Research On Design And Control Of The Blood Collection Tube Post-processing System

With the development of medical equipment industry,the emergence of laboratory automation has played a important role in the development of medicinal industry.As an integral part of laboratory automation-vascular sorting post-processing system,the task of this system is to sort out the tested blood collecting tubes and send those requiring re-inspection back to the test.This paper mainly studies a sorting system based on automated assembly line suitable for hospital use.The system processing speed is inextricably bounded to the empty tray recovery speed,so the system has very high requirements on the accuracy of classification,the rapidity of sorting,reducing costs and assurance of safety.The main research contents are as follows:According to the design requirements of the post-processing system,the system is modularly designed,and the overall layout and the overall workflow of the system are designed.On the basis of overall design of the system layout and process,the control system design of each module is finished,and then the overall system scheme is designed.Combined with the overall design of the system,specific structural design of each module in the post-processing system is carried out,and the components needed in the structure are analyzed.Then the essential parts of the whole structure are particularly analyzed by using ANSYS simulation tools to ensure their safety and stability.According to the structure scheme,specific action flow planning is carried out and the timing analysis is completed.Then the mathematical model of the servo motor was established and the rationality of the motor and controller is analyzed by using MATLAB/Simulink to ensure its rationality.Then the taking path of the manipulator is planned and designed with the reference of several algorithms including sequential algorithm,greedy algorithm and genetic algorithm to finally find a reasonable path.Set up the hardware system and the experimental prototype,and put forward a position closed-loop experiment to test the velocity of motor manipulator and testify the rationality of speed planning through using PANATERM ver6.0 provided by the manufacturer of AC servo motor position control driver.On basis of this,the overall experiment of the reprocessing system is carried out,and the results show that the functions of the system can be realized and the design of the prototype is rational.