【正文】 0/ 個(gè)小時(shí) ,這樣對于檢驗(yàn)人員來說是繁重的重復(fù)勞動(dòng) ,同時(shí)也耗費(fèi)了大量的工作時(shí)間。 自動(dòng)加樣機(jī)就是用于微生物鑒定和藥敏分析過程中的一個(gè)醫(yī)療設(shè)備。s position principle and working principledetailedly. ② Completed the mechanical structure of the automatic sampling system, including the robotic arm,the installation of the Tip and the unloading mechanism③ In order to improve the performance of Mechanical arm, used ADAMS simulate the motion, the simulation results to achieve the ideal effect. ④ according to the automatic sample 哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)論文 III similar positioning control requirements, pleted the control system hardware and software design basing on single chip microputer AT89c51 and drive chip L298 servo ⑤ in order to verify that the design of the control circuit is correct, the control system are simulated with Proteus software, the results show that the system design is reasonable, can meet the requirements. Key Words:autosampling system,the robotic arm, simulation of dc motor basing on Proteus 哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)論文 IV 目 錄 摘要 .................................................................................................................... I Abstract........................................................................................................... II 1．緒論 .............................................................................................................. 1 1． 1 課題背景 .............................................................................................. 1 1. 2 國內(nèi)外在該方向的研究現(xiàn)狀及分析 ................................................ 2 1. 2. 1 國外現(xiàn)狀 .............................................................................. 2 1. 2. 2 全自動(dòng)生化分析 儀國內(nèi)現(xiàn)狀 .............................................. 8 1． 3 本論文的主要內(nèi)容 ............................................................................ 9 2．三維加樣臂機(jī)械結(jié)構(gòu)設(shè)計(jì) ........................................................................ 10 2. 1 總體方案設(shè)計(jì) .................................................................................. 10 2. 2 X、 Y、 Z 軸的具體設(shè)計(jì) ................................................................. 13 2. 2. 1 導(dǎo) 向軸的選擇計(jì)算 ............................................................ 13 2. 2. 2 同步帶與同步帶輪的選擇 ................................................ 15 2. 2. 3 電機(jī)的選擇 ........................................................................ 15 2. 3 Tip 頭安裝與卸載機(jī)構(gòu) .................................................................... 19 2. 3. 1 Tip 頭結(jié)構(gòu)尺寸測繪 .......................................................... 19 2. 3. 2 Tip 頭安裝機(jī)構(gòu)設(shè)計(jì) ......................................................... 20 2. 3. 3 Tip 卸載機(jī)構(gòu)設(shè)計(jì) .............................................................. 21 2. 4 加樣臂下面工作平臺(tái)區(qū)域的劃分 .................................................. 22 2. 5 零位開關(guān)的選擇與安裝 .................................................................. 22 2. 6 基于 Adamas 的三維加樣臂的仿真 ................................................ 23 2. 6. 1 加樣機(jī)械臂實(shí)體模型的建立 ............................................ 24 2. 6. 2 虛擬樣機(jī)的建立 ................................................................ 24 2. 6. 3 仿真結(jié)果 ............................................................................... 25 3. 三維加樣系統(tǒng)運(yùn)動(dòng)控制設(shè)計(jì) .................................................................. 26 3. 1 系統(tǒng)整體控制方案 .......................................................................... 26 3. 2 運(yùn)動(dòng)控制策略選擇 .......................................................................... 26 3. 3 電機(jī)的驅(qū)動(dòng)控制設(shè) 計(jì) ....................................................................... 27 3. 3. 1 直流電機(jī)調(diào)速原理及方案的選擇 .................................... 27 3. 3. 2 PWM 實(shí)現(xiàn)方法 .................................................................... 29 3. 4 電機(jī)運(yùn)動(dòng)控制的硬件設(shè)計(jì) .............................................................. 30 3. 4. 1 硬件介紹 ............................................................................ 30 哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)論文 V 3. 4. 2 系統(tǒng)整體硬件連接圖 ........................................................ 31 3. 4. 3 復(fù)位電路及時(shí)鐘電路 ........................................................ 32 3. 4. 4 直流伺服電機(jī)驅(qū)動(dòng)電路設(shè)計(jì) ............................................ 33 3. 5 系統(tǒng)軟件設(shè)計(jì) .................................................................................. 34 3. 5. 1 PWM 脈沖程序 .................................................................. 34 3. 5. 2 調(diào)試與仿真 ........................................................................ 35 結(jié) 論 .......................................................................................................... 36 致 謝 .......................................................................................................... 38 參考文獻(xiàn) .......................................................................................................... 39 附錄 電機(jī)控制 C 語言程序 ............................................................................ 41 哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)論文 1 1．緒論 1． 1 課題背景 隨著高新科技技術(shù)的不斷進(jìn)步以及技術(shù)結(jié)合產(chǎn)業(yè)的實(shí)踐 ,促進(jìn)了醫(yī)療器械產(chǎn)業(yè)的快速發(fā)展。 關(guān)鍵詞： 自動(dòng)加樣系統(tǒng)，加樣機(jī)械臂，直流電機(jī) Proteus 仿真 哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)論文 II DESIGN OF 3DOF MECHANICAL ARM BASED ON TIP Abstract With the development of medical technology, medical institutions need to deal with more sample of blood type test. And that also increased the Lab Workers39。 本論文主要的研究內(nèi)容涉及如下方面：①通過調(diào)研和分析，根據(jù)加樣系統(tǒng)的功能要求，制定了自動(dòng)加樣系統(tǒng)的總體設(shè)計(jì)方案，詳細(xì)分析了自動(dòng)加樣系統(tǒng)的組成原理及其工作流程②完成了包括加樣機(jī)械臂、 Tip的安裝于卸載機(jī)構(gòu)，應(yīng)用 Pro/ 建立了加樣系統(tǒng)的三維實(shí)體模型。哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)論文 I 基于 Tip頭的三維加樣臂的設(shè)計(jì) 摘 要 隨著醫(yī)療技術(shù)的發(fā)展，醫(yī)療機(jī)構(gòu)需要處理的臨床實(shí)驗(yàn)樣本量的增加，使得實(shí)驗(yàn)人員的工作量也隨之增加。③為了提高加樣機(jī)械臂性能，使用 ADAMS對其進(jìn)行了運(yùn)動(dòng)仿真，仿真結(jié)果達(dá)到了理想的效果。 workload. The traditional manual and semiautomatic methods of blood type experiment not only are plicated, less efficient and less accurate, but also are more prone to human errors