真空手套箱过渡室自动化设计  

Automatic Design of Vacuum Glove Box Transition Chamber

作　　者：施展 谭晓东[1] 类延磊 Shi Zhan;Tan Xiaodong;Lei Yanlei(School of Mechanical Engineering,Dalian Jiaotong University,Dalian,Liaoning 116028,China;CRRC Dalian Locomotive Research Co.,Ltd.,Dalian,Liaoning 116028,China)

机构地区：[1]大连交通大学机械工程学院,辽宁大连116028 [2]中车大连机车研究所有限公司,辽宁大连116028

出　　处：《机电工程技术》2023年第10期158-161,共4页Mechanical & Electrical Engineering Technology

摘　　要：生物自动化实验中,存在传统手套箱孔板易侧翻、过渡室舱门需要人工判断气体成分是否稳定,及过渡室内物品无法平稳移动等问题。针对以上问题,设计新型手套箱系统,针对手套箱过渡室进行重新设计并增加辅助机械臂。为适应现代实验室对采样的需求,在所设计的手套箱系统的过渡室内引入直线电机传输系统,以电缸驱动舱门开闭;设计定位夹具对试剂板进行放置与运输,并采用倒置机械手进行内部物品的抓取与摆放;对整体系统的控制硬件以及工艺流程进行设计,通过多种传感器实现过渡时的高度自动化;从控制层面对系统进行分析,运用D-H法对机械臂进行运动学分析并通过MATLAB对机械臂空间可达性进行分析。结果表明:所设计的系统具有可行性,能够避免误操作,实现高度自动化,适用于大部分生物实验室。In the biological automation experiment,there are some problems such as the traditional glove box hole plate easy to turn over,the transition room door needs to manually judge whether the gas composition is stable,and the items in the transition room cannot move smoothly.To address the above problems,a new glove box system is designed,and auxiliary mechanical arms are added to the glove box transition room.In order to meet the needs of modern laboratories for sampling,the linear motor transmission system is introduced into the transition room of the glove box system,and the electric cylinder is used to drive the opening and closing of the hatch door.The positioning fixture is designed to place and transport the reagent plate,and the inverted manipulator is used to grasp and place the internal items;the control hardware and process of the whole system are designed to realize the high degree of automation during the transition through a variety of sensors;the system is analyzed from the control level.D-H method is used to conduct kinematics analysis of the manipulator and MATLAB is used to analyze the spatial accessibility of the manipulator.The results show that the designed system is feasible to avoid misoperation and achieve high automation,which is suitable for most biological laboratories.

关 键 词：手套箱 过渡室 孔板定位夹具 四自由度机械臂 运动学 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]