履带机器人爬楼分析.doc.doc

摘要 ；；；Abstract Automatic biochemical analyzer is a large-scale test equipment which integrates Optical, Mechanics, Electronics and Fluidics, used to test biochemical indexes of human body fluids and one of the essential clinical equipments. The research on automatic biochemical analyzer starts relatively late and is at a lower level in China and the market is nearly monopolized by foreign product. In this paper, the subject will research the mechanical system and its control technology of automatic biochemical analyzer based on full spectrum with research status and development at home and abroad. According to relevant technologies and the development of automatic biochemical analyzer, the subject carries out the overall design of mechanical system, divides automatic biochemical analyzer to some subsystems, analyses every subsystem’s composition and function. Than the subsystems are acknowledged which will be researched in the subject. According the partition of the subsystems, the working process of automatic biochemical analyzer is drawn up. The subject makes design requirements and criteria, analyses modules’ functions and requirements of mechanical operation subsystem in the mechanical system, and decides right DOF, adaptive drive methods and transmissions and compact configurations to make sure the stability and the security of all modules. Than 3D modules of the cuvette wheel, the sample wheel, the reagent wheel, the sample arm, the reagent arm, the mixing mechanism, the wash mechanism and the injection mechanism are built with mechanics. According to the working process of automatic biochemical analyzer, the subject makes the working schedule of the fluid path subsystem in the mechanical system and the statuses of the valves and the pumps at any time to work with the mechanical operation subsystem. According to time intervals and the volumes of the valves and the pumps’ aspirations and drains, the subject makes parameters and quantities of the valves, the pum