The Software And Hardware Design Of Teaching Box In Stacking Robot

As the development of technology and demand of market, the stacking robot to replace the traditional mechanical stacking has become a development trend. Joint stacking robot is a robot with memory and playback function. At first operator teaches the robot, and the robot memorizes the job procedures, location and other information. Then according to the playback instruction, the robot reads data and replays the teaching program to certain accuracy. The teaching and playback mode (referred to as T/P) makes the robot versatile and flexible. The basic structure of joint stacking robot is composed of robot body, executing agency, control system, and teaching box. The object of study is teaching system of the stacking robot.The teaching box design includes the software part and hardware design. Software part is composed of GUI module, precision timing module, communication module, file editing module, I/O and position processing module, the error processing module. The GUI module is mainly responsible for providing user-friendly interface and interacting with the user. The precision timing module is used for precise millisecond timing. During each timing period, the teaching box completes a serial communication with controller. The communication module uses rs232 to communicate with the control system. The file editing module is mainly responsible for teaching the robot on line and providing a powerful editing function. The I/O and position processing module will response timely when the I/O status or 4-axis position data has been changed. Error processing module is to ensure that the teaching box can have a certain degree of error diagnosis and repair capabilities to make the working of the whole system smoothly when communication errors happen. The hardware design of teaching box is mainly PS / 2 keyboard circuit design.In the end, through on-line debugging with control system, continuously improving the teaching box software system, and enhancing system stability and the real-time property, the whole robot control system can work well.