Automatic Chemical Immune Analyzer Motion Control System Design And Implementation

Automatic chemical immunity analyzer is to use chemiluminescence enzyme immunoassay method for biochemical index in blood or other body fluids for rapid,accurate and automatic quantitative or qualitative analysis to determine the analysis of the medical equipment,mainly used in the clinical on diabetes,hepatitis,tumor markers,allergen and other biochemical indicators of detection,is one of the most important and most basic medical equipment.Automatic chemical involves many technologies.The research on this instrument is still in its infancy in China,and there is no mature product independently developed at present.Such products have been monopolized by foreign companies for a long time,and the price is very expensive,which cannot be popularized in grassroots medical institutions.Therefore,it is of great significance to develop a small automatic biochemical immune analyzer with high cost performance,simple operation and accurate detection results.This thesis first introduces the basic principle of immune diagnosis technology and the development course of investigating the current situation of the development of automation at home and abroad of the instrument and the product characteristics,this paper expounds the principle of chemiluminescence enzyme immune response,analyses the working process of the biological immune analysis,and on this basis,the decomposition of the motion control system,and the principle and realization process of each subsystem is carried on the thorough research,put forward the automatic chemical movement control system overall design scheme of the instrument,and focuses on the sample module,control module,centrifugal module,double arm synergies between the control module and data communication.Secondly,this paper focuses on the coordinate form of the structure of the manipulator,and according to the characteristics of the motion control system of the automatic chemical immune analyzer,a dual-manipulator cooperative control system is proposed.In view of the problem that the open-loop control stepper motor cannot be precisely positioned,this paper proposes a new type of rotary table structure,which can effectively improve the positioning accuracy and detection efficiency by adopting the photoelectric sensor-assisted positioning and s-curve control method.According to the working principle of the centrifugal system,this paper synthetically compares the characteristics and application range of various motors,reasonably selects the centrifugal motor and its precise positioning control mode,and designs the structure of the centrifugal disk.Aiming at the signal interference problem caused by the complex wiring inside the system,this paper designs a power management module,which makes the system wiring simple,compact and subject to little external interference.Then,this paper completes the design of the hardware and software of the motor control and driving board of the motion control system of the automatic chemical immune analyzer.Hardware circuit mainly includes the main control chip selection,motor drive circuit,the isolating circuit and CAN bus interface circuit design,software part adopts the modular design idea,is advantageous to the module upgrade in the future,including the CAN bus communication module,a pulse width modulation PWM module,DSP control module,and presents a system software of the control process and the experiment processes of fully automatic immunity analyzer.Finally,the actual running state of the system is tested.Firstly,the motor precision and photoelectric sensor precision of the motion control module are tested,and the results show that the motion control system designed in this paper can achieve high precision positioning.Then the motion control system of the automatic chemical was tested,and all its indexes could meet the national standard,and the expected design goal was achieved.