The Teaching System Research Of Welding Robot Based On WinCE

The teaching pendant is used for user to control the movement of robot's axes and make the axes move to the reserved position by conveying the task instructions to the robot controller firstly,and then,the coordinates will be stored in the teaching pendant with robot language,and ultimately,the teaching and replaying function of the robot will be reproduced in the teaching pendant by running the program with the recorded coordinates,Which called teaching and playback.The traditional manual welding has low efficiency,poor working environment and strong labor intensity for workers.The welding robots are used to welding in many places at present,it can improve efficiency and quality to some extent.As the core part of welding robot,the teaching pendant has a great influence on the system of teaching and controlling directly.Thus,the research based on the teaching system of welding robot is a quite significant.Based on the analysis of the present research status and development trend of robot's teaching pendant at home and abroad,the teaching system of welding robot is researched and designed.Firstly,with a thorough analysis about teaching system of welding robot,a real-time embedded operating system calledWinCE5.0,is applied in the teaching pendant.The software system of teaching pendant is designed by using programming language called C#,Dynamic-Link Library and the multi-thread in the Visual Studio 2005 developing environment.Secondly,a basis analysis about the function of teaching pendant,the two major functions of which are summarized.On the one hand is the function of man-machine interacting upward with the operator,on the other hand is the function of teaching communication downward with the controller and converting information between the controller and the teaching pendant.As to memory and running speed of software,the module method and the multi-thread technology are applied in designing the teaching system.The software system of the teaching pendant is divided into man-machine interface module as the main thread,communication module and document management module as the sub thread,making the software developing more easily.Based on the Modbus communication protocol,the cross-platform communication between controller and teaching pendant is realized.Finally,using the man-machine interface called HT07 R and the XC3-24R-E PLC as objects,the test platform between them is built.Also,with the programs of man-machine interface displaying and serial port debugged,the correction and feasibility of the teaching pendant's software system is verified.