Research On Hand Teaching And Control System For Arc Welding Robot

Arc welding robot is the important equipment for improving production efficiency and product quality. Teaching pendant is an indispensable measure to meet the demands of human-machine conversation. This paper designs and develops the hardware platform based on 32-bit RISC embedded controller and robot language that are suitable for the 6 degree of freedom arc-welding robot, and makes further research on the interpreter for the robot language .This paper includes the following parts: designing the schematic circuit diagram and developing the hardware driver according to the system demand, transplanting the real time operation system μ C/OS-II TCP/IP network protocol lwIP and graphic user interface μ C/GUI, putting forward the programming instructions of robot language, and giving the blue print of the interpreter for the robot language.This paper is divided into 6 chapters.Chapter 1, introducing the technology development and production of industrial robot and arc welding robot and the problem that the arc welding robot is confronting in China mainland. Comparing the different teaching and programming methods for robot, and presenting the most suitable methods.Chapter 2, giving the basic knowledge of teaching and programming methods for robot and the history of robot language, then presenting the suitable and simple methods and robot language that meet the system demanding.Chapter 3, building the hardware platform. Comparing the different hardware schematics, and designing the circuit schematic, reducing the interference for the purpose of stability and dependability.Chapter 4, designing the hardware driver, including the Nand-Flash, Ethernet, PS/2 keyboard, LCD controller, etc.Chapter 5, transplanting the μ C/OS-II, μ C/GUI and lwIP, making preparations for the application developing.Chapter 6, looking back the history of robot language, confirming the instructions of robot language depending on the demand of the system, advancing the interpreting method for the robot language, formulating the communication protocols between the teaching pendant and the main controller.