Design And Implementation Of Industrial Robot Visual Teaching System

Industrial robots can help people quickly complete heavy and repetitive tasks,and are widely used in various industries.The robot teaching pendant is used to teach the robot how to complete the task.A general teaching pendant system with good user experience has a very important influence on the teaching efficiency.However,the existing teach pendant has problems such as insufficient versatility.The teach pendants of different robot manufacturers use different teaching programming languages,and has a high degree of dependence on hardware devices.The interface is cumbersome and the operation is not intuitive.The runtime status monitoring function is provided is limited.The research goal of this thesis is to design and implement a visual teaching system for industrial robots,reduce the difficulty of teaching and improve the efficiency of teaching.Aiming at the problem of high learning cost of existing teaching programming languages,this thesis designs and implements a set of graphical teaching programming languages based on Blockly.The thesis graphically encapsulates robot commands,define graphics module translation rules,and implement the interpretation and run of graphical program.The languages also support calling function module remotely,expand the functions of teaching program.This thesis uses the decoupling architecture of the teaching system and the controller.It disengages from the hardware dependency of the teaching pendant and the controller.The teaching system and the controller are separated in functions,and interact with specific data interfaces through the network communication module.The combination of the teaching system and different controllers can realize the teaching of different robots.The system is developed based on the Web platform and supports cross-platform use.The user can hold the tablet pc to operate and realize the wireless and lightweight for the teaching pendant.In order to provide good teaching program operation control and status monitoring functions,a corresponding graphical interface application is developed for the teaching program.The teaching program application is built based on the component model architecture,and the component subscribes to state data for display.The system provides a visual interactive application assembly environment,and application assembly and configuration can be completed through graphical operations.Render and generate applications based on application configuration files and run automatically.Finally,based on the visual teaching system implemented in this thesis,two application cases of industrial robot handling and visual grabbing were implemented,and the teaching process was successfully implemented,which verified the effectiveness and scalability of the system.In addition,the system has a clear interface design,simple and easy-to-use operation process,and has a good interactive experience,achieving the goal of reducing user learning costs and improving teaching efficiency.