Multi-degree-of-freedom animal centrifuge

Abstract

The utility model provides a multi-degree-of-freedom animal centrifugal machine. 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 utility model, 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 the impact and vibration generated by struggling of the animal.

Description

TECHNICAL FIELD

[0001] The utility model relates to animal experiment equipment technical field, specifically, relate to a multi degree of freedom animal centrifuge, especially, relate to a multi degree of freedom animal centrifuge for simulating overweight environment. 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, exercise physiology, and military training. By studying the physiological responses of animals under different G force conditions, 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 exert force on the centrifuge arm, affecting the experimental data. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the utility model is to provide a multi degree of freedom animal centrifuge.

[0005] According to the multi degree of freedom animal centrifuge provided by the utility model, the base, the driving motor, the rotating main shaft, the centrifuge arm, the centrifuge cylinder, the attitude adjusting structure and the self-adaptive conforming and damping restraint device are connected.

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

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

[0008] The centrifuge cylinder is fixed on the centrifuge arm through the attitude adjusting structure.

[0009] The test animal is wrapped by the adaptive shaped and damping restraint device, and is installed in a centrifugal cylinder, the inside of the adaptive shaped and damping restraint device is in contact with the test animal, and the outside is in contact with the inner wall of the centrifugal cylinder.

[0010] Preferably,

[0011] A shaft flat is arranged on the rotating main shaft, and a tightening screw is used to fix the centrifugal arm sleeve on the rotating main shaft, 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 is used for controlling the rotation of the centrifugal cylinder in horizontal and vertical directions respectively.

[0014] Preferably,

[0015] The distance adjusting structure is arranged on the centrifugal arm, and 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 is 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; 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, so as 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] Compared with the prior art, the multi-degree-of-freedom animal centrifuge has the following beneficial effects:

[0029] The self-adapting and vibration-reducing restraint device is used for wrapping the experimental animal, and then the experimental animal is put into the centrifugal cylinder, so that the animal is difficult to struggle, and even if the animal struggles during the experiment, the self-adapting and vibration-reducing restraint device can reduce the impact and vibration generated by the animal due to the struggle. BRIEF DESCRIPTION OF DRAWINGS

[0030] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0031] Figure 1 Fig. 1 is a structural schematic view of the present application;

[0032] Figure 2 Fig. 4 is a structural schematic view of the connection relationship between the driving motor, the rotating main shaft and the centrifugal arm;

[0033] Figure 3 Fig. 5 is a structural schematic view of the centrifugal cylinder and the posture adjusting structure;

[0034] Figure 4 Fig. 6 is a principle diagram showing that the self-adapting and vibration-reducing restraint device has a vibration-reducing effect;

[0035] Figure 5 Fig. 7 is a flowchart of the automatic anti-load adjusting method;

[0036] Figure 6 Fig. 8 is a structural schematic view of the animal sign detection protection method;

[0037] Figure 7 Fig. 9 is a structural schematic view of the self-adapting and vibration-reducing restraint device;

[0038] Figure 8 Fig. 10 is a structural schematic view when there are more fluid media in the inner cavity of the flexible shell;

[0039] Figure 9 Fig. 11 is a structural schematic view when the fluid media are extracted from the inner cavity by the pressure controller;

[0040] Figure 10 Fig. 1 is a schematic diagram of a structure for wrapping a test animal through an adaptive conforming and damping restraint device after installation in a centrifuge drum 5;

[0041] Figure 11 Fig. 1 is a schematic diagram of a structure for wrapping a test animal through an adaptive conforming and damping restraint device after installation in a centrifuge drum 5; Figure 10 Fig. 1 is a schematic diagram of a structure for wrapping a test animal through an adaptive conforming and damping restraint device after installation in a centrifuge drum 5;

[0042] Fig. 1 is a schematic diagram of a structure for wrapping a test animal through an adaptive conforming and damping restraint device after installation in a centrifuge drum 5;

[0043]

[0044] DETAILED DESCRIPTION

[0045] The utility model will be explained in detail below in combination with specific embodiments. The following embodiments will help the person skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those skilled in the art, without departing from the concept of the utility model, a number of changes and improvements can be made. These all belong to the protection scope of the utility model.

[0046] The utility model provides a kind of multi-degree-of-freedom animal centrifuge, as shown in Fig. Figure 1 Including base 1, drive motor 2, rotating main shaft 3, centrifugal arm 4, centrifuge drum 5, attitude adjusting structure 6 and adaptive conforming and damping restraint device 100;

[0047] The drive motor 2 is installed on the base 1, and at least one centrifugal arm 4 is installed on the drive motor 2 through the rotating main shaft 3. Specifically, the base 1 is fixedly installed on the ground to support the entire device. The drive motor 2 is fixed on the base 1 by a motor support 21. The output shaft of the drive motor 2 is connected with the rotating main shaft 3, and the drive motor 2 can drive the rotating main shaft 3 to rotate. More specifically, as shown in Fig. Figure 2 The shaft flat position 31 is further provided on the rotating main shaft 3. During installation, the centrifugal arm sleeve 33 can be fixed on the rotating main shaft 3 by using a set screw 32 first, and then the centrifugal arm 4 is installed in the centrifugal arm sleeve 33 and fixed by a screw to realize the connection between the centrifugal arm 4 and the rotating main shaft 3. In a preferred example, the drive motor 2 is further connected with a speed reducer to ensure the stable operation of the centrifuge under high load.

[0048] 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 embodiment, the centrifugal cylinder 5 is detachably mounted on the posture adjusting structure 6. In a preferred embodiment, 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 achieve the purpose of counterweight.

[0049] As shown in Figure 10 , Figure 11 , after the experimental animal 50 is wrapped by the self-adapting and damping restraint device 100, the experimental animal 50 is installed in the centrifugal cylinder 5, and the inside of the self-adapting and damping restraint device 100 abuts against the experimental animal 50, and the outside abuts against the inner wall of the centrifugal cylinder 5.

[0050] As shown in Figure 3 , the posture adjusting structure 6 is a multi-axis rotary table, which realizes rotation in two mutually perpendicular directions. Specifically, the posture adjusting structure 6 includes two electric rotary tables driven by a stepping motor 61, which are respectively used to control the rotation of the centrifugal cylinder 5 in the horizontal and vertical directions. Each electric rotary table is driven by a servo motor, which can accurately control the rotation angle and speed, that is, the posture control mechanism can adjust the angle of the centrifugal cylinder relative to the centrifugal arm through the electric rotary table. In addition, the rotation angle of the animal in the centrifugal cylinder can also be adjusted during installation. Through the action of the above mechanism, the rotation freedom of the animal in three mutually perpendicular directions is realized.

[0051] The distance adjusting structure is arranged on the centrifugal arm 4, and is used to adjust 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 mounted 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 can be changed.

[0052] The multi-degree-of-freedom animal centrifuge further includes a monitoring system 7, which is fixed on the centrifugal arm 4 through a monitoring system support 41, and is used to monitor the physiological indicators of the experimental animal in the centrifugal cylinder 5 in real time.

[0053] The multi-degree-of-freedom animal centrifuge further comprises a control unit 8 which can store instructions for different overload experiment requirements, and can also display the rotation speed and equivalent overload acceleration in real time to facilitate 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 experimenter can operate in a safe area away from the centrifuge. Specifically, the control unit 8 comprises 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 the rotation speed, which can accurately feedback and control the angular position, angular velocity and angular acceleration of the centrifuge 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 experiment requirements to realize dynamic simulation of the supergravity environment. In a preferred example, the control unit 8 has a wireless communication function which is connected to the driving motor 2 through wireless communication technology, and can remotely adjust the rotation speed and direction of the centrifuge arm 4. In another preferred example, the control unit 8 is connected to the attitude adjustment structure 6 through wireless means in addition to being connected to the driving motor 2, and can control the real-time attitude adjustment of the centrifuge cylinder 5 during the centrifugation process. The distance adjustment mechanism can also be connected to the control unit 8 through 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 realize synchronization of the monitoring data and the centrifuge data, and to automatically adjust the centrifuge 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, i.e. the monitoring data of the monitoring system is sent to the client through the wireless transmission module, and the researcher can view and analyze the data in real time through the operation interface.

[0054] The multi-degree-of-freedom animal centrifuge further comprises a video monitoring system arranged on the centrifuge arm 4, which is used to observe the state and behavior of the animal during the centrifugation process.

[0055] The multi-degree-of-freedom animal centrifuge further comprises a vibration reduction system 9 arranged between the base 1 and the external environment, which is used 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 and active vibration reduction.

[0056] The centrifuge arm is made of lightweight high-strength materials such as 7075 aluminum alloy. In order to resist the moment generated by the centrifuge cylinder and the centrifuge during acceleration and deceleration while being lightweight, the cross section of the centrifuge arm is designed to have a high area moment of inertia, such as I-shaped, H-shaped, M-shaped, etc. Preferably, the diameter of the centrifuge arm should be greater than five times the body diameter of the experimental animal to reduce the overload acceleration gradient on the body of the experimental animal.

[0057] The centrifuge cylinder 5 is a cylindrical symmetric structure, which is composed of two parts, and they are firmly connected by threaded fasteners. The inner surface is a circular arc to adapt to the placement of animals. The centrifuge cylinder is fixed on the centrifuge arm by bolts to ensure stability during centrifugation.

[0058] In order to reduce shock and absorb impact, the centrifuge cylinder is internally laid with a self-adapting and shock-absorbing restraint device 100. On the one hand, the animal is tightly wrapped by the self-adapting and shock-absorbing 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 shock-absorbing restraint device 100 can reduce the impact and vibration caused by the struggle of the animal.

[0059] Specifically, the self-adapting and shock-absorbing restraint device 100 uses the particle jamming effect to achieve self-adapting, and uses the inelastic deformation, damping motion and friction between particles to achieve shock absorption and impact absorption. The self-adapting and shock-absorbing restraint device 100 has the self-adapting feature, which allows it to adapt and fix animals of different sizes. Figures 7-9 As shown in the figure, the self-adapting and shock-absorbing restraint device 100 includes a flexible shell 101 and a pressure controller 104. The inner cavity of the flexible shell 101 is filled with particle material 102 and fluid medium 103. The pressure controller 104 is connected to the inner cavity of the flexible shell 101 through the pipeline 105, and is used to increase or decrease 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.

[0060] When the pressure difference between the inside and outside of the flexible shell 101 is small, the self-adapting and shock-absorbing restraint device 100 shows good fluidity because there is more fluid medium 103 in the inner cavity, and can adapt to the surface of the test animal 50.

[0061] 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 particle material 102 can be pressed and rubbed with each other under the action of external pressure, forming a shape-locked conforming structure. When the fluid medium 103 is introduced into the flexible shell 101 again by using the pressure controller 104, the self-adapting and shock-absorbing restraint device 100 can restore fluidity again.

[0062] Specifically, the working process of the self-adapting and shock-absorbing restraint device 100 is as follows:

[0063] In the initial state, the granular material 102 is loosely distributed in the flexible shell 101, and the device is in a soft state with good fluidity. At this time, the adaptive conforming and damping restraint device 100 is wrapped around the test animal 50.

[0064] 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 adaptively conform to the shape of the protected object. That is, by the pressure controller 104 applying negative pressure to the inside of the flexible shell 101, the granular material 102 is tightly packed, and the granular blocking effect is generated. At this time, the adaptive conforming and damping restraint 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 4, 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 damping capacity of the device. In the blocked state, the non-elastic deformation, damping collision and friction force among the granular materials jointly dissipate the vibration energy, thereby playing a damping protection role. When it is necessary to restore the soft state of the adaptive conforming and damping restraint device 100, the negative pressure is only removed, that is, the fluid medium 103 is re-introduced into the flexible shell 101, and the granular material 102 will be loosely distributed again, and the device returns to the soft state.

[0065] The adaptive conforming and damping restraint device 100 fills the granular material in the flexible shell, and under the action of external force, the particles are squeezed and rubbed with each other to form an adaptive conforming structure. By applying negative pressure inside the flexible shell, the granular material is further compressed to form 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.

[0066] The filling rate of the granular material is 20% to 90% of the volume of the flexible shell. When the filling rate is high, there are more contact points between the particles, which can provide higher stiffness and better shape adaptability, but too high filling rate will reduce the flowability of the particles and the adaptability to the shape of the test object. When the filling rate is low, the particles have more movement space and can better collide and rub to dissipate more energy, so the damping effect is better. However, when the filling rate is too low, even if the particles produce a blocking effect, the stiffness of the structure formed is low, and the conforming structure is unstable.

[0067] The mechanical properties of the granular material, including hardness, friction coefficient, and elastic modulus, can affect the conforming 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 blocking effect and shape retention ability, but too high a friction coefficient will also reduce the shape adaptability. In terms of elastic modulus, a lower elastic modulus can improve the shape adaptability, but may reduce the vibration attenuation effect.

[0068] The size of the granular material can also affect the conforming and damping functions of the device. Smaller particle sizes, <1 mm in diameter, generally allow for better shape conforming, as they can better fill complex geometries. However, too small of a particle size, <50 pm, can cause localized blockages that are difficult to overcome by adjusting the pressure difference between the inside and outside of the flexible enclosure. For vibration damping, larger diameter particles, >1 mm, generally have better effects, as there is more space between the particles for energy dissipation due to relative motion. In particular, the granular material 102 can be selected from silica gel particles, rubber particles, plastic particles, glass beads, metal powder, ceramic particles, or sand.

[0069] The flexible enclosure 101 can be made of flexible materials such as polymers, fabrics, or composites, and its shape and size can be designed according to the specific application scenario. The flexible enclosure 101 can be customized according to the size of the animal, while ensuring the comfort of the animal, providing the necessary fixation and protection. The flexible enclosure 101 can include fastening devices such as zippers. The flexible enclosure 101 can also use a porous design to achieve good air permeability, which has important application value in long-term wearing scenarios for animals. In a preferred example, a layered structure can be used inside the flexible enclosure, with smaller particles in the inner layer to achieve better fluidity, and larger particles in the outer layer to provide better vibration damping. In a preferred example, the motion of the particles can be actively controlled, such as using magnetically responsive particles, which can be adjusted 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.

[0070] The pressure controller 104 includes a pressure sensor and an air pump. In a preferred example, the self-adapting conforming and damping restraint device 100 also includes a sensor assembly, which includes an acceleration sensor, a strain sensor, or a displacement sensor, etc., for detecting external forces and the deformation state of the device, and the sensor assembly is signal connected to the control system.

[0071] The self-adapting conforming and damping restraint device 100 has the following advantages: a. Self-adapting conforming: the particle blockage effect allows the device to adapt to different shapes and sizes of protected objects. b. Variable stiffness: by adjusting the pressure difference between the inside and outside, the stiffness of the device can be continuously controlled. c. Vibration and shock absorption: non-elastic deformation, damping motion, and friction between particles can effectively absorb vibration and impact energy. d. Simple to use, can quickly switch between non-conforming and conforming states. e. Self-adapting adjustment: the combination of the sensor assembly and the control system allows for real-time self-adapting adjustment of the device performance. f. Simple structure, easy to manufacture and maintain.

[0072] The damping effect of the self-adapting shaping and damping binding device is realized through three force forms between the granular materials, i.e., elastic contact, damping movement and friction. Figure 4 As shown in the figure, the granular material 102 has an elastic hysteresis effect, i.e., when the load force is removed, the loading line and the unloading line do not coincide due to the strain lagging behind the stress, and a closed loop is formed. The existence of the elastic hysteresis effect indicates that the deformation work consumed in the granular material 102 during loading is greater than the deformation work released by the granular material 102 during unloading, and thus a part of the deformation work is absorbed by the granular material 102, which shows the weakening of the vibration energy.

[0073] The working process of the device is as follows:

[0074] S1. The experimental animal is fixed in the centrifuge cylinder 5 by using the self-adapting shaping and damping binding device 100, and various sensors of the monitoring system 7 are connected.

[0075] S2. The experimental parameters are set through the control unit 8, including the rotation speed, the acceleration, the posture of the centrifuge cylinder 5 and the like.

[0076] S3. The system is started, the driving motor 2 drives the rotating main shaft 3 and the centrifugal arm 4 to rotate, and the centrifugal force is applied to the animal.

[0077] S4. During the experiment, the posture of the centrifuge cylinder 5 can be changed through the posture adjusting structure 6 to simulate different hypergravity environments.

[0078] S5. After the experiment is completed, the rotation is stopped, and the animal is taken out for subsequent observation.

[0079] The device can more comprehensively simulate the hypergravity environment and obtain more abundant experimental data through the multi-degree-of-freedom design and the real-time monitoring system, and provides a powerful tool for aerospace medicine and biomechanics research. The radial position and the inclination angle of the centrifuge cylinder can be adjusted through the distance adjusting structure and the posture adjusting structure, multi-degree-of-freedom movement is realized, and more complex hypergravity environments can be simulated. The monitoring system is arranged, the physiological indexes of the experimental animal can be monitored in real time, and more comprehensive experimental data can be obtained. The device adopts the detachable centrifuge cylinder design, the experimental objects can be replaced before and after the experiment, and the experimental efficiency is improved. In the device, each centrifugal arm can perform two-group control experiments at a time, the experimental efficiency is improved, and the weight requirement is simplified.

[0080] The utility model discloses a small volume, high degree of freedom, safe and reliable, low in cost, enough real -time monitoring animal physiological index, especially the experimental animal centrifuge of brain activity meets the demand of aerospace medical research etc. field.

[0081] The multi-degree-of-freedom animal centrifuge can work by using the following process and method, which can be called an automatic anti-load adjustment method.

[0082] The automatic anti-load adjustment method includes the following steps, as shown in Figure 5

[0083] Step 1: Start;

[0084] Step 2: Input overload acceleration, ideal pose information and sign early warning line;

[0085] Step 3: Calculate head-bowl overload acceleration; specifically, the head-bowl overload acceleration is calculated according to the input overload acceleration and ideal pose information; more specifically, the head-bowl overload acceleration calculation formula is as follows:

[0086] +G ztp =+G z ·sinψ·cosθ

[0087] Wherein,

[0088] +G ztp : animal head-bowl overload acceleration;

[0089] +G z : centrifuge preset overload acceleration;

[0090] ψ: centrifuge yaw angle;

[0091] θ: centrifuge pitch angle.

[0092] ​Step 4: Calculate the ideal negative pressure value of the adaptive shaping and damping restraint device 100; specifically, according to the calculated head-pelvic transverse overload acceleration, further calculate the ideal negative pressure value; the calculation formula of the ideal negative pressure value is as follows:

[0093] P i =K i ·ρ·(+G ztp -g)·h

[0094] Wherein,

[0095] P i : The ideal negative pressure value of the adaptive shaping and damping restraint device 100;

[0096] K i : 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;

[0097] Table 1 Negative pressure coefficient K i

[0098]

[0099] ρ: Blood density of the experimental animal;

[0100] g: Gravitational acceleration, about 9.81 m / s2;

[0101] h: Blood column height, usually the distance from the heart to the sole.

[0102] Step 5: The pressure controller 104 works: specifically, the pressure controller 104 works according to the ideal negative pressure value calculated in the previous step.

[0103] 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.

[0104] Step 7: The shaping and damping restraint modules of the neck, chest, abdomen and lower limbs act on the experimental animal respectively.

[0105] Step 8: Use the vital sign sensor to monitor the vital sign data of the experimental animal.

[0106] Step 9: Determine whether it exceeds the warning line and check whether the vital sign data exceeds the pre-set warning line.

[0107] If it exceeds the warning line, the negative pressure of the lower limb module needs to be increased, and the pressure controller 104 is used to adjust the pressure of the shaping and damping restraint module of the lower limb in Step 6.

[0108] The design principle of the automatic anti-G regulation method is that, under an overload state, due to the inertial flow of blood in a living body, a large amount of blood loss in the brain is caused, consciousness loss is caused, and syncope is caused. The blood flow trend of the experimental animal loaded on the centrifuge in the utility model 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 to the head-pelvis direction, the poorer the overload tolerance of the animal body, and the easier the syncope reaction.

[0109] The utility model can automatically calculate the size of the head-pelvis direction overload acceleration of the animal body according to the size of the overload acceleration and the pose of the posture adjustment structure, and automatically adjust the internal and external pressure difference of the shock absorbing and shaping device by comparison with the preset sign warning line. The shock absorbing and shaping device can be designed in a layered and modular manner, and the internal and external pressure difference of the lower limb module can be adjusted accordingly 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.

[0110] The utility model can also work by the following process and method, which can be called an animal sign detection protection method based on the automatic anti-G regulation method. The animal centrifuge in the utility model can also be linked with an animal sign monitoring system and controlled by centrifuge control software. When syncope reaction of the experimental animal is detected, the centrifuge is slowed down and stopped. According to the Chinese Expert Consensus on Syncope Diagnosis and Treatment 2018, when the patient has syncope premonition and is accompanied by blood pressure drop, systolic pressure drop ≥ 20 mmHg or diastolic pressure drop ≥ 10 mmHg, or systolic pressure drops to < 90 mmHg or heart rate changes, heart rate slows down but is not lower than 40 times / minute, or is lower 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.

[0111] During the experiment, the centrifuge control software can adjust the speed according to the feedback of the sign monitoring system. The experimental animal will wear a sign 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 sign signal exceeds the critical value, the system will immediately slow down and stop the centrifuge to prevent further harm to the animal. The animal sign detection protection method is as shown in Figure 6 , including the following steps:

[0112] First step: start;

[0113] Second step: input sign critical value;

[0114] Third step: start the automatic anti-G regulation mechanism according to the input sign critical value, that is, execute the automatic anti-G regulation method;

[0115] Fourth step: After the automatic anti-G regulation 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;

[0116] If yes, go to the fifth step.

[0117] If no, go to the seventh step.

[0118] Fifth step: Determine that the animal has syncope

[0119] When the judgment result is "yes", it is confirmed that the animal has syncope.

[0120] Sixth step: Centrifuge deceleration and LED warning light flashing

[0121] After the animal syncope, the centrifuge deceleration and LED warning light flashing operation is performed.

[0122] Seventh step: The animal has not syncope

[0123] When the judgment result is "no", it is confirmed that the animal has not syncope.

[0124] Eighth step: The centrifuge speed remains unchanged

[0125] When the animal has not syncope, the centrifuge speed remains unchanged.

[0126] Ninth step: Continue to collect experimental animal data using the sign sensor and return to the fourth step.

[0127] The centrifuge control software can be installed in the host computer. The software user interface has four modules. Module one is a motion control module. The user can control the speed of the centrifuge through this module, and can also import a pre-set overload curve. Module two is a pose control module. The user can adjust the angle of the centrifuge cylinder through this module, so that the experimental animal is in an ideal pose. Module three is a sign detection module. The user can monitor and record the signs of the experimental animal such as heart rate, blood pressure and respiratory rate in real time through this module. When the monitoring value is less than the pre-set syncope critical value, the warning sign will flash. Module four is a video live module. The user can observe the state of the animal in real time through this module. The software user interface is shown in Figure 7 .

[0128] In summary, the software control system of the animal centrifuge can automatically adjust the internal and external pressure difference of the self-adaptive shock absorbing device according to the size of the overload acceleration and the attitude of the centrifuge cylinder, thereby protecting the experimental animal from overload, and effectively preventing the experimental animal from causing neuro-mediated syncope due to blood inertia downpour. At the same time, the control system can also real-time feedback adjust the centrifuge according to the physiological state of the experimental animal. When the experimental animal is detected to have syncope, the control system can send an emergency deceleration braking instruction to the centrifuge to prevent further harm to the animal.

[0129] 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.

[0130] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the specific implementation described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. In the case of no 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 by, The device comprises a base (1), a driving motor (2), a rotating main shaft (3), a centrifugal arm (4), a centrifugal cylinder (5), a posture adjusting structure (6), and a self-adaptive conforming and damping binding device (100); 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 the rotating main shaft (3); 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; The centrifugal cylinder (5) is fixed on the centrifugal arm (4) through the posture adjusting structure (6); After the test animal (50) is wrapped by the self-adaptive conforming and damping binding device (100), the test animal (50) is installed in the centrifugal cylinder (5), and the inside of the self-adaptive conforming and damping binding device (100) abuts against the test animal (50), and the outside abuts against the inner wall of the centrifugal cylinder (5).

2. The multi-degree-of-freedom animal centrifuge according to claim 1, wherein A shaft flat position (31) is further arranged on the rotating main shaft (3), a centrifugal arm sleeve (33) is fixed on the rotating main shaft (3) by a locking screw (32), 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, wherein The posture adjusting structure (6) comprises two electric rotating tables driven by step motors (61) and used for controlling the rotation of the centrifugal cylinder (5) in horizontal and vertical directions, respectively.

4. The multi-degree-of-freedom animal centrifuge of claim 1, wherein, A distance adjusting structure is arranged on the centrifugal arm (4), 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 (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.

5. The multi-degree-of-freedom animal centrifuge of claim 1, wherein, A damping system (9) is further arranged between the base (1) and an external environment, and used for reducing vibration generated in the centrifugation process.

6. The multi-degree-of-freedom animal centrifuge of claim 1, wherein, The self-adaptive conforming and damping binding device (100) comprises a flexible shell (101) and a pressure controller (104), the inner cavity of the flexible shell (101) is filled with a granular material (102) and a fluid medium (103); the pressure controller (104) is connected with the inner cavity of the flexible shell (101) through a pipeline (105) and used for increasing or reducing 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).

7. The multi-degree-of-freedom animal centrifuge of claim 6, wherein, The fluid medium (103) is air; The granular material (102) is silica gel particles, rubber particles, plastic particles, glass beads, metal powder, ceramic particles, or sand; The pressure controller (104) comprises a pressure sensor and an air pump connected with each other; The flexible shell (101) is a polymer, fabric, or composite material flexible shell.

8. The multi-degree-of-freedom animal centrifuge of claim 1, wherein, A monitoring system (7) is further arranged and fixed on the centrifugal arm (4) through a monitoring system support (41) and used for monitoring the physiological indexes of the experimental animal in the centrifugal cylinder (5) in real time. The multi-degree-of-freedom animal centrifuge further comprises a control unit (8) in wireless communication connection with the driving motor (2), the posture adjusting structure (6), the distance adjusting mechanism and the monitoring system (7).

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