| The traditional detection method of infectious diseases usually detects antibodies,while DNA analyzer based on microfluidic technology detects antigens,which can determine the cause of infectious diseases by directly detecting virus DNA.In contrast,the direct detection of virus DNA has timeliness,directness and accuracy,and it also puts forward higher requirements for the control of pollution sources and the automation of detection equipment.At present,DNA analyzer based on microfluidic technology can realize the process automation of sample dilution and mixing,but the process of sample transfer still needs to be carried out manually.The purpose of this paper is to develop an automatic equipment matching with the DNA detector based on microfluidic technology,so as to minimize the sample contamination in the process of sample transfer,dilution,mixing,sampling,etc.,which is of great significance to ensure the accuracy of the detection results of virus,bacteria and genetic materials Detected by microfluidic technology.In the design and simulation part of the main structure,this paper starts with the overall design,analyzes the overall scheme,overall layout and workflow,and analyzes the design requirements of each component of the equipment from the perspective of overall design.The stiffness of the supporting structure of the robot is very important to ensure the accuracy of the front-end position of the robot,In this paper,the static simulation and optimization of the supporting structure of the robot are carried out.In the design of syringe control mechanism,the configuration of two-stage lifting is proposed,and the rationality of the mechanism is verified by dynamic simulation.The configuration of two-stage lifting is that the cylinder drives the whole lifting movement of the syringe,and the servo motor drives the lifting movement of the syringe push rod.In the design of the isolation door opening and closing mechanism,the concept of motion segmentation is adopted in this paper,and the rationality of the mechanism is verified by dynamic simulation.The concept of motion segmentation is to separate the lifting movement and sealing movement of the door body,which is of great significance for the reliable sealing of the door body in a compact moving space.The visual positioning of syringe should not only consider the reliability of syringe grasping,but also the accuracy of grasping point.Based on the characteristics of the collected syringe image,Gaussian filter is used to remove the Gaussian noise in the image,and Canny edge detection algorithm is used to extract the edge.The template image after edge extraction is matched with the image to be tested after edge extraction.Considering the situation of syringe rotation,and in order to improve the accuracy of positioning,this paper proposes a template matching and visual positioning algorithm for target rotation.The experimental results show that the algorithm can effectively improve the accuracy of syringe visual positioning,and the average absolute error of syringe axial position decreases from 0.84 mm to 0.53 mm.In the part of robot motion control,this paper selects the robot and compiles the robot motion program,and verifies the rationality of model size and robot motion program through kinematics simulation. |
