physiological indicators, especially brain activity, and meets the needs of the fields of aerospace medicine research. All parts in the application work cooperatively to realize the monitoring of physiological indicators of experimental animals in different supergravity environments and the collection of experimental data. The centrifuge has the advantages of simple structure, convenient operation, and various simulated environments, and is suitable for research in the fields of aerospace, biomedicine, etc.

[0123] The application also provides an automatic anti-load adjusting method based on the multi-degree-of-freedom animal centrifuge. In one preferred embodiment, the number of self-adaptive shaping and damping binding devices 100 is four, which are a neck shaping and damping binding module, a chest shaping and damping binding module, an abdomen shaping and damping binding module, and a lower limb shaping and damping binding module. In another preferred embodiment, the number of self-adaptive shaping and damping binding devices 100 is one, and the self-adaptive shaping and damping binding device 100 includes a neck shaping and damping binding module, a chest shaping and damping binding module, an abdomen shaping and damping binding module, and a lower limb shaping and damping binding module, each module has a respective flexible shell, and each module corresponds to a pressure controller, that is, each module corresponds to a pressure sensor and a gas pump.

[0124] The automatic anti-load adjusting method includes the following steps, as shown in Figure 5

[0125] The first step is to start.

[0126] The second step is to input the overload acceleration, ideal pose information, and sign warning line.

[0127] The third step is to calculate the head-basin direction overload acceleration. Specifically, the head-basin direction overload acceleration is calculated according to the input overload acceleration and ideal pose information. More specifically, the head-basin direction overload acceleration calculation formula is as follows:

[0128] ​

[0129] wherein,

[0130] : head-pelvis-overload acceleration of the animal body;

[0131] : preset centrifuge-overload acceleration;

[0132] : centrifuge-cylinder yaw angle;

[0133] : centrifuge-cylinder pitch angle.

[0134] Step 4: calculate the ideal negative pressure value of the adaptive shaping and damping restraint device 100; specifically, according to the calculated head-pelvis-overload acceleration, further calculate the ideal negative pressure value; the calculation formula of the ideal negative pressure value is as follows:

[0135]

[0136] wherein,

[0137] : ideal negative pressure value of the adaptive shaping and damping restraint device 100;

[0138] : negative pressure coefficient, related to the mass of the experimental animal and the position of the adaptive shaping and damping restraint device 100, see Table 1 for details;

[0139] Table 1 Negative pressure coefficient

[0140]

[0141] : blood density of the experimental animal;

[0142] : gravitational acceleration, approximately equal to 9.81 m / s2;

[0143] : blood column height, usually the distance from the heart to the sole.

[0144] Step 5: pressure controller 104 works: specifically, the pressure controller 104 works according to the ideal negative pressure value calculated in the previous step.

[0145] Step 6: the operation of the pressure controller 104 is applied to the shaping and damping restraint modules of the neck, chest, abdomen and lower limbs, respectively.

[0146] Step 7: the shaping and damping restraint modules of the neck, chest, abdomen and lower limbs act on the experimental animal, respectively.

[0147] Step 8: Monitor the experimental animal's vital signs data using the vital sensor.

[0148] Step 9: Determine whether the warning line is exceeded, and check whether the vital signs data exceeds the pre-set warning line.

[0149] If the warning line is exceeded, the negative pressure of the lower limb module needs to be increased, and the pressure controller 104 is returned to the sixth step to adjust the pressure of the lower limb shaping and shock-absorbing restraint module.

[0150] The design principle of the automatic anti-G regulation method is that, under the state of overload, due to the inertial flow of blood in the body, a large amount of blood loss in the brain will occur, causing loss of consciousness and syncope. The blood flow trend of the experimental animal loaded on the centrifuge is mainly affected by the overload acceleration and the attitude adjustment structure. The greater the overload acceleration, the closer the attitude of the experimental animal to the head-pelvis direction, the poorer the overload tolerance of the animal body, and the easier the syncope reaction.

[0151] The present application can automatically calculate the head-pelvis direction overload acceleration of the animal body according to the size of the overload acceleration and the pose of the attitude adjustment structure, and automatically adjust the internal and external pressure difference of the shock-absorbing shaping device by comparing with the pre-set vital signs warning line. The shock-absorbing shaping device can be designed in layers and modules, and the internal and external pressure difference of the lower limb module can be adjusted to force the blood to return to the heart and flow to the brain, which can effectively prevent the experimental animal from blacking out and syncope.

[0152] The present application also provides an animal vital signs detection protection method based on the automatic anti-G regulation method. The animal centrifuge of the present application can also be linked with the animal vital signs monitoring system and controlled through the centrifuge control software. When the experimental animal shows syncope reaction, the centrifuge is slowed down and stopped. According to the Chinese Expert Consensus on Diagnosis and Treatment of Syncope 2018, when the patient has syncope premonition and is accompanied by blood pressure drop, systolic blood pressure decreases by ≥20 mmHg or diastolic blood pressure decreases by ≥10 mmHg, or systolic blood pressure decreases to <90 mmHg or heart rate changes with heart rate slowing down but not less than 40 times / minute, or less than 40 times / minute for less than 10 seconds, it can be diagnosed as neurogenic syncope. For different types of experimental animals, the blood pressure and heart rate standards for diagnosing syncope will be different, and the system needs to be set before centrifugal experiment.

[0153] During the experiment, the centrifuge control software can adjust the speed according to the feedback of the vital signs monitoring system. The experimental animal will wear a vital signs monitoring device, which mainly detects the physiological information such as blood pressure and heart rate of the animal, and converts the physiological information into electrical signals through a wireless transmission module and transmits them to the main control system. When the detected vital signs signal exceeds the critical value, the system will immediately slow down and stop the centrifuge to prevent further harm to the animal. The animal vital signs detection protection method is as followsFigure 6 as shown, comprising the following steps:

[0154] Step 1: Start;

[0155] Step 2: Input the critical value of the sign;

[0156] Step 3: According to the input critical value of the sign, start the automatic anti-G regulation mechanism, that is, execute the automatic anti-G regulation method;

[0157] Step 4: After the automatic anti-G regulation mechanism is completed, judge whether the animal sign exceeds the critical value set in Step 2 in combination with the data of the sign sensor;

[0158] If yes, go to Step 5.

[0159] If no, go to Step 7.

[0160] Step 5: Judge whether the animal has syncope

[0161] When the judgment result is "yes", it is confirmed that the animal has syncope.

[0162] Step 6: Centrifuge deceleration and LED warning light flashing

[0163] After the animal syncope, execute the centrifuge deceleration and LED warning light flashing operation.

[0164] Step 7: The animal has not syncope

[0165] When the judgment result is "no", it is confirmed that the animal has not syncope.

[0166] Step 8: The centrifuge speed is unchanged

[0167] When the animal has not syncope, keep the centrifuge speed unchanged.

[0168] Step 9: Continue to collect experimental animal data by using the sign sensor, and return to Step 4.

[0169] The centrifuge control software can be installed in the upper computer, and the software user interface has four modules in total. Module 1 is a motion control module, through which the user can control the speed of the centrifuge, and can also import a pre-set overload curve. Module 2 is a pose control module, through which the user can adjust the angle of the centrifuge cylinder, so that the experimental animal is in an ideal pose. Module 3 is a sign detection module, through which the user can monitor and record the signs of the experimental animal such as heart rate, blood pressure and respiratory rate in real time, and when the monitoring value is less than the pre-set syncope critical value, the warning mark will flash. Module 4 is a video live module, through which the user can observe the state of the animal in real time. The software user interface is as shown in Figure 7 .

[0170] In summary, the software control system of the animal centrifuge can automatically adjust the internal and external pressure difference of the adaptive shock-absorbing exoskeleton device according to the size of the overload acceleration and the posture of the centrifuge drum, thereby protecting the experimental animals from overload, and effectively preventing the experimental animals from suffering from neurogenic syncope caused by blood inertia downsurge. At the same time, the control system can also real-time negative feedback regulate the centrifuge according to the physiological state of the experimental animals. When detecting that the experimental animals appear syncope, the control system can send an emergency speed reduction brake instruction to the centrifuge to prevent further harm to the animals.

[0171] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0172] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. An automatic anti-g adjustment method, characterized in that: Based on a multi-degree-of-freedom animal centrifuge; the multi-degree-of-freedom animal centrifuge includes a base (1), a drive motor (2), a rotating spindle (3), a centrifugal arm (4), a centrifugal cylinder (5), a posture adjustment structure (6), and an adaptive shaping and vibration reduction restraint device (100); The driving motor (2) is mounted on the base (1), and at least one centrifugal arm (4) is mounted on the driving motor (2) via a rotating spindle (3); The output shaft of the driving motor (2) is connected to the rotating main shaft (3), and the driving motor (2) is capable of driving the rotating main shaft (3) to rotate; The centrifugal cylinder (5) is fixed to the centrifugal arm (4) via a posture adjustment structure (6); After the test animal (50) is wrapped by the adaptive shaping and vibration-damping restraint device (100), it is installed in the centrifugal cylinder (5), and the inner side of the adaptive shaping and vibration-damping restraint device (100) abuts against the test animal (50), and the outer side abuts against the inner wall of the centrifugal cylinder (5); The number of the adaptive shaping and vibration reduction restraint devices (100) is four, namely a neck shaping and vibration reduction restraint module, a chest shaping and vibration reduction restraint module, an abdomen shaping and vibration reduction restraint module and a lower limb shaping and vibration reduction restraint module; or, The number of the adaptive shaping and vibration reduction restraint device (100) is one, and the adaptive shaping and vibration reduction restraint device (100) includes a neck shaping and vibration reduction restraint module, a chest shaping and vibration reduction restraint module, an abdomen shaping and vibration reduction restraint module, and a lower limb shaping and vibration reduction restraint module, each module having its own flexible shell and corresponding to a pressure controller; The automatic anti-g adjustment method further comprises the following steps: Step 1: Get started; Step 2: Input overload acceleration, ideal posture information and vital sign warning line; Step 3: Calculate the head-to-pelvis overload acceleration; The calculation formula for the head-to-pelvis overload acceleration is as follows: in, : Overload acceleration of the animal's body in the head-to-pelvic direction; : Centrifuge preset overload acceleration; : yaw angle of centrifugal cylinder; : centrifugal cylinder pitch angle; Step 4: Calculate the negative pressure value of the ideal adaptive shaping and vibration reduction restraint device (100); The calculation formula for the ideal negative pressure value is as follows: in, : ideal negative pressure value of the adaptive shaping and vibration reduction restraint device (100); : negative pressure coefficient; : Blood density of experimental animals; : acceleration due to gravity, approximately equal to 9.81 m / s2; : The height of the blood column, usually the distance from the heart to the soles of the feet; Step 5: Pressure controller (104) works: Step 6: the operation of the pressure controller (104) is respectively applied to the neck shaping shock-absorbing restraint module, the chest shaping shock-absorbing restraint module, the abdomen shaping shock-absorbing restraint module and the lower limb shaping shock-absorbing restraint module; Step 7: The neck shaping shock-absorbing restraint module, the chest shaping shock-absorbing restraint module, the abdomen shaping shock-absorbing restraint module and the lower limb shaping shock-absorbing restraint module are respectively applied to the experimental animals; Step 8: Use vital sign sensors to monitor the vital sign data of experimental animals; Step 9: Determine whether the warning line is exceeded and check whether the vital sign data exceeds the pre-set warning line; If the warning line is exceeded, the negative pressure of the lower limb module needs to be increased, and the process returns to step 6 to use the pressure controller (104) to adjust the pressure of the lower limb shaping and shock-absorbing restraint module.

2. A method for detecting and protecting animal vital signs, characterized in that: The automatic anti-g adjustment method according to claim 1 further comprises the following steps: Step 1: Get started; Step 2: Enter the critical value of physical signs; Step 3: Activate the automatic anti-g adjustment mechanism based on the input critical value of vital signs; Step 4: After the automatic anti-g adjustment mechanism is completed, the data from the vital signs sensor is combined to determine whether the animal's vital signs exceed the critical value set in step 2; If yes, go to step 5; If not, go to step 7; Step 5: Determine if the animal has fainted; Step 6: The centrifuge slows down and the LED warning light flashes; Step 7: The animal does not faint; Step 8: The centrifuge speed remains unchanged; Step 9: Continue to use the vital sign sensor to collect data from the experimental animals and return to step 4.

3. The automatic anti-g adjustment method according to claim 1, characterized in that: The rotating main shaft (3) is also provided with a shaft flat position (31), and a set screw (32) fixes the centrifugal arm sleeve (33) to the rotating main shaft (3). The centrifugal arm (4) is installed in the centrifugal arm sleeve (33) and fixed by a fastener.

4. The automatic anti-g adjustment method according to claim 1, characterized in that: The posture adjustment structure (6) includes two electric rotating platforms driven by a stepping motor (61) and used to control the rotation of the centrifuge cylinder (5) in the horizontal and vertical directions respectively.

5. The automatic anti-G adjustment method according to claim 1, characterized in that: The centrifugal arm (4) is provided with a distance adjustment structure, which includes a slider, a lead screw and a lead screw drive motor. The lead screw is mounted on the centrifugal arm (4), the end of the lead screw is connected to the lead screw drive motor, the slider is mounted on the lead screw, and the posture adjustment structure (6) is connected to the slider.

6. The automatic anti-G adjustment method according to claim 1, characterized in that: It also includes a vibration reduction system (9), which is arranged between the base (1) and the external environment and is used to reduce vibrations generated during the centrifugation process.

7. The automatic anti-G adjustment method according to claim 1, characterized in that: The adaptive shaping and vibration-damping restraint device (100) comprises a flexible shell (101) and a pressure controller (104), wherein the inner cavity of the flexible shell (101) is filled with granular material (102) and a fluid medium (103); the pressure controller (104) is connected to the inner cavity of the flexible shell (101) through a pipe (105) and is used to add or reduce the fluid medium (103) to the inner cavity of the flexible shell (101) to adjust the pressure difference between the inside and outside of the flexible shell (101).

8. The automatic anti-G adjustment method according to claim 7, characterized in that: The fluid medium (103) is air; The granular material (102) is silica gel granules, rubber granules, plastic granules, glass beads, metal powder, ceramic granules or sand; The pressure controller (104) includes a pressure sensor and an air pump connected to each other; The flexible shell (101) is a polymer, fabric or composite material flexible shell.

9. The automatic anti-G adjustment method according to claim 1, characterized in that: It also includes a monitoring system (7), which is fixed to the centrifugal arm (4) through a monitoring system bracket (41) and is used to monitor the physiological indicators of the experimental animals in the centrifugal cylinder (5) in real time; The multi-degree-of-freedom animal centrifuge further comprises a control unit (8), wherein the control unit (8) is wirelessly connected to the drive motor (2), the posture adjustment structure (6), the distance adjustment mechanism, and the monitoring system (7).

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