Development Of Teaching Box Of Welding Robot And Research Of New Teaching Method

Welding robot is one of the most important fields of industrial robot application, It has the count meaning to improving work efficiency,upgrading quality of products and reducing production cost. This paper is mainly about the teaching box, which is a part of welding robot. As an independent embedded system, teaching box provides interface for users to program, communicates with the main controller and control the joints of robot. This paper introduces hardware and software of teaching and playback type of teaching box. But ,as teaching and playback type of robot has the shortcomings of low efficiency of teaching,can not weld curved welding seam, it develops a new type of auto-teaching methods, which is based on image. In this method, it uses camera to grab images of welding seam, then Processes the images to get information about it, creates teaching program and at last controls the robot to weld. It improves teaching efficiency and can weld curved welding seam, without help of users.Chapter one is exordium. It introduces application status,research status and development trend of welding robot at home and abroad. The significance and tasks of this thesis are proposed at the end of this chapter.In chapter two, it first introduces the system architecture of welding robot. Also it gives details of hardware of teaching box. It mainly introduces the function design and system architecture of the software. It also gives details about migration and develop of the bsp driver, such as operating system,GUI interface,network communication, and so on.Chapter three mainly introduces programming and realization of teaching box interface. It also give methods about how to program on it by users.Communication between teaching box and main controller is introduced in chapter four, including network communication and serial communication.From chapter five, it focuses on welding seam recognition based on image. It mainly talks about the algorithm which deals with image of welding seam.Chapter six mainly deals with how to get coordinates of welding seam from the image. At last, it introduces how to create teaching program and control the welding robot automatically, with information of welding seam from the images.Finally, the last past gives the summary and conclusion for the whole thesis, points some advice for improvement and forecasts the trends for future.