WO2012119325A1 - Bionic mouse moving structure for animal memory training system - Google Patents

Abstract

A bionic mouse moving structure for animal memory training system includes a moving body (1), a wheel drive system and a leg swing drive system. The bionic mouse moving structure utilizes a wheel-leg composite drive mode and can achieve an automatic switch of two movement modes. The bionic mouse moving structure moves flexibly, provides a compact structure and has a light weight, which is especially utilized for a rotary maze.

Description

 Bionic mouse movement structure for animal memory training system

[Technical Field]

 The invention relates to a bionic mechanical mouse structure for an animal memory training system, in particular to a bionic mouse moving structure for an animal memory training system using a wheel-leg composite moving mode, which is suitable not only for leveling the ground but also for rotating the screen. Flexible online movement. Especially suitable for closed rotary labyrinth devices.

 【Background technique】

 At present, research on biomimetic robots is developing for aerospace, interstellar exploration, military reconnaissance, public safety, monitoring of radioactive or hazardous environments, underground pipeline maintenance, disease detection and treatment, and disaster relief. With the complex working environment and task of the robot, the robot is required to have higher flexibility of movement and adaptability in a special unknown environment.

 In the same way, in the animal memory training system, it is urgent to develop a bionic mechanical mouse. Based on the biological mouse and the bionic mouse, the preliminary analysis and biomimetic study of the biological autonomous behavior of the biological mouse can be carried out to fully observe the adaptive behavior and learning behavior of the biological mouse and the bionic mouse. Based on the study of animal autonomous behavior characteristics, comparative behavioral studies of animal behavior and artificial intelligence and learning and adaptability of animal intelligence are also of great significance. However, to achieve this research, the primary problem to be solved is the mobility of the bionic mechanical mouse, which requires flexible forward, backward and steering in the training system.

 The memory training system mentioned in this paper is a detection system using a circular dark box maze as a behavioral data acquisition device. The experimental mouse passes through the door opening in the labyrinth device and passes through a closed loop along a specified path to complete the cycle training in turn. The mouse's autonomous motion and the rotationally driven passive motion, combined with the data processing control unit integrated in the data acquisition card, respectively collect and process the corresponding signals, and transmit them to the MySQL database in the microcomputer control system through the PCP/IP protocol, and utilize The statistical software package is processed to control and monitor the activity of the mouse at any time. The software uses C# programming language combined with .NET framework to complete the software writing work, the compilation environment uses Vi sual Studio 2008. The system is highly automated, easy to operate, and scientific and accurate in data processing. However, the bottom of the fence of the training system adopts a sieve-like support net structure, and the sieve-shaped support net can be rotated and adjusted in accordance with the training program during use. For this kind of terrain--rotating wire screen, it is even more demanded that the bionic machine mouse must have a good moving mechanism to achieve various motion functions, freely advancing, retreating and steering.

 According to existing literature research, the bionic machine mouse, called English name Micromouse, is a member of the bionic robot family. It is designed to mimic the movement form of mice, using embedded microcontrollers, sensors and electromechanical moving parts. Intelligent walking device (micro robot), bionic robot can automatically remember and select the path in different "maze", using the corresponding algorithm to quickly reach the set destination. The Bionic Robot is a small microprocessor-controlled robotic vehicle with decoding and navigation capabilities in a complex maze. However, these bionic mechanical rats are only suitable for leveling ground motion. The invention patent number 001287002. 8 discloses a "mechanical mouse" which refers to a mechanical mouse that drives rats by intimidation, which includes a simulated mouse, a simulated mousetrap, a voice circuit and a drive motor to simulate The mouse struggled when the arrest was made, and the state of the call reached the goal of actively driving the mouse. The utility model is characterized in that a simulated mousetrap is connected, a simulated mouse is connected with a simulated mousetrap, a voice circuit is fixed in a simulated mousetrap or a simulated mouse; the mechanical mouse has a driving motor, and the driving motor is connected with a simulated mouse or a driving motor. Connected to a simulated mousetrap; however, it is a structure that cannot be moved.

In summary, from the available data, bionic rats that can flexibly move on the rotating screen have not been found, and can achieve the above-mentioned flexible movement simulation. The mobile structure of the squirrel needs to be developed.

 [Summary of the Invention]

 SUMMARY OF THE INVENTION The object of the present invention is to provide a bionic mouse moving structure for a simple and reasonable structural design for an animal memory training system, which overcomes the problem that the existing bionic rats cannot move flexibly on the rotating screen of the labyrinth device.

 The technical solution of the present invention is: a bionic mouse moving structure for an animal memory training system, comprising a moving vehicle body, the technical points of which are: further comprising a wheel drive system and a swing leg drive system;

 The wheel drive system is symmetrically disposed on both sides of the moving vehicle body, including left and right drive motors, left and right front wheels, left and right rear wheels, left and right front timing pulleys, left and right middle synchronous pulleys, Left and right rear timing pulleys, left and right timing belts; the left front wheel and the left front timing pulley are coaxially fixed on an output shaft of the left drive motor, and the left drive motor is mounted on the moving body a front portion, the left rear wheel and the left rear timing pulley are coaxially fixed at a rear portion of the moving vehicle body, and the left driving motor passes the left timing belt, the left front timing belt pulley, and the left rear synchronization belt pulley. Driving the left front wheel and the left rear wheel to perform continuous rotation; the right front wheel and the right front timing pulley are coaxially fixed on the front part of the moving body, and the right rear wheel and the right rear timing pulley are coaxially fixed at the same On the output shaft of the right drive motor, the right drive motor is mounted at the rear of the moving body, and the right drive motor drives the right through the right timing belt, the right front timing belt pulley, and the right rear timing belt pulley. Front and right rear wheels Rotation;

 The swing leg driving system is symmetrically disposed on both sides of the rear portion of the moving vehicle body, including left and right swing legs, and left and right rockers with chutes respectively disposed on the inner sides of the left and right swing legs respectively Driven by the left and right middle timing pulleys, the left and right middle timing pulleys are respectively fixed on both sides of the moving vehicle body cover, respectively driven by the left and right timing belts; the right middle synchronization belt a first right gear is coaxially fixed to the wheel, the first right gear meshes with a second right gear fixed on the outer cover of the moving vehicle, and a pin is fixed to a side of the first right gear and the second right gear a free end of the pin fixed to the first right gear extends into the sliding groove of the right rocker and is slidable therein, and is fixed at the other end of the pin on the second right gear The right rocker and the right swing leg are fixed, and when the first right gear and the second right gear are meshed with each other, the pin on the first right gear slides in the sliding groove of the right rocker to realize the right Periodic swing of the side swing leg; the left middle synchronous pulley is coaxially fixed first a left gear, the first left gear meshes with a second left gear fixed to the outer cover of the moving vehicle, and the first left gear and the second left gear are respectively fixed with a pin, and are fixed at the first a free end of a pin on a left gear extends into and can slide within the chute of the left rocker, the other end of the pin fixed to the second left gear and the left rocker and the left side When the first left gear and the second left gear are meshed with each other, the pin on the first left gear slides in the sliding groove of the left rocker to realize the periodicity of the left swing leg swing.

 The left and right front wheels, the left and right rear wheels of the wheel drive system are arranged in a rectangular shape on both sides of the moving vehicle body.

 The left and right driving motors of the wheel drive system can adjust the forward and reverse rotations, thereby driving the moving direction of the moving vehicle body to be the same or not. When the movement directions of the left and right sides are the same, the forward and backward movement of the bionic mouse can be realized. When the directions of motion of the left and right sides are inconsistent, the left and right steering motion can be realized.

The advantages and positive technical effects of the present invention are: According to the requirements of the memory training system for the bionic mouse motion function, combined with the existing robot technology, a novel mobile platform is designed, and a wheel-leg composite driving mode is adopted. The movement of the bionic mouse is achieved by a combination of four-wheel full drive (main motion) and double swing leg intermittent drive (auxiliary drive). The bionic mouse movement uses a wheeled transmission structure and uses a plate-type chassis structure. The mobile robot ensures that its structural size can reduce the center of gravity as much as possible. By crossing the hole in the memory training system and having a certain space, it can ensure that it becomes an autonomous mobile robot platform equipped with various devices in the learning and memory behavior training system. At the same time, in order to have the ability to move on the mesh-like ground, in order to make the wheels move normally, the wheel does not get stuck in the network port. When the wheel diameter is rationally designed and the four-wheel full drive mode is adopted, the double swing leg is added. Intermittent drive. The four-wheel full-drive mode ensures faster movement speed and driving efficiency. Once the wheel is sunken into the screen, the double-swing leg intermittent drive can generate upward and forward thrust, so that no jamming occurs, and the bionic mouse is guaranteed. Normal walking on the mesh surface to ensure the readiness of the experimental data. In summary, the invention has the advantages of flexible and agile movement, compact and light structure, and strong interchangeability.

 [Description of the Drawings]

 The invention is further described in conjunction with the accompanying drawings:

 Figure 1 is a schematic view showing the structure of the present invention;

 2 is a schematic structural view of the present invention for removing a moving vehicle body;

 3 is a schematic structural view of a right swing leg and a driving part thereof according to the present invention;

 4 is a schematic structural view of the right swing leg of the present invention, in which the pin fixed on the first right gear extends into the right rocker chute, and the pin of the second right gear is simultaneously fixed on the right rocker;

 Figure 5 is a schematic view showing the structure of the outer side of the outer cover of the present invention, that is, the outline drawing of the bionic mouse;

 6 is a schematic structural view of an electric control device disposed on a moving vehicle body of the present invention;

 Figure 7 is a schematic view showing the stroke of a bionic mouse designed on the rotating screen by the present invention;

 Figure 8 is a schematic view showing the specific structure of the labyrinth device;

 Figure 9 is a plan view of Figure 8;

 The serial number in the figure shows: 1 moving car body, 2 right front wheel, 3 right timing belt, 4 right swing legs, 5 right rear wheels, 6 left rear wheels, 7 left rear timing pulleys, 8 left swing legs, 9 Left timing belt, 10 left front wheel, 11 left front timing pulley, 12 left drive motor, 13 right drive motor, 14 right rocker, 15 first right gear, 16 pin, 17 second right gear, 18 pin, 19 housing, 20 right whiskers, 21 left tentacles, 22 motor controller

I, 23 motor controller II, 24 power supply, 25 wireless transceiver controller, 26 wireless transceiver unit, 27 mesh support grid, 28 turntable, 29 motor, 30 LCD screen, 31 partition, 32 cabinet, 33 door hole, 34 Turntable pulley, 35 brackets, 36 bracket pulleys, 37 water brushes, 38 sinks, 39 water pipes, 40 food slots.

 【detailed description】

The present invention is a moving structure in the mechanical structure of a bionic mouse system. A complete autonomous mobile bionic mouse system should include mechanical structure, power system, sensing system, control system and other parts. At the same time, the function determines its structure, and it can be equipped with a camera, a distance measuring sensor, a circuit board, etc., for performing real-time display, obstacle crossing and the like. In the course of work, the robot (bionic mouse) moves the car body itself to be responsible for the smooth loading and carrying out its ground mission. The invention makes the whole bionic mouse small in size, light in weight, reliable in performance on the premise of completing the function index, simple in operation, flexible in movement, and more economical and practical. 1. The present invention is described in detail with reference to Figures 1-7: The bionic mouse moving mechanism of the present invention comprises a wheel drive system and a swing leg drive system, and the wheel-leg composite motion is realized by using less drive motors, and can be realized. Automatic switching between the two modes of movement, the structure not only has flexible plane motion function, but also has certain climbing and obstacle capabilities.

 The wheel drive system is symmetrically arranged on both sides of the moving body, driving the motor 12, 13 from the left and right, the left and right front wheels 10, 2, the left and right rear wheels 6, 5, the left and right front timing pulleys 11, and the left , right middle timing pulley, left and right rear timing pulley 7, left and right timing belt 9, 18 and so on. The left front wheel 10 and the left front timing pulley 11 are coaxially fixed to the output shaft of the left drive motor 12, the left drive motor 12 is mounted on the front of the moving body 1, and the left rear wheel 6 and the left rear timing pulley 7 are coaxial. Fixed to the rear of the moving body 1, the left driving motor 12 drives the left front wheel 10 and the left rear wheel 6 to perform synchronous continuous rotation through the left timing belt 9, the left front timing belt pulley 11, and the left rear timing belt pulley 7; The wheel 2 and the right front timing pulley are coaxially fixed to the front of the moving body 1, the right rear wheel 5 and the right rear timing pulley are coaxially fixed on the output shaft of the right drive motor 13, and the right drive motor 13 is mounted on the moving body. At the rear of 1, the right drive motor 13 drives the right front wheel 2 and the right rear wheel 5 to perform synchronous continuous rotation through the right timing belt 3, the right front timing pulley, and the right rear timing pulley; the left and right front wheels 10, 2 And the left and right rear wheels 6, 5 are arranged in a rectangle. When the motion directions of the left and right sides are the same, the forward and backward movement of the bionic mouse can be realized. Conversely, when the motions of the two sides are inconsistent, the left and right steering motion can be realized.

 The above four-wheel full-drive mode can ensure faster movement speed and driving efficiency, but once the wheel is sunk into the rotating screen, the double-swing intermittent driving system can generate upward and forward thrust, so that there is no jam. . The specific structure of the swing leg drive system is as follows:

 The swing leg drive system is symmetrically disposed on both sides of the rear of the moving body 1, including the left and right swing legs 8, 4, and the like. The left and right swing legs 8 and 4 are respectively provided with left and right rockers 14 with sliding grooves and respectively driven by the left and right middle synchronous pulleys, and the left and right middle synchronous pulleys are respectively fixed on the moving body 1 cover. 19 sides, respectively, driven by left and right synchronous 9 and 3 belts, that is, when the left and right front wheels 10, 2 and the left and right rear wheels 6, 5 rotate, the left and right timing belts 9, 3 also drive The left and right middle timing pulleys rotate; the right middle timing pulley coaxially fixes the first right gear 15, and the first right gear 15 meshes with the second right gear 17 fixed on the moving exterior cover 19, first A pin shaft is fixed to a side surface of the right gear 15 and the second right gear 17, respectively, and a free end of the pin 16 fixed to the first right gear extends into the sliding groove of the right rocker 14 and can slide therein, and is fixed at the first The other end of the pin 18 on the second right gear is fixed to the right rocker 14 and the right swing leg 4. When the first right gear 15 and the second right gear 17 mesh with each other, the pin 16 on the first right gear is at The sliding of the right rocker 14 slides to form a crank rocker mechanism, and the right swing leg 4 is realized. Cycling periodically; similarly, the left middle timing pulley coaxially fixes the first left gear, and the first left gear meshes with the second left gear fixed on the outer cover of the moving vehicle, the first left gear and the second left gear side Separately, a pin shaft is fixed, and a free end of the pin fixed to the first left gear extends into the sliding groove of the left rocker and can slide therein, and the other end of the pin fixed to the second left gear is left The rocker and the left swing leg are fixed, and when the first left gear and the second left gear mesh with each other, the pin on the first left gear slides in the sliding groove of the left rocker to form a crank rocker mechanism, realizing the left The periodic swing of the side swing legs 8.

 In order to suit the characteristics of the behavioral training system, the indicators of the bionic rats are shown in Table 1.

 Second, in order to highlight the superiority of the mobile mechanism as a carrier of bionic mice, it is now compared with a widely used mobile mechanism such as a wheel type, a crawler type, and a leg structure.

 (1) Wheel-type moving mechanism features

The wheel type moving mechanism has the functions of high speed and stable movement, high energy utilization efficiency, simple mechanism and control, and can learn from the manufacturing technology, experience and achievements of the automobile. The structure has the advantages of light weight, low cost, high speed, large stroke and long service life. , maintenance and maintenance features, but the shortcoming is that off-road passing ability and protection ability is not as good as the crawler type moving mechanism. Wheeled moving mechanism is flat due to its high speed of movement The environment has unique advantages and stability is better than the foot-moving mechanism. The disadvantage is that the adaptability to the sports ground is poor. The wheeled moving mechanism is limited to working on a relatively flat and hard road surface. The soft road surface may cause slipping or subsidence, so the wheeled moving mechanism has its corresponding scope of application.

 (2) Tracked moving mechanism features

 The crawler belts of the crawler type moving mechanism may be disposed on the left and right sides of the vehicle body or on the front and rear sides of the vehicle body. The track moving method has many advantages because it winds the circular circular track around a number of wheels, so that the wheel does not directly contact the ground, and the track can alleviate the unevenness of the ground. This gives it good stability, obstacles and long life, making it ideal for driving on rough terrain. Therefore, it has good maneuverability and strong off-road performance. Since the support area of the track is large, the grounding pressure is small, the rolling damping is small, and the performance of passing, climbing and ditching is better. There are gears on the track support surface that do not slip, and the traction adhesion performance is good, which is beneficial to exert a large traction force. The disadvantage is that the structure is more complicated, the weight is large, the motion inertia is large, the shock absorption function is poor, and the parts are easily damaged. The frictional resistance is large, the mechanical efficiency is low, and the road surface is damaged to a certain extent if the weight is relatively large.

 (3) Characteristics of the leg type moving mechanism

 The leg-moving mechanism has a strong terrain adaptability, and its trajectory is composed of discrete points, which have better adaptability, maneuverability and smoothness for some rough and rugged ground. At the same time, the leg-moving mechanism has multiple degrees of freedom, and the movement is more flexible. By adjusting the length of the leg, the overall center of gravity position can be controlled, it is not easy to fall over, the stability is higher, and the mobility of the mechanism is improved. It expands the range of walking terrain and enhances the ability of the organization to walk in various gaits. The main disadvantages of leg-moving mechanisms include power and mechanical complexity. Due to its slow moving speed, it is less maneuverable than wheeled and tracked mechanisms, and its load cannot be too heavy. The complexity of the mechanical system also causes the cumbersome control system, and the control method is more complicated. Although it has a wide range of applications, the current related technology is not mature enough to enter the practical stage.

 All the above mobile organizations are subject to structural constraints and have limitations. The advantages and disadvantages are summarized in Table 2.

The number of wheels of the bionic mouse moving mechanism of the present invention is four wheels, mainly considering that the structure of the wheel is complicated, and the performance of the wheel is less unstable, but the three-wheel moving mechanism is a relatively common moving mechanism of the mobile robot, and the applicant does not mainly use the moving mechanism. Consider: The four-wheel mechanism has better performance than the three-wheel steering on uneven roads; the stability is more obvious than the three wheels, and there is no tipping. Due to the particularity of the rotating screen, the three-wheel moving mechanism will cause the overall tilting due to the increase of the speed, so the four-wheel moving mechanism is more stable and more suitable for the behavior training system. The four-wheel drive type of drive is based on the consideration of the characteristics of the four-wheel arrangement: if the wheel in contact with the screen is not a traction wheel, it will inevitably fall into it. The wheels that are in contact with the ground should all be traction wheels. Two-wheel drive vehicles may slip on snow, wire screens, and slippery roads even on good roads. It is also prone to tail-hanging when starting acceleration, which means that bionic rats will occur. Collision with the walls of the behavioral training system, four-wheel drive can prevent this from happening. At the same time, since the four-wheel full-drive mechanism can utilize the total weight of the carrier as the adhesion pressure, the adhesion is significantly increased, that is, the traction limit is expanded, and the power is transmitted to the respective wheels, that is, the driving of each driving wheel is reduced. The burden can ensure that sufficient power is transmitted to the road surface without wheel slip, so that the wheel has strong off-road capability, and the wear of the wheel is uniform, which is beneficial to extend the service life of the wheel. The four-wheel drive system has better application efficiency than the two-wheel drive, and can achieve better tire traction and steering force. In terms of safety, better driving stability can also be formed. Therefore, the application of a rectangular four-wheel full-drive front wheel helm is the most suitable. A moving mechanism of a bionic mouse applied in a behavioral training system. In addition, the double-swing leg intermittent drive is added to the rear of the bionic mouse. The four-wheel full drive mode can ensure faster movement speed and driving efficiency, but once the wheel is sunk into the screen, the double-swing leg intermittent drive can generate upward And the forward thrust, so that there is no jam.

 3. A brief description of the labyrinth device of the animal memory training system.

 The labyrinth device comprises a circular box 32 and a circuit control system. A plurality of partitions 31 are arranged between the inner wall of the circular box 32 and the central cylinder, thereby separating the box into a plurality of data collection areas and destination areas, each partition The bottom 31 of the panel 31 is uniformly distributed with the same door opening 33. The improvement point of the labyrinth device is as shown in Fig. 8. The bottom of the box body is provided with a turntable 28, and the center column body is provided with a motor 29, and the output shaft of the motor 29 is fastened to the center of the turntable 28 along the axial direction of the center cylinder, and the turntable 28 is The motor 29 can be rotated around the central cylinder. A plurality of pulleys 34 are arranged around the lower portion of the frame frame to support the turntable without affecting its rotation. Above the turntable 28 is provided a sieve-like support net 27 which may be made of other materials such as metal mesh or plastic. A water tank 38 is disposed under the turntable 28 to form a manure collection and processing device. A water pipe 39 is disposed on the water tank 38. A water spray port is formed on the water pipe 39. The bottom of the water tank 38 is provided with a support frame and a water drain. The water tank 38 is also provided therein. Water brush 37.

The circuit control system includes a power supply, a single chip microcomputer, an eye slap controller, an automatic flushing drainage system controller, and the like. The single chip sends a signal to the motor 29 of the control turntable to realize the rotary motion of the turntable 28. The motor control of this application is controlled by solid state relay, and the power of the drive motor is <100 _W. In this paper, the solid state relay uses lOOOOw. The microcontroller indirectly controls the relay through the MOS transistor. The instruction of the MCU to control the motor comes from the instruction sent by the host computer through the CAN bus. The CAN and RS232 conversion interface circuits implement data conversion between the CAN bus protocol and the RS232 protocol. The upper computer command is sent to each child node through the system. Automatic flushing drainage system (fecal collection system) The controller receives the AT89S51 microcontroller P3.6 (I/0) to send out control signals to control the operation of its BFC-2 electric valve controller, and then control the electric installation on the fecal collection and processing device. The electric valve is opened/closed, so that the water pipe disposed along the water tank of the fecal collecting and processing device is connected or blocked by the water source, and the tap water source is flushed through the electric valve to the sewage device, that is, the water tank, and the sewage flows out from the water outlet. The upper part of the water brush installed in the water tank is fixed at the bottom of the turntable, and the lower brush body is in contact with the side wall of the water tank and the bottom of the tank. When the single-chip computer controls the turntable to rotate, the water brush rotates accordingly, and the lower brush body can scrub the water tank to remove The animal's excrement and the like are eliminated, thereby eliminating the influence of the odor on the experimental effect. Odor release device: The MCU controls the LCD LCD and the odor controller simultaneously through the squint controller. After detecting the squeak signal, the MCU transmits the fresh air to the air compressor, the control valve, the odor generator and the pressure reducing valve. The robotic arm of the training system is then transported by the robotic arm to the scent can set in the labyrinth position.

The general structure of the labyrinth device, that is, the number of partitions of the classic type can be set to 6, and the circular box is equally divided into six intervals of A, B, C, D, E, F, as shown in Fig. 9, wherein data acquisition There are 5 districts and 1 target area. There are 4 door openings at equal intervals under each partition. The partitions of each section are provided with liquid crystal screens, and the destination area is provided with food tanks. Two photoelectric radiation sensor units are arranged at each door hole provided under the partition plate, and the front door of the door is placed separately and outputted in the form of 'or', so that the direction of the rat crossing the door can be detected to detect the walking track of the mouse. Acousto-optic stimulation of the experimental mouse: Through the 10 ports of the single-chip microcomputer, the gate of the MOS tube is controlled to realize the control of the illumination source (liquid crystal panel) and the sound source, and the frequency of the sound generation and the intensity of the illumination can be controlled. Wherein, the single chip microcomputer is used as the sub-receiving unit to receive the data information transmitted by the main control unit, and extracts the command information from the data information, thereby generating the sound stimulation and the light stimulation. The control data from which the stimulus can be extracted from the data information has luminous intensity, vocalization frequency, and the like. Visual Stimulation Unit for Experimental Rats: The ViSaGe visual stimulation generator is used in the prior art. ViSaGe uses 14bit DCAs image output technology to ensure that ViSaGe controls the output of visually stimulating image color, brightness and accurate display time, even in Frame dropping does not occur when the image is quickly switched. The CRS MATLAB toolkit makes it easier and faster to output visual stimulus images using MATLAB language programming. At the same time, multiple interfaces ensure that ViSaGe can be used in sync with other devices such as ResonseBox, EyeTracker, EEG, Optotrak and fMRI. The food trough is a drum type with a mesh on the side, and a bottom surface can be attached to a smooth partition surface. On the other bottom surface opposite thereto, there is an opening for the food trough, and the food can be placed in the food trough by using the upper half of the foldable semicircle. The circular side of the food trough has an annular outer casing. The outer casing is divided into two. The lower part can be separately exposed to the grid and controlled by the circuit control system. When the outer casing is opened, the animal can eat food from the bottom of the food trough. After completing the training task, after a certain period of time (10s), the power is turned off, the jacket is closed, the grid is sealed, and the animal cannot eat the food.

 The animal memory training system formed by the above labyrinth device is more ideal, and has great significance for research in the fields of neurophysiology, neuropharmacology and psychology.

 Table 1 bionic mouse indicators:

 Indicator requirements Specific parameters Specific values

 Self quality /kg

 Structural index Load weight / kg > 0.2

 Structure size /mm length X width X height: 170 X 85 x 45 screen size /mm screen port 12x 12

 Maximum speed / m/s 3

 Maneuvering index Steering capacity / m Minimum turning radius 0.5

 O

 Endurance / h > 3

 o

 .Inch

 Control requirements Control mode Autonomous control, support wireless remote control operation Farthest signal transmission distance / m > 10 Table 2 Typical mobile mechanism performance comparison table

 Movement mode Wheeled movement Tracked movement Leg movement Movement speed Faster Faster Slow

 Complexity, simple, general, complex

 Obstacle ability is poor, generally very strong

 Smoothness, good, good, generally

 Good mobility, generally poor

 Economic good, generally poor

 Mechanical efficiency is low

 Control difficulty is simple, difficult and difficult

Claims

Rights request A bionic mouse moving structure for an animal memory training system, comprising a moving body, characterized in that: further comprising a wheel drive system and a swing leg drive system;  The wheel drive system is symmetrically disposed on both sides of the moving vehicle body, including left and right drive motors, left and right front wheels, left and right rear wheels, left and right front timing pulleys, left and right middle synchronous pulleys, Left and right rear timing pulleys, left and right timing belts; the left front wheel and the left front timing pulley are coaxially fixed on an output shaft of the left drive motor, and the left drive motor is mounted on the moving body a front portion, the left rear wheel and the left rear timing pulley are coaxially fixed at a rear portion of the moving vehicle body, and the left driving motor passes the left timing belt, the left front timing belt pulley, and the left rear synchronization belt pulley. Driving the left front wheel and the left rear wheel to perform continuous rotation; the right front wheel and the right front timing pulley are coaxially fixed on the front part of the moving body, and the right rear wheel and the right rear timing pulley are coaxially fixed at the same On the output shaft of the right drive motor, the right drive motor is mounted at the rear of the moving body, and the right drive motor drives the right through the right timing belt, the right front timing belt pulley, and the right rear timing belt pulley. Front and right rear wheels Rotation;  The swing leg driving system is symmetrically disposed on both sides of the rear portion of the moving vehicle body, including left and right swing legs, and left and right rockers with chutes respectively disposed on the inner sides of the left and right swing legs respectively Driven by the left and right middle timing pulleys, the left and right middle timing pulleys are respectively fixed on both sides of the moving vehicle body cover, respectively driven by the left and right timing belts; the right middle synchronization belt a first right gear is coaxially fixed to the wheel, the first right gear meshes with a second right gear fixed on the outer cover of the moving vehicle, and a pin is fixed to a side of the first right gear and the second right gear a free end of the pin fixed to the first right gear extends into the sliding groove of the right rocker and is slidable therein, and is fixed at the other end of the pin on the second right gear The right rocker and the right swing leg are fixed, and when the first right gear and the second right gear are meshed with each other, the pin on the first right gear slides in the sliding groove of the right rocker to realize the right Periodic swing of the side swing leg; the left middle synchronous pulley is coaxially fixed first a left gear, the first left gear meshes with a second left gear fixed to the outer cover of the moving vehicle, and the first left gear and the second left gear are respectively fixed with a pin, and are fixed to the first a free end of a pin on a left gear extends into and can slide within the chute of the left rocker, the other end of the pin fixed to the second left gear and the left rocker and the left side When the first left gear and the second left gear are meshed with each other, the pin on the first left gear slides in the sliding groove of the left rocker to realize the periodicity of the left swing leg swing.  2. The bionic mouse movement structure for an animal memory training system according to claim 1, wherein: the left and right front wheels, the left and right rear wheels of the wheel drive system are on both sides of the moving body It is arranged in a rectangle.  3. The bionic mouse movement structure for an animal memory training system according to claim 1, wherein: the left and right drive motors of the wheel drive system are adjustable for forward and reverse rotation, thereby driving the two sides of the mobile vehicle body. If the direction of motion is the same or not, when the motion directions of the left and right sides are the same, the forward and backward movement of the bionic mouse can be realized. When the motion directions of the left and right sides are inconsistent, the left and right steering motion can be realized.