Design Of Automatic Insemination System For Fish In Vitro Based On STM32

A variety of fish reproduce by means of in vitro fertilization,but due to the influence of factors such as natural enemies,temperature and energy,the fertilization rate of fish during in vitro fertilization has dropped significantly.In order to improve the fertilization rate,artificial insemination is usually used to carry out in vitro fertilization of fish.Artificial in vitro fertilization is time-consuming and costly.Therefore,this project is based on the STM32 single-chip microcomputer to realize the research and development of the in vitro fertilization system for fish with sinking eggs.The mechanical structure and control system design of the fish in vitro fertilization device are carried out,and the key points of the automatic insemination system are evaluated.parameter.The research content of this topic is as follows:(1)Mechanical structure design of fish in vitro fertilization system.The overall structure of the fish in vitro fertilization system was designed,including the insemination motion platform,sperm quantitative release device and cleaning device.Among them,the insemination motion platform adopts the form of a gantry module,selects the synchronous belt transmission mode,and realizes the preset movement of the sperm release tube and the agitator and the uniform mixing function of the sperm and eggs through three-dimensional motion control and path planning;the sperm quantitative release device The connecting plate,peristaltic pump,agitator and sperm container are designed in the design to realize the suction and release of fish sperm;the main transmission mode of the cleaning device is rack and pinion transmission,and the rack is fixed on the synchronous belt slide table,and through stepping The rotation of the motor is converted into the translation of the rack,which then drives the container to turn over to remove excess liquid.The three-dimensional model of the fish in vitro fertilization device was created in Solid Works software,and the kinematics simulation was carried out in Adams software.The results show that the layout of each part of the mechanism is reasonable,and the designed function can be realized.(2)Design of control system for fish in vitro fertilization device.The STM32F103ZET6 single-chip microcomputer was selected as the microcontroller,and the models of the stepper motor,stepper motor driver,relay,and limit switch were determined,and the KPHM100-HDB10 peristaltic pump,EE-SX677-WR limit switch,and 220 V turn 24 V DC switching power supply,and the circuit and wiring methods are designed.The key parameters such as the running time and speed of the peristaltic pump that control the pipetting accuracy were determined by carrying out experiments,and the sequence control of the device and the motion control program of the peristaltic pump and motor were written,and the smooth start and start of the stepping motor based on the ramp-up current method were realized.stop.In addition,the main program and subroutines are written,and the MFC window program development platform in VS2013 software is used to realize the design of the human-computer interaction interface,which has the functions of user management,manual control and automatic control.(3)The performance evaluation test of the fish in vitro fertilization device was designed and carried out.These include the test of quantitative release accuracy of sperm and cleaning fluid,the test of positioning accuracy of synchronous belt sliding table,and the test of the best angle of rotation of cleaning mechanism.Realize that the maximum error of 10 ml sperm delivery does not exceed 0.27 ml each time,the average error is 0.14 ml,and the standard deviation is 0.1396 ml;the average error of the singleaxis movement of the timing belt does not exceed 0.05 mm,and the positioning accuracy of the single-axis movement of the timing belt is 0.085 mm,the repeated positioning accuracy is 0.157 mm,the maximum error of each movement of the multiaxis synchronous belt is not more than 0.096 mm,the multi-axis movement positioning accuracy of the synchronous belt is 0.096 mm,and the repeated positioning accuracy is0.144 mm;the cleaning mechanism adopts the insemination disc structure as Two rows of small holes with a diameter of 2 mm are opened on the top of the container.The optimal cleaning method is to stay for 3-5 seconds when the container is turned over35°,allowing the upper liquid to partly flow out.The optimal second turn angle stays at 50°.The test results show that the amount of sperm released by the fish in vitro automatic insemination device meets the test requirements,the single-axis and threeaxis positioning accuracy of the timing belt can meet the device requirements,and the optimal flip angle of the cleaning device is determined.The designed fish in vitro automatic insemination device Able to complete preset processes and meet functional requirements.