Design Of Robot Mechanical Safety Protection Test Benc

With the development of science and technology,industrial robots are developing in the direction of autonomous decision-making,small and flexible,and intelligent interaction with humans.There are more and more scenes of human-machine collaboration.In order to avoid robots from causing harm to the human body during the production process,safety protection becomes especially important.Aiming at the current lack of experimental teaching devices for the design of robot safety protection systems,this paper proposes to design an experimental platform integrated with ROS robots and safety protection control systems to provide a software and hardware platform for learning robot application development and safety protection system design.The main research contents are as follows:(1)According to the design purpose of the experimental platform,the overall design plan is proposed,which is mainly divided into the robot application system and the mechanical safety protection system.Then the functions,hardware and software composition and development process of the experimental platform are determined.(2)Design of the robot applications system.According to the functional requirements of the experimental platform,the applications of sorting materials,transporting materials and jigsaw puzzleing with robots are designed,and the robot application system is determined to be composed of hardware platform,image acquisition and processing module and robot motion control module.Then,the hardware equipment selection and mechanical structure design are completed;For Image processing module,completed the camera calibration and the design of material image recognition positioning algorithm and coordinate transformation method;For robot motion control module,based on ROS platform to realize robot motion trajectory planning and motion control.Finally,the designed applications are realized by combining the functions of each module..(3)Design of the mechanical safety protection system.First,analyzed the requirements of the mechanical safety protection system from the aspects of risk reduction and teaching,and designed a system composition scheme that takes the safety controller as the core and integrates a variety of safety components.Then design for the safety protection functions of the robot,realized the emergency stop function by monitoring the external emergency stop signal by the safety relay;Realized the protective stop function by detecting the dangerous area by the safety carpet and the safety radar;Realized the speed control function of the robot through the detection of the hierarchical warning area by the laser scanner..(4)Aming at the problem that the communication content cannot be shared by multiple nodes during the communication between ROS and the safety controller,a data exchange method based on ROS custom service and Modbus communication protocol was proposed.Based on this method,the communication between ROS and the mechanical safety protection system is established.(5)Experimental design.According to the functions of the experimental platform,a series of experiments for the development of robot applications and a series of experiments for the design of mechanical safety protection systems are designed,and the contents of the experiments are refined to meet the needs of teaching.