| The total laboratory automation system has brought great convenience to the development of medical laboratory work.Meanwhile,it has attracted more and more attention from relevant scientific research institutions and companies.Laboratory specimen intelligent management system is a set of total laboratory automation system,and the automatic warehousing system for blood samples at constant temperature is an important component module.The main task of the automatic warehousing system for blood samples is to store the blood samples inspected at constant temperature automatically,and sends out the blood samples to be re-examined or discarded automatically when the stored blood samples need to be re-examined or discarded.The automatic warehousing system for blood samples at constant temperature is not only an important part of the laboratory specimen intelligent management system,but also a relatively independent and large system,which needs reasonable structure and control system design.The specific research contents are as follows:The overall scheme of the automatic warehousing system for blood samples at constant temperature was designed,including the mechanical structure scheme and the control system scheme.Among them,the mechanical structure scheme includes modules such as a pallet storage area,a pallet handover area,and a pallet clamping manipulator.The control system selected the distributed control scheme and selected some of the control system components.The mechanical structure of the automatic warehousing system for blood samples at constant temperature was modularized,and the overall structural design of the automatic warehousing system for blood samples at constant temperature was completed on the basis of the modular design,and the finite element simulation analyses were carried out on the key components,which ensured the reliability of the system structure design.Kinematics and dynamics modeling were performed on the mechanical structure design of the pallet clamping manipulator.And combined with Matlab/Simulink,Matlab/SimMechanics and M function,the kinematics and dynamics simulation analyses were carried out to verify the rationality of the mechanical structure design of the pallet clamping manipulator.Planned the action flow of each mechanism of the automatic warehousing system for blood samples at constant temperature during the operation task,and performed time series simulation analyses on the action flow planning of each mechanism based on Matlab/Stateflow to verify the feasibility of each mechanism’s action flow planning.At the same time,the storage rules of the automatic warehousing system for blood samples at constant temperature were analyzed,and an optimization algorithm for pallet storage position selection was presented.Further,modeling the control system and designing the controller.On this basis,the PLC control programs of the automatic warehousing system for blood samples at constant temperature were designed.The experimental prototype of the automatic warehousing system for blood samples at constant temperature was set up,and carried out the experimental research on the movement control of the pallet manipulator to verify whether the operation of each part of the system satisfies the functional requirements and the stability of the system operation. |
