基于CAN总线的焊接机器人安全控制器系统的设计  

Design of Safety Protection System for Industry Welding Robot based on CAN Bus

作　　者：郑磊[1,2] 叶桦[1,2] 孙晓洁[1,2] 

机构地区：[1]东南大学自动化学院,南京210096 [2]东南大学复杂工程系统测量与控制教育部重点实验室,南京210096

出　　处：《科技通报》2011年第5期671-676,共6页Bulletin of Science and Technology

基　　金：江苏省徐工集团院士工作站资助项目(BM2009562);江苏省重大科技成果转化项目(BA2007058)

摘　　要：为提高工业焊接机器人安全性,分析和研究了安全保护系统的任务需求,引入CAN工业现场总线技术,建立基于CAN总线的机器人控制结构,针对机器人控制系统各种工作状态制定相应的安全策略,划定系统安全等级,设计独立的安全控制器,配置安全控制器与机器人各模块之间的CAN总线通讯协议格式,监控机器人运行参数,通过逻辑判断和安全区域计算,对系统运行错误及预测可能存在的风险能够及时动作,确保机器人安全稳定运行。实验结果表明所设计的控制器是有效可行的。To improve the safety of industrial welding robots ,the task demand of safeguard system is firstly analyzed and discussed. The technology of CAN field bus is then introduced which robot control system is based on. Given various kinds of working conditions,relevant safety strategies are made as well as safety grades. Secondly a separate safety con- troller is designed and communication protocol between the modules of robot and the controller is made to observe the operation parameters. Last but not least,the mechanism of logical judgment and computing of safety zone is applied to forecast possible risks and prevent errors of system in time, ensuring the safe and stable operation. Practice indicates, the controller is feasible and effective.

关 键 词：工业焊接机器人 CAN总线 通讯协议 安全保护 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]