| With the rapid development of science and technology,industrial robot technology has gradually matured,and has been quickly promoted.Robots have been widely used in various industries.As a handheld device for manual operation,programming,parameter configuration and data monitoring of industrial robots,the teach pendant is of great significance to the debugging and control of industrial robots.The diversity of its functions and the comfort of interaction have gradually become the focus of domestic and foreign research.According to the basic functional requirements of the industrial robot handheld teach pendant,this paper designs and implements a multifunctional industrial robot handheld teach pendant software by using the unique method of combining Qt Widget and Qt Quick.The teach pendant software is based on the Qt5.11 development environment and uses the C / S architecture to divide the software into server and client.The server side is developed using the stable Qt Widgets method,and the Twin CAT platform is used to control the Xinshida SD700 E industrial robot through the ADS and Ether CAT communication methods.The client is developed using Qt Quick with good rendering effects,making full use of its rendering to improve the interactivity of the interface;the client part implements basic functions such as file operations,program writing,3D model display,data monitoring,and motion control.Segmentation,assembly and import of 3D models to achieve the display of 3D models;grammar checking through regular expressions.The industrial robot handheld teach pendant designed in this thesis,the client and server communicate via TCP / IP network,and realize the basic functions of industrial robot's motion trajectory control,programming,parameter configuration,data monitoring and simulation.After system testing,the teach pendant not only implements basic functions,but also is faster and more beautiful than traditional pendants in terms of efficiency and effect of software development. |
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