Movable device for sober animals

Abstract

The invention particularly relates to a sober animal moving device which comprises a self-adaptive rotating module, a servo motor, a rotating disc combined with an output shaft of the servo motor, a support arranged on the rotating disc, a traction cable and a sensor. An acquisition end of the sensor is connected with a first end of a traction cable, acquires a torque analog signal generated by torsion of the traction cable, and sends the torque analog signal to the self-adaptive rotation module, the traction cable is suspended above the turntable, and a second end of the traction cable is provided with a first connector for fixing an experimental animal; the self-adaptive rotation module outputs a motor rotation instruction to drive a servo motor to rotate based on a torque analog signal generated by torsion of the traction cable. The turntable can automatically rotate under the control of the self-adaptive module to relieve the twisting and winding of the traction rope caused by the free movement of the experimental animal, so that the injury to the brain of the sober movable experimental animal is effectively avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of experimental animal fixing devices, and in particular relates to a device for waking animal activities. Background Art

[0002] In the prior art, for example, Patent 201720819141.5 discloses a system for suspending the head of a mouse and restoring physiological functions after microelectrode array implantation. The fixed pulley is fixed to a bracket using the working principle of a fixed pulley, and a pull wire is passed around the fixed pulley. The two ends of the pull wire are respectively connected to a counterweight and a microelectrode implanted in the mouse's head. The counterweight offsets the load on the mouse's head after the microelectrode is implanted. By using the counterweight to offset the increased load on the head and neck of the mouse after microelectrode implantation, the animal is allowed to walk freely over long distances without affecting the stability of the neuronal activity recording. However, the counterweight traction mechanism implemented by the pull wire, fixed pulley, and fixed counterweight in the device disclosed in the above-mentioned prior art may cause the counterweight to fall off or the counterweight to be unreasonable, resulting in injury to the mouse during free activities. At the same time, it is impossible to flexibly adjust the reasonable counterweight value or traction force value according to the physiological state of the mouse. Summary of the Invention

[0003] In response to the above technical problems, the present invention proposes a device for conscious animal activity, comprising an adaptive rotation module, a servo motor, a turntable coupled to the output shaft of the servo motor, a bracket, a traction rope, and a sensor set up on the turntable, the bracket being movably connected to the sensor, the collection end of the sensor being connected to the first end of the traction rope and collecting a torque simulation signal generated by the torsion of the traction rope, and sending the torque simulation signal to the adaptive rotation module, the traction rope being suspended above the turntable and provided with a first coupling member for fixing the experimental animal at its second end, the adaptive rotation module outputting a motor rotation instruction based on the torque simulation signal generated by the torsion of the traction rope to drive the rotation of the servo motor.

[0004] Furthermore, it also includes a second combining piece trapped on the surface of the test animal, and the first combining piece and the second combining piece are detachably connected.

[0005] Furthermore, the bracket includes an upright rod and a balancing arm movably connected to the upright rod, a limiting piece is provided at the top end of the upright rod, the limiting piece is provided with a bracket or a through hole, a positioning screw is passed through the wall of the bracket or through hole, and the part between the head end and the tail end of the balancing arm is movably passed through the bracket or through hole and is limited by the positioning screw.

[0006] Furthermore, the balancing arm further comprises a counterweight, the head end of the balancing arm is movably connected to the housing of the sensor, and the counterweight is movably sleeved on a portion of the balancing arm near its tail end.

[0007] Furthermore, a rigid ring is provided at the first end of the traction lock, and the rigid ring is fixedly penetrated through the collection end of the sensor.

[0008] Furthermore, a clamping piece is provided at the head end of the balancing arm, and a protruding portion of the clamping piece is hinged to the housing of the sensor.

[0009] Furthermore, a plurality of fixing protrusions are dispersedly arranged around the rotating disk.

[0010] Furthermore, the first coupling member includes a hook or lock fixedly connected to the first end of the traction lock.

[0011] Furthermore, the second connecting member is a flexible cable tie, and a plurality of through holes are provided on the flexible cable tie at equal intervals.

[0012] Furthermore, the adaptive rotation module includes an electrically connected rotation sensor, a digital-to-analog converter, and a motor driver, wherein:

[0013] The digital-to-analog converter converts the torque analog signal into a torque digital signal;

[0014] The motor driver is configured to switch between a torque control mode and a speed control mode and send a control signal to the servo motor;

[0015] The motor driver in the torque control mode specifically performs the following steps:

[0016] Receive torque digital signal and calculate shaft torque limit value.

[0017] The motor driver in the speed control mode specifically performs the following steps:

[0018] Receives the torque digital signal and compensates for the lag between the actual speed and the set speed value based on the actual speed and the time offset in the cycle.

[0019] The beneficial technical effects of the solution of the present invention are: the free movement space of the experimental animal is limited by the traction rope, and the increased load after components such as microelectrodes, drug delivery tubes, probes, optical fibers or ultrasound probes are implanted or fixed on the head of the experimental animal is reduced by the balance arm. The turntable can automatically rotate under the control of the adaptive module to release the twisting and entanglement of the traction rope caused by the free movement of the experimental animal, effectively avoiding brain damage of the awake and active experimental animal. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 : Schematic diagram of a device for waking animal activity according to some embodiments;

[0021] Figure 2 : Schematic diagram of a partial structure of an apparatus for conscious animal movement according to some embodiments;

[0022] Figure 3 : Schematic diagram of the structure of the awake animal activity device in some embodiments;

[0023] Figure 4 : Schematic diagram of the structure of the second combining member in some embodiments;

[0024] Figure numerals and their descriptions: 1 adaptive rotation module, 2 servo motor, 3 turntable, 4 bracket, 5 traction rope, 6 sensor, 41 upright rod, 42 balance arm, 43 limiter, 44 positioning screw; 45 counterweight, 46 clamping member, 51 rigid ring, 52 first connecting member, 7 base, 8 first connecting member, 81 hook, 9 second connecting member. DETAILED DESCRIPTION

[0025] First of all, it should be noted that the experimental animals involved in the following examples include but are not limited to small experimental animals such as rats, mice, guinea pigs, and rabbits.

[0026] In animal testing, to protect the animals' health, observable parameters, and prevent bites, the animals' movements must be restrained and kept quiet. Related art animal restraints ensure that animals can move freely within open containers while limiting their range of motion.

[0027] The following examples further illustrate the present invention, but should not be construed as limiting the present invention. Without departing from the spirit and substance of the present invention, modifications or substitutions made to the methods, steps or conditions of the present invention are within the scope of the present invention.

[0028] like Figure 1-4 Some of the embodiments shown include Figure 1 As shown: an adaptive rotation module 1, a servo motor 2, a turntable 3 coupled to the output shaft of the servo motor 2, a bracket 4, a traction rope 5, and a sensor 6 set up on the turntable, the bracket 4 being movably connected to the sensor 6, the collection end of the sensor 6 being connected to the first end of the traction rope 5 and collecting a torque simulation signal generated by the torsion of the traction rope 5, and the sensor 6 sending the torque simulation signal to the adaptive rotation module 1, the traction rope 5 being suspended above the turntable 3 and having a first coupling member 8 for fixing the experimental animal at its second end, the adaptive rotation module 1 outputting a motor rotation command based on the torque simulation signal generated by the torsion of the traction rope 5 to drive the rotation of the servo motor 2.

[0029] When an awake experimental animal moves freely on the turntable, the traction rope twists or gets entangled. The adaptive rotation module drives the servo motor in the radial direction of the traction rope to drive the turntable to rotate in the opposite direction of the entanglement of the traction rope in order to release the entanglement.

[0030] The adaptive rotation module of the above embodiment collects the torque analog signal of the sensor and calculates in real time the torque, rotational angular velocity and acceleration of the traction lock, including but not limited to, to obtain a rotation instruction for controlling the servo motor.

[0031] Some embodiments have structures such as Figure 2 The bracket 4 shown in the figure includes an upright rod 41 and a balance arm 42 movably connected to the upright rod. A limit member 43 is provided at the top of the upright rod 41. The limit member 43 is provided with a bracket or a through hole. A positioning screw 44 is passed through the wall of the bracket or the through hole. The part between the head end and the tail end of the balance arm 42 is movably passed through the bracket or the through hole and is limited by the positioning screw.

[0032] like Figure 3 In the embodiment, the balance arm further includes a counterweight, the head end of the balance arm 42 is movably connected to the housing of the sensor 6, and the counterweight 45 is movably mounted on the portion of the balance arm near its tail end.

[0033] like Figure 3 In the embodiment shown, the traction rope 3 has a rigid ring at the first end of the traction lock, which is fixedly mounted on the sensor's acquisition end. The rigid ring can accurately transfer the torque physical information of the traction rope to the sensor acquisition end.

[0034] like Figure 3 In the illustrated embodiment, a clamping member 46 is provided at the head end of the balancing arm 42 , and a protruding portion of the clamping member 46 is hinged to the housing of the sensor 6 .

[0035] like Figure 3 In the embodiment shown, a plurality of fixing protrusions 31 are distributed around the turntable 3. The spaces between the plurality of protrusions on the turntable 3 are used to fix the bottom of the cage or box containing the test animals.

[0036] Figure 3 In the illustrated embodiment, the first coupling member 52 comprises a hook or lock fixedly connected to the first end of the traction lock.

[0037] It should be noted that Figure 3 In the embodiment shown, a base 7 is provided under the turntable, and the base 7 encloses Figure 1 The device comprises an adaptive rotation module, a servo motor, and other necessary electrical devices such as wires, connectors, electrical components, and circuit boards (the internal structure of the device housing is not shown). In combination with existing technology, those skilled in the art can arrange the internal structural relationship of the device without inventive work.

[0038] Figure 4The second connecting member 9 of the embodiment shown is a nylon cable tie with a plurality of through holes equidistantly formed therein. The hook 81 of the first connecting member 8 passes through the through holes of the nylon cable tie to securely connect the first and second connecting members.

[0039] An adaptive rotation module in some embodiments includes an electrically connected rotation sensor, a digital-to-analog converter, and a motor driver. The adaptive rotation module has two control modes and can switch between the two modes.

[0040] The adaptive rotation module of some embodiments is specifically configured to switch between the torque control mode and the speed control mode by implementing the following steps:

[0041] The digital-to-analog converter converts the torque analog signal into a torque digital signal;

[0042] The motor driver is configured to switch between a torque control mode and a speed control mode and send a control signal to the servo motor;

[0043] The motor driver in the torque control mode specifically performs the following steps:

[0044] Receive torque digital signal and calculate shaft torque limit value.

[0045] The motor driver in the speed control mode specifically performs the following steps:

[0046] Receives the torque digital signal and compensates for the lag between the actual speed and the set speed value based on the actual speed and the time offset in the cycle.

[0047] Preferably, the adaptive module of some embodiments uses an XSDH-60A32 series single chip microcomputer as a motor driver for implementing the adaptive rotation module.

[0048] In more specific implementations, the sensor's inner sleeve is connected to the outer housing via a bearing, allowing it to rotate synchronously with the traction cable. Both the upper and lower ends of the sensor's inner sleeve protrude from the housing. The lower end serves as the sensor's collector, connecting to the traction cable, while the upper end houses the sensor's functional element, converting torsional torque into an electrical signal. The upper end of the inner sleeve can be rotated within a range of 0-360°.

[0049] During operation, the sensor transmits signals via the acquisition terminal and wires to the electrical module inside the base. The electrical module calculates and controls the turntable's clockwise or counterclockwise rotation. The base has a display module that shows the number of clockwise and counterclockwise rotations the animal has completed within the base within a time limit. A knob is located to the left of the display module for adjusting the turntable's rotation speed.

[0050] The sensor of the present invention is any torque sensor that can be selected in the prior art.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0052] Although the present invention has been described in detail above using general explanations, specific embodiments, and experiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A device for awakening animals, characterized in that: The invention comprises an adaptive rotation module, a servo motor, a turntable combined with an output shaft of the servo motor, a bracket, a traction rope and a sensor arranged on the turntable, wherein the bracket is movably connected with the sensor, a collection end of the sensor is connected with a first end of the traction rope and collects a torque simulation signal generated by the torsion of the traction rope, and sends the torque simulation signal to the adaptive rotation module, the traction rope is suspended above the turntable and a first coupling member for fixing an experimental animal is arranged at its second end, and the adaptive rotation module outputs a motor rotation instruction based on the torque simulation signal generated by the torsion of the traction rope to drive the rotation of the servo motor.

2. The awake animal activity device according to claim 1, characterized in that: It also includes a second combining piece that is trapped on the body surface of the experimental animal, and the first combining piece and the second combining piece are detachably connected.

3. The awake animal activity device according to claim 2, characterized in that: The bracket includes an upright rod and a balancing arm movably connected to the upright rod. A limiting piece is provided at the top end of the upright rod. The limiting piece is provided with a bracket or a through hole. A positioning screw is penetrated through the wall of the bracket or the through hole. The part between the head end and the tail end of the balancing arm is movably penetrated in the bracket or the through hole and is limited by the positioning screw.

4. The awake animal activity device according to claim 3, characterized in that: The balancing arm further comprises a counterweight block, the head end of the balancing arm is movably connected to the housing of the sensor, and the counterweight block is movably sleeved on the balancing arm near the tail end of the balancing arm.

5. The awake animal activity device according to claim 4, characterized in that: A rigid ring is provided at the first end of the traction lock, and the rigid ring is fixedly penetrated through the collection end of the sensor.

6. The awake animal activity device according to claim 5, characterized in that: A clamping piece is provided at the head end of the balancing arm, and a protruding portion of the clamping piece is hinged to the housing of the sensor.

7. The awake animal activity device according to claim 6, characterized in that: A plurality of fixing protrusions are dispersedly arranged around the rotating disk.

8. The awake animal activity device according to claim 7, characterized in that: The first coupling member includes a hook or a lock fixedly connected to the first end of the traction lock.

9. The awake animal activity device according to claim 8, characterized in that: The second connecting member is a flexible cable tie, and a plurality of through holes are equidistantly provided on the flexible cable tie.

10. The device for waking up an animal according to any one of claims 1 to 9, characterized in that: The adaptive rotation module includes an electrically connected rotation sensor, a digital-to-analog converter and a motor driver, wherein: The digital-to-analog converter converts the torque analog signal into a torque digital signal; The motor driver is configured to switch between a torque control mode and a speed control mode and send a control signal to the servo motor; The motor driver in the torque control mode specifically performs the following steps: Receive torque digital signal and calculate shaft torque limit value. The motor driver in speed control mode specifically performs the following steps: Receives the torque digital signal and compensates for the lag between the actual speed and the set speed value based on the actual speed and the time offset in the cycle.

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