| The high-throughput automatic nucleic acid detection workstation based on magnetic separation is developed by our group,which can realize the function of high-throughput nucleic acid detection from clinical samples.There are many kinds of experimental boards in the workstation.Only relying on artificial management of the boards in the workstation will not only result in a waste of valuable human resources,but also reduce the efficiency of scientific research.In order to improve the efficiency of automation nucleic acid detection and result in the intelligent intensive management of experimental boards like the microwell plates,etc.We have designed an experimental board manipulator based on CAN_Bus in combination with sensor technology and automation control technology,which takes the C8051F120 as main microcontroller unit(MCU).The device is mainly composed of four stepping motor drive module,communication module,photoelectric sensor module,main control module and other modules,and the research details include:Firstly,a high-precision micro stepping motor driver based on THB6128 was designed and implemented.The driver supports multi-subdivision and multiple operating current settings.Besides,according to the stepper motor features,an improved equal-frequency acceleration and deceleration algorithm was applied in stepping motor control and is superior to conventional S-shape curve.Through the combination of the S curve acceleration and deceleration algorithm,the repetitive positioning accuracy of stepping motor drive system can reach ±0.1 mm,the maximum strike frequency can be rasied about 4 times and the load capacity at the maximum strike frequency can be rasied from 400 g to 500 g.The stepping motor drive system has the advantages of accurate positioning,strong load capacity and easy control.Secondly,because C8051F120 does not have the CAN bus interface,and the communication method of the automatic nucleic acid detection workstation is CAN_Bus.In order to realize the coupling between the experimental board manipulator and the host computer,the CAN_Bus communication module based on MCP2515 was designed.We also designed a unique communication protocol which can realize the function of experimental board manipulator,such as laying the microwell plates into the device,putting the microwell plates into the device,and so on.The communication module based on C8051F120 has the characteristics of strong expansibility,self error detection and remote communication.Finally,we designed the necessary experiments to validate these modules.The experimental results showed that the device can realize the function of managing and recalling the experimental boards intelligently alone,not just for the nucleic acid detection system,which will greatly reduce the complexity of experimental board management.Our research is helpful to improve work efficiency and the space utilization.The management device of experimental boards also has favorable expansibility and maintainability.We believe that the future is bright for this promising device. |
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