Multi-degree-of-freedom animal centrifugal machine and automatic anti-load adjustment and physical sign detection protection method

Abstract

The invention provides a multi-degree-of-freedom animal centrifugal machine and an automatic anti-load adjustment and physical sign detection protection method. The multi-degree-of-freedom animal centrifugal machine comprises a base, a driving motor, a rotating main shaft, a centrifugal arm, a centrifugal cylinder, a posture adjusting structure and a self-adaptive shaping and vibration reduction constraint device. The centrifugal cylinder is fixed on the centrifugal arm through a posture adjusting structure; a test animal is wrapped by the self-adaptive shaping and vibration reduction constraint device and then installed in the centrifugal cylinder, the inner side of the self-adaptive shaping and vibration reduction constraint device abuts against the test animal, and the outer side of the self-adaptive shaping and vibration reduction constraint device abuts against the inner wall of the centrifugal cylinder. According to the invention, the test animal is wrapped by the self-adaptive shaping and vibration reduction binding device and then is put into the centrifugal cylinder, so that on one hand, the animal is difficult to struggle, and on the other hand, even if the animal struggles in the test process, the self-adaptive shaping and vibration reduction binding device can also relieve impact and vibration generated by struggling of the animal.

Description

Technical Field

[0001] The present invention relates to the technical field of animal experimental equipment, and in particular, to a multi-degree-of-freedom animal centrifuge, automatic anti-gravity adjustment and vital sign detection and protection method, and in particular, to a multi-degree-of-freedom animal centrifuge, automatic anti-gravity adjustment and vital sign detection and protection method for simulating an overweight environment. Background Art

[0002] With the rapid development of aerospace technology, the maneuverability and combat performance of the new generation of fighter jets are becoming more and more powerful, and the launch of manned spacecraft and carrier rockets is becoming more and more frequent. Pilots and astronauts often need to withstand extreme environments such as high G acceleration when performing missions. These environments may have serious effects on the human body, including loss of consciousness. However, there are huge risks in directly subjecting the human body to these extreme conditions for experiments, and it is difficult to obtain detailed physiological data. Therefore, using animals for centrifugal experiments has become an important means of aerospace medical research. The application of animal centrifuges is not limited to the field of aerospace medicine. They also have broad application prospects in many fields such as biomechanics, exercise physiology, and military training. By studying the physiological responses of animals under different G force conditions, it can provide valuable scientific basis and technical support 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. When using current animal centrifuges, they usually use a clamping structure to fix the animals. However, when the animals are undergoing experiments, their bodies will constantly struggle and shake. The vibrations caused by these struggles and shakes will exert force on the centrifugal arms and affect the experimental data. Summary of the invention

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

[0005] A multi-degree-of-freedom animal centrifuge provided by the present invention comprises a base, a driving motor, a rotating spindle, a centrifugal arm, a centrifugal cylinder, a posture adjustment structure, and an adaptive shaping and vibration reduction restraint device;

[0006] The driving motor is mounted on the base, and at least one centrifugal arm is mounted on the driving motor via a rotating spindle;

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

[0008] The centrifugal cylinder is fixed on the centrifugal arm through a posture adjustment structure;

[0009] After the test animal is wrapped by the adaptive shaping and vibration-damping restraint device, it is installed in a centrifugal cylinder, the inner side of the adaptive shaping and vibration-damping restraint device abuts against the test animal, and the outer side abuts against the inner wall of the centrifugal cylinder.

[0010] Preferably,

[0011] A shaft flat position is also provided on the rotating main shaft, and a set screw fixes the centrifugal arm sleeve on the rotating main shaft. The centrifugal arm is installed in the centrifugal arm sleeve and fixed by a fastener.

[0012] Preferably,

[0013] The posture adjustment structure includes two electric rotating tables driven by stepper motors, which are used to control the rotation of the centrifuge cylinder in the horizontal and vertical directions respectively.

[0014] Preferably,

[0015] The centrifugal arm is provided with a distance adjustment structure, which includes a slider, a lead screw and a lead screw drive motor. The lead screw is installed on the centrifugal arm, 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 is connected to the slider.

[0016] Preferably,

[0017] It also includes a vibration reduction system, which is arranged between the base and the external environment and is used to reduce the vibration generated during the centrifugation process.

[0018] Preferably,

[0019] The adaptive shaping and vibration reduction restraint device includes a flexible shell and a pressure controller, and the inner cavity of the flexible shell is filled with granular material and fluid medium; the pressure controller is connected to the inner cavity of the flexible shell through a pipeline, and is used to add or reduce the fluid medium to 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 granules, rubber granules, plastic granules, glass beads, metal powder, ceramic granules or sand;

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

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

[0025] Preferably,

[0026] It also includes a monitoring system, which is fixed to the centrifugal arm through a monitoring system bracket and is used to monitor the physiological indicators of the experimental animals in the centrifugal cylinder in real time;

[0027] The multi-degree-of-freedom animal centrifuge also includes a control unit, which is wirelessly connected to the drive motor, the posture adjustment structure, the distance adjustment mechanism, and the monitoring system.

[0028] According to an automatic anti-g adjustment method provided by the present invention, based on the multi-degree-of-freedom animal centrifuge;

[0029] The number of the adaptive shaping and vibration reduction restraint devices is 4, which are a neck shaping and shock reduction restraint module, a chest shaping and shock reduction restraint module, an abdomen shaping and shock reduction restraint module and a lower limb shaping and shock reduction restraint module, or the number of the adaptive shaping and vibration reduction restraint devices is 1, and the adaptive shaping and vibration reduction restraint devices include a neck shaping and shock reduction restraint module, a chest shaping and shock reduction restraint module, an abdomen shaping and shock reduction restraint module and a lower limb shaping and shock reduction restraint module, each module has its own flexible shell, and each corresponds to a pressure controller;

[0030] The automatic anti-load adjustment method further comprises the following steps:

[0031] Step 1: Get started;

[0032] Step 2: Input overload acceleration, ideal posture information and vital sign warning line;

[0033] Step 3: Calculate the head-to-pelvis overload acceleration;

[0034] Step 3: Calculate the head-to-pelvis overload acceleration;

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

[0036] +G ztp =+G z ·sinψ·cosθ

[0037] in,

[0038] +G ztp : Overload acceleration of the animal's body in the head-to-pelvic direction;

[0039] +G z : Centrifuge preset overload acceleration;

[0040] ψ: yaw angle of centrifugal cylinder;

[0041] θ: Centrifuge cylinder pitch angle.

[0042] Step 4: Calculate the negative pressure value of the ideal adaptive shaping and vibration reduction restraint device (100);

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

[0044] P i =K i ·ρ·(+G ztp -g)·h

[0045] in,

[0046] P i : The ideal negative pressure value of the adaptive shaping and vibration reduction restraint device 100;

[0047] K i : Negative pressure coefficient;

[0048] ρ: blood density of experimental animals;

[0049] g: acceleration due to gravity, approximately equal to 9.81 m / s2;

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

[0051] Step 5: Pressure controller working:

[0052] Step 6: The operation of the pressure controller 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;

[0053] 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;

[0054] Step 8: Use the vital sign sensor to monitor the vital sign data of the experimental animals;

[0055] Step 9: Determine whether the warning line is exceeded and check whether the physical sign data exceeds the preset warning line;

[0056] If it exceeds the warning line, it is necessary to increase the negative pressure of the lower limb module and return to step 6 to use the pressure controller to adjust the pressure of the lower limb shaping shock-absorbing restraint module.

[0057] According to an animal vital sign detection and protection method provided by the present invention, based on the automatic anti-G adjustment method, the method further includes the following steps:

[0058] Step 1: Get started;

[0059] Step 2: Enter the critical value of physical signs;

[0060] Step 3: According to the input critical value of vital signs, start the automatic anti-g regulation mechanism;

[0061] 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 the second step;

[0062] If yes, go to step 5;

[0063] If no, proceed to step 7;

[0064] Step 5: Determine if the animal has fainted;

[0065] Step 6: The centrifuge slows down and the LED warning light flashes;

[0066] Step 7: The animal has not fainted;

[0067] Step 8: The centrifuge speed remains unchanged;

[0068] Step 9: Continue to use the vital sign sensor to collect data from experimental animals and return to step 4.

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

[0070] 1. The present invention uses an adaptive shaping and vibration-damping restraint device to wrap the test animal and then put it into a centrifugal cylinder. On the one hand, it makes it difficult for the animal to struggle. On the other hand, even if the animal struggles during the test, the adaptive shaping and vibration-damping restraint device can reduce the impact and vibration caused by the animal's struggle. That is, the present invention avoids the defect of the test data being affected by the animal's struggle by setting the adaptive shaping and vibration-damping restraint device.

[0071] 2. The automatic anti-load adjustment method provided by the present invention can automatically calculate the magnitude of the overload acceleration in the head-to-pelvis direction of the animal body according to the magnitude of the overload acceleration and the position of the posture adjustment structure, and automatically adjust the internal and external pressure difference of the shock-absorbing shaping device by comparing with the preset vital sign warning line. The shock-absorbing shaping device can adopt a modular design, and can specifically adjust the internal and external pressure difference of the lower limb module to force the blood to return to the heart and flow to the brain, which can effectively prevent the experimental animals from blacking out and fainting.

[0072] 3. The animal vital sign detection and protection method provided by the present invention can perform negative feedback regulation on the centrifuge in real time. When the experimental animal is detected to be fainting, an emergency deceleration and braking instruction can be sent to the centrifuge to prevent further harm to the animal. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0074] Figure 1 It is a structural schematic diagram of the present invention;

[0075] Figure 2 A structural diagram showing the connection relationship between the drive motor, the rotating spindle, and the centrifugal arm;

[0076] Figure 3 It is a structural schematic diagram of the centrifugal cylinder and the posture adjustment structure;

[0077] Figure 4 The schematic diagram of the device for adaptive shaping and vibration reduction restraint having vibration reduction effect;

[0078] Figure 5 It is a schematic diagram of a flow chart of an automatic anti-g adjustment method;

[0079] Figure 6 It is a structural schematic diagram of the animal vital signs detection and protection method;

[0080] Figure 7 It is a schematic diagram of the structure of the device for adaptive shaping and vibration reduction restraint;

[0081] Figure 8 It is a structural schematic diagram when there is more fluid medium in the inner cavity of the flexible shell;

[0082] Fig. 9 It is a structural schematic diagram when the fluid medium is drawn out from the inner cavity by the pressure controller;

[0083] Fig.10 It is a schematic diagram of the structure of the test animal after being wrapped by the adaptive shaping and vibration reduction restraint device and installed in the centrifugal cylinder 5;

[0084] Fig.11 for Fig.10 Schematic cross-sectional view of .

[0085] The figure shows:

[0086] DETAILED DESCRIPTION

[0087] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0088] The present invention provides a multi-degree-of-freedom animal centrifuge, such as Figure 1 As shown, it includes a base 1, a driving 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;

[0089] 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. Specifically, the base 1 is fixedly mounted on the ground to support the entire device; the driving motor 2 is fixed on the base 1 via a motor bracket 21, and the output shaft of the driving motor 2 is connected to the rotating spindle 3, and the driving motor 2 can drive the rotating spindle 3 to rotate. More specifically, Figure 2 As shown, the rotating main shaft 3 is also provided with a shaft flattening part 31. During installation, the centrifugal arm sleeve 33 can be first fixed to the rotating main shaft 3 by using a set screw 32, and then the centrifugal arm 4 is installed in the centrifugal arm sleeve 33 and fixed by screws to achieve the connection between the centrifugal arm 4 and the rotating main shaft 3. In a preferred example, the driving motor 2 is also connected to a 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 adjustment structure 6, which is provided 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 to the centrifugal arm 4 through the posture adjustment structure 6. In a preferred example, the centrifugal cylinder 5 is detachably mounted on the posture adjustment structure 6. In a preferred example, the opposite side of a centrifugal arm 4 is provided with the same centrifugal cylinder 5 and posture adjustment structure 6, and another experimental animal or heavy object can be placed according to experimental requirements to achieve the purpose of counterweighting.

[0091] like Fig.10 , Fig.11 As shown, the test animal 50 is wrapped by the adaptive shaping and vibration-damping restraint device 100 and then installed in the centrifugal cylinder 5. 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.

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

[0093] The centrifugal arm 4 is provided with a distance adjustment structure, which is used to adjust the distance between the centrifugal cylinder and the rotating main shaft. Specifically, the distance adjustment structure includes a slider, a screw and a screw drive motor, the screw is installed on the centrifugal arm 4, the end of the screw is connected to the screw drive motor, the slider is sleeved on the screw, and the posture adjustment structure 6 is connected to the slider. By adjusting the screw, the distance between the posture adjustment structure 6 and the center of the rotating main shaft 3 can be changed, thereby changing the distance between the centrifugal cylinder 5 and the center of the rotating main shaft 3.

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

[0095] The multi-degree-of-freedom animal centrifuge also includes a control unit 8, which can store instructions, execute different instructions for different overload experimental requirements, and can also display the rotation speed and equivalent overload acceleration in real time, so as to facilitate monitoring of the experimental state. The centrifuge start and stop, state control, and state monitoring of the control unit 8 can also be transmitted wirelessly, so that the experimenter can operate in a safe area away from the centrifuge. Specifically, the control unit 8 includes a speed sensor (such as a Hall sensor or a photoelectric encoder) and a closed-loop control function for the speed (such as PID control), which can accurately feedback and control the angular 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 spindle 3 to simulate different overweight environmental 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 achieve dynamic simulation of the overweight environment. In a preferred example, the control unit 8 has a wireless communication function, which is connected to the drive motor 2 through wireless communication technology, and can remotely adjust the rotation speed and direction of the centrifugal arm 4. In another preferred embodiment, in addition to being connected to the drive motor 2, the control unit 8 can also be connected to the posture adjustment structure 6 by wireless means to control the real-time posture adjustment of the centrifuge tube 5 during the centrifugation process. The distance adjustment mechanism can also be connected to the control unit 8 by wireless means, and can receive instructions from 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 to achieve synchronization of monitoring data and centrifugation data, and automatically adjust centrifugation parameters in real time according to the monitoring data; specifically, the monitoring system 7 has a wireless communication function and can wirelessly transmit physiological indicators, that is, the monitoring data of the monitoring system is sent to the client through the wireless transmission module, and scientific researchers can view and analyze the data in real time through the operation interface.

[0096] The multi-degree-of-freedom animal centrifuge also includes a video monitoring system, which is arranged on the centrifugal arm 4 and is used to observe the state and behavior of the animal during the centrifugation process.

[0097] The multi-degree-of-freedom animal centrifuge also includes a vibration reduction system 9, which is arranged between the base 1 and the external environment to reduce the vibration generated during the centrifugation process. The implementation principle of the vibration reduction system 9 includes passive vibration reduction such as viscoelastic materials, dampers, etc., and can also be active vibration reduction such as electromagnetic brakes, piezoelectric actuators, etc., or a combination of passive vibration reduction and active vibration reduction.

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

[0099] The centrifugal cylinder 5 is a cylindrical symmetrical structure, consisting of an upper and lower part, which are firmly connected by threaded fasteners. The inner surface is arc-shaped to meet the placement requirements of the animal. The centrifugal cylinder is fixed to the centrifugal arm by bolts to ensure stability during the centrifugation process.

[0100] In order to reduce shock and absorb impact, an adaptive shaping and vibration-damping restraint device 100 is laid inside the centrifuge. On the one hand, since the animal is tightly wrapped by the adaptive shaping and vibration-damping restraint device 100, it is difficult for the animal to struggle. On the other hand, even if the animal struggles during the test, the adaptive shaping and vibration-damping restraint device 100 can reduce the impact and vibration caused by the animal's struggle.

[0101] Specifically, the adaptive shaping and vibration reduction restraint device 100 utilizes the particle blocking effect to achieve adaptive shaping, and utilizes the inelastic deformation, damping motion and friction between particles to achieve vibration reduction and shock absorption. The adaptive shaping characteristics of the adaptive shaping and vibration reduction restraint device 100 allow it to adapt and fix animals of different sizes. Figure 7-Figure 9 As shown, the adaptive shaping and vibration reduction restraint device 100 includes a flexible shell 101 and a pressure controller 104. The inner cavity of the flexible shell 101 is filled with granular material 102 and 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. The fluid medium 103 can be gas or liquid, and is used to fill the gaps 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, since there is more fluid medium 103 in the inner cavity, the adaptive shaping and vibration reduction restraint device 100 exhibits better fluidity and can adaptively fit the surface of the test animal 50 .

[0103] When the fluid medium 103 is drawn out of the inner cavity by the pressure controller 104, the pressure difference between the inside and outside of the flexible housing 101 is large, that is, the granular materials 102 can be squeezed and rubbed against each other under the external pressure to form a shape-locked shaping structure. When the fluid medium 103 is introduced into the flexible housing 101 again using the pressure controller 104, the adaptive shaping and vibration reduction restraint device 100 can restore fluidity again.

[0104] Specifically, the working process of the adaptive shaping and vibration reduction restraint device 100 is as follows:

[0105] In the initial state, the granular material 102 is loosely distributed in the flexible shell 101, and the device is soft and has good fluidity. At this time, the adaptive shaping and vibration reduction restraint 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 relative to each other, so that the device can adaptively fit the shape of the protected object. That is, the pressure controller 104 applies negative pressure to the inside of the flexible shell 101, so that the granular material 102 is closely stacked, resulting in a particle blocking effect. At this time, the adaptive shaping and vibration reduction restraint device 100 is in a blocking state. In this process, the friction between the particles increases significantly, and the overall rigidity of the device is improved. The magnitude of the negative pressure can be adjusted by the pressure controller 4, so as to achieve continuous control of the device rigidity, the contact force between the device and the test animal 50, and the vibration reduction ability of the device. In the blocked state, the inelastic deformation, damping collision and friction between the granular materials 102 work together to dissipate the vibration kinetic energy, and play a vibration reduction protection role. When it is necessary to restore the soft state of the adaptive shaping and vibration reduction restraint device 100, it is only necessary to release the negative pressure, that is, to re-introduce the fluid medium 103 into the flexible shell 101, and the granular material 102 will be loosely distributed again, and the device will return to a soft state.

[0107] The adaptive shaping and vibration reduction restraint device 100 is formed by filling granular materials in a flexible shell, and the granules are squeezed and rubbed against each other under the action of external force to form an adaptive shaping structure. By applying negative pressure inside the flexible shell, the granular materials are further compressed to form a tighter blocking state, thereby improving the rigidity and vibration reduction and impact absorption capabilities of the device, while absorbing vibration and impact energy, thereby providing effective protection and comfort.

[0108] The filling rate of the granular material is 20% to 90% of the volume of the flexible shell. At a high filling rate, there are more contact points between the particles, which can provide higher rigidity and better shape adaptability, but too high a filling rate will reduce the fluidity of the particles and their adaptability to the shape of the test object. At a low filling rate, the particles have more room to move, and can better dissipate more energy through collision and friction, so the vibration reduction effect is better. However, when the filling rate is too low, even if the particles produce a blocking effect, the structural rigidity formed is low and the excipient structure is unstable.

[0109] The mechanical properties of the granular material, including hardness, friction coefficient, and elastic modulus, can affect the shaping and vibration reduction 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 blocking effect and shape retention ability, and 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 attenuation effect.

[0110] The size of the granular material may also affect the shaping and vibration reduction functions of the device. Smaller particle sizes with a diameter of <1 mm can generally achieve better shape adaptability because they can better fill complex geometric shapes. However, particles with a diameter of <50 μm that is too small can easily cause local blockages, which are difficult to achieve by adjusting the pressure difference inside and outside the flexible housing. For vibration attenuation, particles with a larger diameter >1 mm generally have a better effect because the space between the particles is larger and the energy dissipation caused by relative motion is greater. 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 composite materials, and its shape and size can be designed according to the specific application scenario. The flexible shell 101 can be customized according to the body shape of the animal, while ensuring the comfort of the animal, providing the necessary fixation and protection. The flexible shell 101 may include fastening devices such as zippers. The flexible shell 101 can also adopt a porous design to achieve good air permeability, which has important application value in the wearing scenario of animals for a long time. In a preferred example, a layered structure can be used in the flexible shell, with smaller particles in the inner layer to achieve better fluidity and larger particles in the outer layer to provide better vibration reduction. In a preferred example, the movement of the particles can be actively controlled, such as using magnetic responsive particles, and the performance of the device can be regulated by an external magnetic field. The mechanical properties of the particles can also be controlled by temperature to achieve more flexible performance adjustment.

[0112] The pressure controller 104 includes a pressure sensor and an air pump. In a preferred embodiment, the adaptive shaping and vibration reduction restraint device 100 also includes a sensor component, which includes an acceleration sensor, a strain sensor or a displacement sensor, etc., for detecting the external force and the deformation state of the device, and the sensor component is connected to the control system signal.

[0113] The device 100 for adaptive shaping and vibration reduction restraint has the following advantages: a. Adaptive shaping: The particle blocking effect enables the device to adapt to the protected objects of different shapes and sizes. b. Variable stiffness: By adjusting the internal and external pressure difference, the device stiffness can be continuously controlled. c. Vibration reduction and shock absorption: The inelastic deformation, damping motion and friction between particles can effectively absorb vibration and impact energy. d. Simple to use, it can quickly switch between non-shaping and shaping states. e. Adaptive adjustment: The cooperation of sensor components and control system realizes real-time adaptive adjustment of device performance. f. Simple structure, easy to manufacture and maintain.

[0114] The vibration reduction effect of the adaptive shaping and vibration reduction restraint device of the present invention is achieved through three types of forces between the granular materials: elastic contact, damping motion and friction. Figure 4 As shown, the granular material 102 has an elastic hysteresis effect, that is, when the load force is removed, the strain lags behind the stress, so that the loading line and the unloading line do not overlap and form a closed loop. The existence of the elastic hysteresis effect indicates that the deformation work consumed by the granular material 102 during loading is greater than the deformation work released by the granular material 102 during unloading, so a part of the deformation work is absorbed by the granular material 102, which is manifested as a reduction in vibration energy.

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

[0116] S1. Fix the experimental animal in the centrifuge tube 5 using the adaptive shaping and vibration reduction restraint device 100, and connect the various sensors of the monitoring system 7.

[0117] S2. Set the experimental parameters through the control unit 8, including the rotation speed, acceleration, the posture of the centrifuge tube 5, etc.

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

[0119] S4. During the experiment, the posture of the centrifuge cylinder 5 can be changed through the posture adjustment structure 6 to simulate different overweight environments.

[0120] S5. After the experiment, stop the rotation and take out the animals for follow-up observation.

[0121] The present invention can simulate an overweight environment more comprehensively and obtain more abundant experimental data through multi-degree-of-freedom design and real-time monitoring system, thus providing a powerful tool for aerospace medicine and biomechanics research. The present invention can adjust the radial position and tilt angle of the centrifuge cylinder through the distance adjustment structure and the posture adjustment structure, realize multi-degree-of-freedom movement, and can simulate a more complex overweight environment. The present invention is provided with a monitoring system, which can monitor the physiological indicators of experimental animals in real time and obtain more comprehensive experimental data. The present invention adopts a detachable centrifuge cylinder design, which is convenient for replacing experimental subjects before and after the experiment, thereby improving the experimental efficiency. In the present invention, each centrifugal arm can carry out two groups of control experiments at a time, thereby improving the experimental efficiency and simplifying the counterweight requirements.

[0122] The invention is a small-sized, high-freedom, safe and reliable, low-cost experimental animal centrifuge capable of real-time monitoring of animal physiological indicators, especially brain activity, to meet the needs of aerospace medical research and other fields. All parts of the invention work together to achieve monitoring of physiological indicators of experimental animals in different overweight environments and collection of experimental data. The centrifuge has the advantages of simple structure, convenient operation, and diverse simulated environments, and is suitable for research in the fields of aerospace, biomedicine, etc.

[0123] The present invention also provides an automatic anti-load adjustment method based on the multi-degree-of-freedom animal centrifuge. In a preferred example, the number of the adaptive shaping and vibration-damping restraint devices 100 is 4, which are a neck shaping and shock-damping restraint module, a chest shaping and shock-damping restraint module, an abdomen shaping and shock-damping restraint module and a lower limb shaping and shock-damping restraint module. In another preferred example, the number of the adaptive shaping and vibration-damping restraint devices 100 is 1, and the adaptive shaping and vibration-damping restraint devices 100 include a neck shaping and shock-damping restraint module, a chest shaping and shock-damping restraint module, an abdomen shaping and shock-damping restraint module and a lower limb shaping and shock-damping restraint module, each module having its own flexible shell, corresponding to a pressure controller, that is, each module corresponds to a pressure sensor and an air pump.

[0124] The automatic anti-load adjustment method comprises the following steps: Figure 5 As shown:

[0125] Step 1: Get started;

[0126] Step 2: Input overload acceleration, ideal posture information and vital sign warning line;

[0127] Step 3: Calculate the head-to-pelvis overload acceleration; specifically, the head-to-pelvis overload acceleration is calculated based on the input overload acceleration and ideal posture information. More specifically, the head-to-pelvis overload acceleration calculation formula is as follows:

[0128] +G ztp =+G z·sinψ·cosθ

[0129] in,

[0130] +G ztp : Overload acceleration of the animal's body in the head-to-pelvic direction;

[0131] +G z : Centrifuge preset overload acceleration;

[0132] ψ: yaw angle of centrifugal cylinder;

[0133] θ: Centrifuge cylinder pitch angle.

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

[0135] P i =K i ·ρ·(+G ztp -g)·h

[0136] in,

[0137] P i : The ideal negative pressure value of the adaptive shaping and vibration reduction restraint device 100;

[0138] K i : Negative pressure coefficient, which is related to the mass of the experimental animal and the position of the adaptive shaping and vibration reduction restraint device 100, as shown in Table 1;

[0139] Table 1 Negative pressure coefficient K i

[0140]

[0141] ρ: blood density of experimental animals;

[0142] g: acceleration due to gravity, approximately equal to 9.81 m / s2;

[0143] h: Height of blood column, usually the distance from the heart to the soles of the feet.

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

[0145] Step 6: The operation of the pressure controller 104 is applied to the shaped shock-absorbing restraint modules of the neck, chest, abdomen and lower limbs respectively.

[0146] Step 7: The shaped shock-absorbing restraint modules of the neck, chest, abdomen and lower limbs are applied to the experimental animals respectively.

[0147] Step 8: Use vital sign sensors to monitor the vital sign data of experimental animals.

[0148] Step 9: Determine whether it exceeds the warning line and check whether the vital sign data exceeds the pre-set warning line.

[0149] If it exceeds the warning line, 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 shock-absorbing restraint module.

[0150] The design principle of the automatic anti-load adjustment method is: under overload conditions, due to the inertial flow of blood in the organism, a large amount of blood loss will occur in the brain, thereby causing loss of consciousness and leading to syncope. The blood flow trend of the experimental animals loaded on the centrifuge of the present invention is mainly affected by the overload acceleration and the posture adjustment structure. The greater the overload acceleration, the closer the posture of the experimental animal is to the head-pelvic position, the worse the overload tolerance of the animal body, and the more likely it is to have a syncope reaction.

[0151] The present invention can automatically calculate the magnitude of the overload acceleration in the head-pelvic direction of the animal body according to the magnitude of the overload acceleration and the position of the posture adjustment structure, and automatically adjust the internal and external pressure difference of the shock-absorbing shaping device by comparing with the preset vital sign warning line. The shock-absorbing shaping device can adopt a layered and modular design, and can specifically adjust the internal and external pressure difference of the lower limb module to force blood to return to the heart and flow to the brain, which can effectively prevent the experimental animals from blacking out and fainting.

[0152] The present invention also provides an animal sign detection and protection method based on the automatic anti-load adjustment method. The animal centrifuge described in the present invention can also be linked with an animal sign monitoring system and controlled by the centrifuge control software. When a syncope reaction is detected in the experimental animal, the centrifuge is decelerated and stopped. According to the "Chinese Expert Consensus on the Diagnosis and Treatment of Syncope 2018", when a patient has presyncope, accompanied by a drop in blood pressure, a systolic blood pressure drop of ≥20mmHg or a diastolic blood pressure drop of ≥10mmHg, or a systolic blood pressure drop to <90mmHg or a heart rate change, the heart rate slows down but not less than 40 times / minute, or the time below 40 times / minute is less than 10 seconds, it can be diagnosed as neurally mediated 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 the centrifugation experiment.

[0153] During the experiment, the centrifuge control software can adjust the speed according to the feedback from the vital sign monitoring system. The experimental animals will wear vital sign monitoring devices, which mainly detect physiological information such as blood pressure and heart rate of the animals, and convert the physiological information into electrical signals through the wireless transmission module and transmit them to the main control system. When the detected vital sign signal exceeds the critical value, the system will immediately slow down the centrifuge to prevent further damage to the animals. Figure 6 As shown, the following steps are included:

[0154] Step 1: Get started;

[0155] Step 2: Enter the critical value of physical signs;

[0156] Step 3: According to the input critical value of vital signs, the automatic anti-g adjustment mechanism is started, that is, the automatic anti-g adjustment method is executed;

[0157] 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 the second step;

[0158] If yes, go to step 5.

[0159] If no, go to step 7.

[0160] Step 5: Determine if the animal has fainted

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

[0162] Step 6: Centrifuge slows down and LED warning light flashes

[0163] After the animal faints, the centrifuge will slow down and the LED warning light will flash.

[0164] Step 7: The animal is not fainted

[0165] When the judgment result is "No", it is confirmed that the animal is not fainted.

[0166] Step 8: The centrifuge speed remains unchanged

[0167] When the animal is not unconscious, keep the centrifuge speed unchanged.

[0168] Step 9: Continue to use the vital sign sensor to collect data from experimental animals and return to step 4.

[0169] The centrifuge control software can be installed in the host computer. There are four modules in the software user section. Module one is the motion control module, through which the user can control the speed of the centrifuge and import the preset overload curve; Module two is the posture control module, through which the user can adjust the angle of the centrifuge cylinder to put the experimental animal in an ideal posture; Module three is the vital sign detection module, through which the user can monitor and record the heart rate, blood pressure, respiratory rate and other vital signs of the experimental animal in real time. When the monitored value is less than the preset syncope threshold, the warning mark will flash; Module four is the live video module, through which the user can observe the status of the animal in real time. The software user interface is as follows: Figure 7 shown.

[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 shaping device according to the size of the overload acceleration and the posture of the centrifuge cylinder, thereby protecting the experimental animals from overload and effectively preventing the experimental animals from neurologically mediated syncope caused by the inertial downflow of blood. At the same time, the control system can also perform negative feedback regulation on the centrifuge in real time according to the physiological state of the experimental animals. When syncope is detected in the experimental animal, the control system can send an emergency deceleration and braking command to the centrifuge to prevent further damage to the animal.

[0171] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0172] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A multi-degree-of-freedom animal centrifuge, characterized in that: It comprises a base (1), a driving motor (2), a rotating main shaft (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) can drive the rotating main shaft (3) to rotate; The centrifugal cylinder (5) is fixed on 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).

2. The multi-degree-of-freedom animal centrifuge according to claim 1, characterized in that: The rotating main shaft (3) is also provided with an axis flattening part (31), and a set screw (32) fixes a centrifugal arm sleeve (33) on the rotating main shaft (3), and the centrifugal arm (4) is installed in the centrifugal arm sleeve (33) and fixed by a fastener.

3. The multi-degree-of-freedom animal centrifuge according to claim 1, characterized in that: The posture adjustment structure (6) comprises two electric rotating tables, which are driven by a stepping motor (61) and are used to control the rotation of the centrifuge cylinder (5) in the horizontal and vertical directions respectively.

4. The multi-degree-of-freedom animal centrifuge according to claim 1, characterized in that: The centrifugal arm (4) is provided with a distance adjustment structure, the distance adjustment structure comprising 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 sleeved on the lead screw, and the posture adjustment structure (6) is connected to the slider.

5. The multi-degree-of-freedom animal centrifuge 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 the vibration generated during the centrifugation process.

6. The multi-degree-of-freedom animal centrifuge according to claim 1, characterized in that: The adaptive shaping and vibration reduction restraint device (100) comprises a flexible shell (101) and a pressure controller (104); 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 increase or decrease the fluid medium (103) in the inner cavity of the flexible shell (101) so as to adjust the pressure difference between the inside and outside of the flexible shell (101).

7. The multi-degree-of-freedom animal centrifuge according to claim 6, characterized in that: The fluid medium (103) is air; The granular material (102) is silica 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.

8. The multi-degree-of-freedom animal centrifuge according to claim 1, characterized in that: It also includes a monitoring system (7), which is fixed to the centrifugal arm (4) via 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 also includes a control unit (8), and 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).

9. An automatic anti-g adjustment method, characterized in that: A multi-degree-of-freedom animal centrifuge according to any one of claims 1 to 8; The number of the adaptive shaping and vibration reduction restraint devices (100) is 4, 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 1, and the adaptive shaping and vibration reduction restraint device (100) comprises 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-load 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 of head-to-basin overload acceleration is as follows: +G ztp =+G z ·sinψ·cosθ in, +g ztp : Overload acceleration of the animal's head and pelvis; +G z : Centrifuge preset overload acceleration; ψ: yaw angle of centrifugal cylinder; θ: 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 of ideal negative pressure value is as follows: P.S i HK i ·ρ·(+G ztp -g)·h in, P i : The ideal negative pressure value of the adaptive shaping and vibration reduction restraint device 100; K i : Negative pressure coefficient; ρ: blood density of experimental animals; g: acceleration due to gravity, approximately equal to 9.81 m / s2; h: height of blood column, usually the distance from the heart to the sole of the foot; 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 the vital sign sensor to monitor the vital sign data of the experimental animals; Step 9: Determine whether the warning line is exceeded and check whether the physical sign data exceeds the preset warning line; If the pressure exceeds the warning line, 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.

10. A method for detecting and protecting animal vital signs, characterized in that: Based on the automatic anti-load adjustment method described in claim 9, the method further comprises the following steps: Step 1: Get started; Step 2: Enter the critical value of physical signs; Step 3: According to the input critical value of vital signs, start the automatic anti-g regulation mechanism; 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 the second step; If yes, go to step 5; If no, proceed 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 has not fainted; Step 8: The centrifuge speed remains unchanged; Step 9: Continue to use the vital sign sensor to collect data from experimental animals and return to step 4.

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