Research And Design On Teach Pendant System Of Industrial Robot Based On Ethernet And WinCE

The teaching and playback robot is the mature used type of industrial robots at present, and it has been wildly used in industrial manufacturing and automation. As the core of the teaching and playback industrial robot, the teaching control system has a great influence on the performance and application of the robot. The teach pendant is an important part of the industrial robot teaching control system, it receives the task instructions issued by the user and sends them to the controller, then the controller converts the instructions into the motion of a robot, to achieve the realization of the robot teaching and playback function on common. On the basis of analyzing the present research situation and development trend of robot teach pendant, this paper studies and designs the teach pendant, and develops the control system of robot with the control to the robot controller.Firstly, do some analysis of the overall structure of the industrial robot teaching control system, including the working principle, hardware platform and software architecture. On the basis of this, a cross platform distributed software framework is designed. Then, to provide basis of the selection for the operating system, the software structure design and the communication function design of the teach pendant, the software structure of the robot controller, which is based on the EtherMAC real-time Ethernet technology and the Windows system platform extended by KRTS is analyzed.Secondly, the overall design and function realization of the industrial robot teach pendant system are carried out. The three major demands of the system which are the upward interaction with the operator, the downward communication with the controller and the conversion between the operator information and the controller information. To this end, the two main functions of the teach pendant which are the communication and the human-computer interaction, are designed. Then, based on embedded WinCE and standard Ethernet communication, the software architecture of robot teach pendant is designed, and the communication with the controller is realized by Socket communication technology based on TCP/IP protocol. In the realization of communication, the Socket data transmission protocol is defined based on Protocol Buffers, the data interface and data transfer process are designed at the same time. Besides, in the application of vision guided robot movement, an image transmission method based on OpenCV and Protocol Buffers is proposed for visual image transmission, which realize the display of visual image on the teach pendant. In software design, mapping mechanism based on dynamic link library is used to realize the modularized software architecture. In interface design, the use of Windows CE system simplifies the development, also fast response and good extensibility of human-machine interface are achieved. In software design, mapping mechanism based on dynamic link library is used to realize the modularized software architecture.Finally, uses the six degrees of freedom robot as object, the teaching control system is built, and the logic function and performance of the teach pendant are tested and verified.