可编程焊接机器人示教系统的设计与实现

Design and Implementation of Programmable Welding Robot Teaching System

介绍了一款以ARM系列微处理器STM32为主控制器的焊接机器人示教系统的设计。示教系统是由现代通用的大多数工业机器人系统的两个部分组成:一个是主机控制器,另外是基于机器人可编程语言的上位机。主控制器基于UCOSII操作系统采用多任务处理方式,通过CAN总线与机器人电机驱动器通信,通过TTL串口连接WIFI无线模块与远程上位机通信,上位机可在线编写示教程序,并给主控制器发送命令,主控制器接收并处理命令。示教系统具备示教再现、参数调节、焊接控制、数据存储、界面显示等功能。最后搭建了焊接机器人示教平台进行焊接轨迹仿真和分析,结果表明示教系统性能稳定,焊接轨迹准确,具有良好的示教功能,为嵌入式示教系统远程操作提供一种新的解决方案。

A kind of welding robot teaching system which was based on ARM series of microprocessor and STM32 host controller was introduced. It was consists of two components of most generic industrial robot systems at present. One was the host controller and the other was the upper machine based robot programming language. The host controller which was based on UCOSII operating system and used multitasking communicates with motor drive through CAN bus and remote upper machine by TTL serial ports connected WIFI wireless module. The upper machine could be online programming and sent commands to the host controller which received and processed them. Teaching system had function of teaching reappearing, parameter adjustment, welding control, data storage and display. Finally, the teaching platform of welding robot to simulation and analysis was set up. The results show that teaching system which has the good function of teaching is stable, and the welding trajectory is accurate. It provides a new solution of remote operation for embedded teaching system.