Research On Mobile Robot For Blood Sample Tray Transfer

With the development of economy and the gradual improvement of people's living standard,people pay more and more attention to their own physical condition.With the rapid improvement of medical level,various kinds of medical examinations become more and more frequent.The increasing amount of examinations undoubtedly increases the burden of the inspection centers in hospitals.Blood sample sorting pipeline is a special line for reducing the medical staff of the inspection centers in hospitals.Labor intensity and automation system to improve the efficiency and accuracy of blood sample test are of great significance in modern medical examination.This paper mainly studies the problem of pipeline sample transporting,designs a robot which can automatically carry blood vessel samples,and combines it with the existing pipeline to realize the automation of the whole inspection process.According to the functional requirements and size requirements of the matched blood sample sorting pipeline,the detailed structural scheme of the blood collection carrier robot is determined,and the scheme is three-dimensionally modeled.At the same time,the driving method and the navigation method are determined,and the theoretical analysis of the selected Mecanum wheel is carried out.By selecting the relevant drive motor and standard purchase parts.The kinematics analysis of the selected Mecanum wheel drive scheme of the robot provides a theoretical basis for the motion control,and analyzes the error of its operation,and proposes the assembly precision required by the design error range.Then the dynamics simulation of the robot's motion condition is carried out by Adams to determine the robot's motion performance.And through related calculations an Adams simulation analyzes the spring selection of the robotic mechanical positioning system.The strength of key parts of the calibration robot is calculated,and the mechanical analysis is carried out by Ansys/Workbench to verify the reliability of the structural design.The modal analysis of the overall frame of the robot is carried out,and the natural frequency is obtained,and the resonance in the operation is analyzed.Design the robot control scheme,select the controller and design the control logic of the main function,use Matlab/Stateflow to simulate the timing of the control logic,verify the logic correctness,and analyze thetiming of the actuator.Set up the prototype of the blood collection robot,test the running performance of the prototype,verify the kinematics algorithm and the dynamic simulation results,test the loading and unloading functions,verify the rationality of the design,and test the cheap distance of the upper carrier plate during the operation of the mechanical positioning system.The spring is chosen to be reasonable.