CN210782494U - A task-driven automatic reward device - Google Patents

Abstract

The utility model discloses an automatic rewarding device based on task drive is down, include: the mechanical arm is connected with the mechanical claw; the driving motor is used for determining driving time and driving force according to the control signal; the mechanical arm is connected with the mechanical claw and used for driving the mechanical claw to move towards the mouth of the to-be-detected non-human primate fixed on the non-human primate experimental platform by driving force within driving time according to the driving of the driving motor; the mechanical claw is used for grasping the reward food and controlling grasping or releasing the reward food according to the control signal so as to control the reward of the non-human primate to be detected. The utility model discloses an automatic reward device based on under task drive can order about non-human primate and accomplish the experimental action that accords with the standard, gets rid of artificial subjective factor, improves the precision of experimental data.

Description

A task-driven automatic reward device

technical field

The embodiments of the utility model relate to biomedical technology, in particular to an automatic reward device driven by a task.

Background technique

The human brain is the core of the central nervous system that controls various activities of the human body. Various diseases of the human body are caused by lesions in the brain. Research on the human brain is helpful for the diagnosis, treatment and prevention of various diseases.

However, because the structure of the human brain is very complex and is located inside the human body, it is difficult to directly study the brain, and we can only rely on other ways to detect the brain. However, in order to accurately analyze the correspondence between the brain and various diseases of the human body, it is obviously unrealistic to choose to conduct experiments directly on living bodies.

Non-human primates are the most similar animals to humans, especially the brains of non-human primates are very similar to the human brain, so non-human primates are currently mainly used as experimental subjects for brain research. However, non-human primates are naturally active and difficult to tame. It is difficult to drive non-human primates to complete the required actions for experiments on non-human primates. At present, the method of providing food rewards to non-human primates is mainly used to prompt non-human primates to complete the required actions of the experiment, but the method of artificial feeding is inefficient, and there are certain subjective human factors, and it is difficult to drive non-human primates to complete the required actions. Human primates truly conform to experimental specifications to complete repeatable experiments, which may affect the accuracy of experimental data.

Utility model content

The utility model provides an automatic reward device driven by a task, which can drive non-human primates to complete a standard repetitive experiment, avoid the interference of human subjective factors, and improve the accuracy of experimental data.

In a first aspect, an embodiment of the present invention provides an automatic reward device driven by a task, comprising: a drive motor, a mechanical arm and a mechanical claw;

The driving motor is used to determine the driving time and driving force according to the control signal;

The mechanical arm is connected with the mechanical claw, and the mechanical arm is used to drive the mechanical claw to the mouth of the non-human primate to be tested fixed on the non-human primate experimental platform with the driving force within the driving time according to the driving of the driving motor. move;

The mechanical claw is used to grasp the reward food, and control the grasp or release of the reward food according to the control signal to control the reward of the non-human primate to be detected.

In a possible implementation manner of the first aspect, the driving motor is a stepping motor.

In a possible implementation manner of the first aspect, the stepper motor is used to determine the rotation angle and speed according to the control signal.

In a possible implementation manner of the first aspect, the mechanical claw is a hand-shaped structure.

In a possible implementation manner of the first aspect, the robotic arm includes a sliding track, and the robotic claw is connected to the robotic arm through a sliding block disposed above the sliding track.

In a possible implementation manner of the first aspect, the robotic arm includes a ruler, and the ruler is arranged along the moving direction of the gripper.

In a possible implementation manner of the first aspect, the mechanical claw is used to release the reward food after the driving motor drives the mechanical arm to drive the mechanical claw to move to a preset end position.

In a possible implementation manner of the first aspect, the drive motor is used to control the robotic arm to move to an initial position when no control signal is received within a preset time;

The drive motor is also used to control the robotic arm to move toward the mouth of the non-human primate in a preset forward mode when receiving a control signal within a preset time; when the control signal is greater, the drive motor drives the robotic arm to move forward The faster the speed; when the control signal reaches the threshold, the drive motor drives the manipulator to move to the preset critical position.

In a possible implementation manner of the first aspect, the drive motor is used to drive the robotic arm to drive the gripper to move to a preset critical position after judging that the control signal reaches a preset threshold, and the control signal reaches the preset threshold again after reaching the preset threshold. Duration, drive the mechanical arm to drive the mechanical claw to advance from the critical position to the preset end position, and release the reward food; the greater the control signal value, the shorter the required duration.

In a possible implementation manner of the first aspect, the drive motor is used to drive the robotic arm to drive the gripper to move to a preset critical position after judging that the control signal reaches a preset threshold, but the control signal reaches the preset threshold and does not reach the preset duration When time passes, drive the mechanical claw to drive the reward food not to move to the preset end position.

An automatic reward device based on task driving provided by an embodiment of the present invention includes: a driving motor, a mechanical arm and a mechanical claw; the driving motor is used to determine the driving time and driving force according to a control signal; the mechanical arm and the mechanical claw are connected, The mechanical arm is used to drive the mechanical claw to move to the mouth of the non-human primate fixed on the non-human primate experimental platform with the driving force within the driving time according to the driving of the driving motor; the mechanical claw is used to grasp the Grasp the reward food, and control the grasp or release of the reward food according to the control signal to control the reward of the non-human primate to be detected. The embodiment of the utility model utilizes non-human primates to conduct behavioral experiments to obtain data, and in turn controls the rewards for driving non-human primates to conduct behavioral experiments in real time, thereby realizing the behavioral experiments on non-human primates. The automatic reward, thus driving non-human primates to complete standard-compliant repetitive experiments, avoiding the interference of human subjective factors, and improving the accuracy of experimental data.

Description of drawings

FIG. 1 is a schematic structural diagram of Embodiment 1 of a task-driven automatic reward device provided by an embodiment of the present invention.

Detailed ways

The present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all structures related to the present invention.

FIG. 1 is a schematic structural diagram of Embodiment 1 of a task-driven automatic reward device provided by an embodiment of the present invention. As shown in FIG. 1 , the experimental reward device provided by this embodiment includes: a drive motor 11 and a mechanical arm 12 and mechanical gripper 13.

Because non-human primates are naturally active and difficult to tame, it is difficult to drive non-human primates to complete the required actions for experiments on non-human primates. At present, the method of providing food rewards to non-human primates is mainly used to prompt non-human primates to complete the required actions of the experiment, but the method of artificial feeding is inefficient, and there are certain subjective human factors, and it is difficult to drive non-human primates to complete the required actions. Human primates truly conform to experimental specifications to complete repeatable experiments, which may affect the accuracy of experimental data.

Therefore, this embodiment provides an automatic reward device driven by a task, which can realize automatic reward to non-human primates.

The driving motor 11 is used to determine the driving time and the driving force according to the control signal. The mechanical arm 12 is connected with the mechanical claw 13, and the mechanical arm 12 is used to drive the mechanical claw 13 to the non-human spirit to be detected fixed on the non-human primate experimental platform with the driving force within the driving time according to the driving of the driving motor 11. Long animal mouths move. The mechanical claw 13 is used to grasp the reward food, and control to grasp or release the reward food according to the control signal, so as to control the reward of the non-human primate to be detected.

In order to ensure the accuracy of the experimental behavior detection of non-human primates, the task-driven automatic reward device needs to perform the reward only after the non-human primate to be detected has correctly performed the required behavior. The control signal that triggers the action of the automatic reward device driven by the task is generated by the action performed by the non-human primate. When the action performed by the non-human primate to be tested occurs, the control signal is also generated immediately, driving the The motor 11 also immediately drives the mechanical arm 12 to drive the mechanical claw 13 to move. When the action performed by the non-human primate to be tested meets the experimental requirements, the generated control signal will be sufficient to drive the motor 11 so that the mechanical arm 12 drives the mechanical claw 13 to move to the non-human primate experimental platform to be fixed on the non-human primate experimental platform. The mouth of the non-human primate is detected, and the control signal can also drive the mechanical claw 13 holding the reward food to release the reward food, so as to reward the non-human primate to be detected.

Since non-human primates are relatively active, if the mechanical claw 13 grasps the reward food and moves directly to the mouth of the non-human primate to be detected, the non-human primate to be detected may not release the reward food before the mechanical claw 13 The mouth is used to snatch food from time to time, which may cause injury to the mouth of the non-human primate to be tested, and may not achieve the expected experimental effect. Therefore, when the mechanical claw 13 moves to the mouth of the non-human primate to be detected, it needs to be located at a certain distance above the mouth of the non-human primate to be detected, so as to avoid the non-human primate to be detected using its mouth to snatch the mechanical claw 13 Grab bonus food.

Since the non-human primate to be tested is fixed on the fixed position of the non-human primate experimental platform, the driving motor 11 can be a stepping motor, that is, the driving motor 11 can drive the mechanical arm according to different control signals 12 Moves in several fixed positions. When the driving motor 11 is a stepping motor, the stepping motor is used to determine the rotation angle and speed according to the control signal. The rotation angle and speed of the motor 11 are also higher.

Further, in order to better grasp the reward food, the mechanical claw 13 may be a hand-shaped structure.

In addition, the mechanical claw 13 can also be of other structures. For example, the mechanical claw 13 includes two semi-circular structures made of transparent materials. When the mechanical claw 13 grasps the reward food, the two semi-circular structures are combined together. The reward food is accommodated in a circle formed by two semi-circular structures. When the mechanical claw 13 reaches a preset position, or reaches a preset position or duration, the two semi-circular structures are separated to separate the reward. Food loosens.

The robotic arm 13 may include a sliding track 14 , and the robotic claw 13 is connected to the robotic arm 12 through a sliding block 15 disposed above the sliding track 14 . The driving motor 11 actually drives the sliding block 15 to slide in the sliding track 14 .

Further, the robot arm 12 may further include a ruler 16 , and the ruler 16 is arranged along the moving direction of the robot claw 13 . Setting the scale 16 on the robotic arm 12 enables the experimenter to monitor the experimental process of the non-human primate, even if the action performed by the non-human primate to be tested is the force or time required to provide the reward food , then by observing the correspondence between the mechanical claw 13 and the scale 16 on the mechanical arm 12 , the experimental conditions of the non-human primate to be detected in different states can be determined.

The mechanical claw is used to release the reward food after the driving motor drives the mechanical arm to drive the mechanical claw to move to the preset end position.

Further, the mechanical claw 13 is used to drive the mechanical claw 13 to move to a preset critical position after the driving motor 11 drives the mechanical arm 12 to move to a preset critical position, but does not continue for a preset time, the mechanical claw 13 does not advance to the preset end position and releases the reward. Instead, it needs to reach the preset critical position and last for a preset time before advancing to the end position and releasing the reward food, which can prevent the non-human primate to be tested from mishandling and not performing the required experimental actions correctly. And trigger the occurrence of false reward events.

Further, the driving motor 11 is also used to control the mechanical arm 12 to be at the initial position when no control signal is received within the preset time. When the drive motor 11 does not receive a control signal within a certain preset time, it means that the non-human primate to be detected does not perform the experimental action. At this time, the drive motor 11 does not detect any signal strength, and the drive mechanical arm 12 does not Movement occurs. When the non-human primate to be tested begins to conduct behavioral experiments and a certain degree of action completion occurs, the driving motor 11 receives the corresponding signal strength, and drives the robotic arm 12 with the mechanical claw 13 to approach according to the strength of the signal. Nonhuman primates to be tested. When the signal strength does not reach the threshold value, the driving motor 11 cannot drive the mechanical arm 12 with the mechanical claw 13 to reach the preset critical position, and the movement completion degree of the non-human primate to be tested becomes lower and lower or disappears. , the corresponding control signal weakens or disappears, and the mechanical arm 12 will retreat or even reset to the initial position. That is to say, only when the non-human primate to be detected performs a complete action required for the experiment and remains within the preset time, the driving motor 11 will drive the mechanical arm 12 with the mechanical claw 13 to advance to the preset end point. location and reward it. Further, when the effect of the non-human primate to be tested in completing the experiment is better, that is, the larger the control signal value, the shorter the required duration, which can motivate the non-human primate to pull out the limit maximum value. . In addition, when an experimental action is completed, the robotic arm 12 moves to the initial position for resetting, and then the next round of experiments can be started.

A task-driven automatic reward device provided in this embodiment includes: a driving motor, a robotic arm and a robotic claw; the driving motor is used to determine the driving time and driving force according to a control signal; the robotic arm and the robotic claw are connected, and the robotic arm It is used to drive the mechanical claw to move to the mouth of the non-human primate fixed on the non-human primate experimental platform with the driving force within the driving time according to the driving of the driving motor; the mechanical claw is used for grasping the reward Food, according to the control signal to control the grasp or release of the reward food to control the reward of the non-human primate to be treated, realize the automatic reward for the behavioral experiment of the non-human primate, and thus drive the non-human primate Completing the standard experimental actions can improve the accuracy of the experimental data.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made to those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present utility model has been described in detail through the above embodiments, the present utility model is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present utility model. Rather, the scope of the present invention is determined by the scope of the appended claims.

Claims (6)

1. A task-driven automated rewarding device, comprising: the mechanical arm is connected with the mechanical claw;

the driving motor is used for determining driving time and driving force according to the control signal;

the mechanical arm is connected with the mechanical claw and used for driving the mechanical claw to move towards the mouth of the to-be-detected non-human primate fixed on the non-human primate experimental platform by the driving force within the driving time according to the driving of the driving motor;

the mechanical claw is used for gripping reward food, and controlling to grip or release the reward food according to the control signal so as to control reward for the non-human primate to be detected.

2. The apparatus of claim 1, wherein the drive motor is a stepper motor.

3. The apparatus of claim 2, wherein the stepper motor is configured to determine the rotation angle and the speed based on the control signal.

4. The device of claim 1, wherein the gripper is a hand.

5. The apparatus of claim 1, wherein the robotic arm includes a slide track thereon, and the gripper is coupled to the robotic arm by a slide block disposed above the slide track.

6. The apparatus according to claim 1, wherein the robot arm includes a scale thereon, the scale being disposed along a moving direction of the robot claw.

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