Device for setting robot coordinate system, robot control device, robot system and method

Abstract

The present invention provides a device for setting a robot coordinate system, a robot control device, a robot system and a method, which can accurately obtain the robot coordinate system of a robot moving along an axis. The device for setting a robot coordinate system of a robot moving along a first axis includes a coordinate system acquisition unit, which calculates the position of another robot coordinate system set between the positions of two robot coordinate systems pre-set along the first axis by calculation. In addition, in the method for setting a robot coordinate system of a robot moving along a first axis, the position of another robot coordinate system set between the positions of two robot coordinate systems pre-set along the first axis is calculated by calculation.

Description

Technical Field

[0001] The present invention relates to a device for setting a robot coordinate system, a robot control device, a robot system and a method. Background Art

[0002] There is known a device for teaching a robot an operation (for example, Japanese Utility Model Application Laid-Open No. 59-167685). Conventionally, there has been a need for a technology capable of accurately obtaining a robot coordinate system of a robot that moves along an axis. Summary of the invention

[0003] In one embodiment of the present disclosure, a device for setting a robot coordinate system of a robot moving along a first axis includes a coordinate system acquisition unit, which calculates the position of another robot coordinate system set between the positions of two robot coordinate systems pre-set along the above-mentioned first axis through calculation.

[0004] In another embodiment of the present disclosure, in a method for setting a robot coordinate system of a robot moving along a first axis, the position of another robot coordinate system set between the positions of two robot coordinate systems pre-set along the first axis is calculated.

[0005] According to the present disclosure, even if an axis along which the robot moves is deformed, the position of another robot coordinate system set between two predetermined robot coordinate systems can be accurately determined in accordance with the deformation of the axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 is a block diagram of a robotic system according to an embodiment.

[0007] Figure 2 yes Figure 1 A three-dimensional view of the robot, travel device and external device shown.

[0008] Figure 3 yes Figure 2 The schematic diagram of the robot, travel device, and external device shown shows various coordinate systems and motion axes.

[0009] Figure 4 Shows Figure 3 The rail portion is shown in a deformed state.

[0010] Figure 5 This section explains how to set another robot coordinate system between two robot coordinate systems.

[0011] Figure 6 To illustrate the Figure 5Another method of posture of the robot coordinate system is shown.

[0012] Figure 7 This section explains another method of setting another robot coordinate system between two robot coordinate systems.

[0013] Figure 8 is a block diagram of a robot system according to another embodiment. DETAILED DESCRIPTION

[0014] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in the various embodiments described below, the same elements are given the same reference numerals, and repeated descriptions are omitted. In addition, in the following description, sometimes the top, bottom, left, and right sides of the paper in the drawings are referred to as top, bottom, left, and right. First, refer to Figure 1 to Figure 3 , a robot system 10 according to an embodiment will be described. The robot system 10 includes a robot 12 , a traveling device 14 , an external device 16 , and a device 100 .

[0015] Reference Figure 2 , the robot 12 moves along the axis (first axis) A1 through the travel device 14. In the present embodiment, the axis A1 is a straight line. The robot 12 is a multi-joint robot, which includes a base 18, a rotating body 20, a robot arm 22, a wrist 24, and an end effector 26. The rotating body 20 is provided on the base 18 which can rotate around the axis A3. The axis A3 is substantially parallel to the plumb bob direction (or substantially orthogonal to the axis A1).

[0016] The robot arm 22 includes a first arm 28 rotatably provided at the rotating body 20 and a second arm 30 rotatably provided at the front end of the first arm 28. The wrist 24 is rotatably provided at the front end of the second arm 30. The end effector 26 is detachably mounted at the front end of the wrist 24, and the wrist 24 supports the end effector 26 in a rotatable manner. The end effector 26 is a welding torch, a robot arm, a laser processing head, a paint coater, etc., and performs a predetermined operation (welding, workpiece processing, laser processing, coating, etc.) on the workpiece W.

[0017] Servo motors (not shown) are built into each component of the robot 12 (the base 18, the rotating body 20, the robotic arm 22, and the wrist 24). These servo motors drive the movable components of the robot 12 (i.e., the rotating body 20, the robotic arm 22, and the wrist 24) to rotate around a drive axis to move the end effector 26.

[0018] The travel device 14 moves the robot 12 along the axis A1. Specifically, the travel device 14 includes a support frame 32, a rail 34, a slider 36, and a drive unit 38. The support frame 32 includes a plurality of columns 40 extending in the vertical direction and a top wall 42 fixedly provided at the upper ends of the columns 40.

[0019] The rail 34 is fixed to the bottom surface 42a of the top wall portion 42 and extends straight along the axis A1. The slider 36 is slidably engaged with the rail 34 along the axis A1. By engaging with the rail 34, the slider 36 is guided to reciprocate along the axis A1.

[0020] The driving unit 38 is, for example, a servo motor, which generates power to move the slider 36 along the axis A1. The driving unit 38 rotates a timing belt (not shown) laid along the rail 34, and the timing belt engages with the upper portion of the slider 36 to transmit the power generated by the driving unit 38 to the slider 36.

[0021] The base 18 of the robot 12 is fixed to the lower surface of the slider 36. When the driving unit 38 rotates the timing belt, the slider 36 engaged with the timing belt moves along the axis A1, and thereby the robot 12 mounted on the slider 36 moves along the axis A1.

[0022] The external device 16 is provided outside the robot 12, and rotates the workpiece W, which is the work object of the robot 12, around the axis A2 (second axis). Specifically, the external device 16 includes a driving device 44 and a driven device 46. The driving device 44 includes a base 48, an output flange 50, and a driving portion 52. The base 48 is fixed to the floor of the work unit. The output flange 50 is a disc-shaped member, and is provided on the base 48 in a manner that allows it to rotate around the axis A2. The driving portion 52 is, for example, a servo motor, which generates power to rotate the output flange 50.

[0023] The driven device 46 has a base 54 and a driven flange 56. The base 54 is fixed to the floor of the working unit and is arranged facing the base 48 of the driving device 44. The driven flange 56 is a disc-shaped member arranged concentrically with the output flange 50 with the axis A2 as a reference, and is provided on the base 54 in a manner that allows rotation around the axis A2.

[0024] The workpiece W is fixed to the output flange 50 and the driven flange 56 by a clamp (not shown). When the drive unit 52 rotates the output flange 50, the workpiece W also rotates together with the output flange 50, and the driven flange 56 rotates around the axis A2 along with the rotation of the workpiece W. In addition, in the present embodiment, the axis A1 is substantially parallel to the axis A2.

[0025] like Figure 3 As shown, a traveling device coordinate system C is provided on the traveling device 14. T . Traveling device coordinate system CT The fixed coordinate system C is used to automatically control the movement of the traveling device 14. T It is set so that its origin is arranged at the left end of the track 34, its x-axis direction coincides with the axis A1, and its z-axis direction is parallel to the vertical direction.

[0026] The external device coordinate system C is set on the external device 16. E . External device coordinate system C E The external device 16 is used to automatically control the operation of the external device 16. In this embodiment, the external device coordinate system C E The origin is set at the center of the output flange 50 and the x-axis direction is set to coincide with the axis A2.

[0027] On the other hand, the robot 12 is provided with a robot coordinate system C R . Robot coordinate system C R The movable part for automatically controlling the robot 12 is a moving coordinate system that moves together with the slider 36 of the traveling device 14 in a three-dimensional space. R The origin is set at the center of the base 18 and the z-axis direction is set to coincide with the axis A3.

[0028] When the robot 12 operates on the workpiece W, the travel device 14 sequentially places the robot 12 at predetermined work positions B1 and B2. These work positions B1 and B2 can be defined as positions in the direction of the axis A1 (in other words, the travel device coordinate system C T At this time, the robot coordinate system C R The robot coordinate system C is set at the working positions B1 and B2 in sequence, and the robot coordinate system C is set in coordination with the action of the external device 16 to rotate the workpiece W around the axis A2. R The robot 12 is controlled as a reference so that it sequentially operates on the workpiece W at each of the operating positions B1 and B2.

[0029] Here, the rail 34 of the traveling device 14 may be deformed due to gravity or the like. Figure 4 An example of such deformation of the rail 34 is shown. Figure 4 In the example of FIG. 4 , the top wall portion 42 and the track 34 are bent downward at the center. At this time, the actual axis A1′ of the track 34 is aligned with the designed axis A1 (traveling device coordinate system C T The x-axis is not consistent.

[0030] In this case, the position and posture of the base 18 of the robot 12 when the robot 12 is arranged at the working positions B1 and B2 by the traveling device 14 may be different from Figure 3 When the rail 34 is deformed in this way, it is necessary to set the robot coordinate system C at the working positions B1 and B2. R , to reflect the deviation of the actual axis A1' relative to the designed axis A1.

[0031] In this embodiment, Figure 4 The robot coordinate system C is pre-set at each of the two working positions B1 and B2 shown in FIG. R1 and C R2 The following describes a method for setting the robot coordinate system. First, the travel device 14 places the robot 12 at the work position B1. Next, when the external device 16 rotates the workpiece W (or virtual workpiece), the robot 12 touches up three points determined on the workpiece W using the end effector 26.

[0032] Data indicating the relative position between the robot 12 (specifically, the base 18) and the external device 16 disposed at the working position B1 can be obtained based on the position data of the robot 12 at this time and the information indicating the positions of the three points determined on the workpiece W. The position data of the robot 12 includes, for example, the rotation angle of each servo motor built into the robot 12, and the rotation angle can be detected by a rotation detector (encoder or Hall element) provided in the servo motor.

[0033] As an example, the position and direction of the axis A2 of the external device 16 relative to the robot 12 (base 18) are obtained as data of the relative position between the robot 12 and the external device 16 arranged at the working position B1. The robot coordinate system C set at the working position B1 is determined based on the relative position data. R1 The origin position (i.e., the center of the base 18) and the directions of the axes. Figure 4 As shown, the robot coordinate system C R1 Set in working position B1.

[0034] Similarly, the robot 12 is configured at the working position B2 by the traveling device 14. When the external device 16 rotates the workpiece W, the robot 12 trims three points determined on the workpiece W through the end effector 26, thereby obtaining data for representing the relative position between the robot 12 (base 18) configured at the working position B2 and the external device 16 (for example, the position and direction of the axis A2 relative to the robot 12 configured at the working position B2).

[0035] According to the relative position data, such as Figure 4 As shown, the robot coordinate system C RBy using the robot coordinate system setting method as described above, the robot coordinate system C can be set in advance. R1 and C R2 , and these robot coordinate systems C R1 and C R2 The setting information of the position (origin position) and the posture (direction of each axis) are respectively stored in a memory (not shown).

[0036] When another working position B3 is set between the working positions B1 and B2, the device 100 of this embodiment automatically sets the robot coordinate system C at the working position B3. R3 Specifically, Figure 1 As shown, the device 100 includes a coordinate system acquisition unit 102. The coordinate system acquisition unit 102 acquires the coordinates of the robot based on the two robot coordinate systems C that are preset by the robot coordinate system setting method. R1 and C R2 The position of the robot is calculated by calculating the coordinate system C of another robot set at the working position B3. R3 location.

[0037] Below, refer to Figure 5 , the function of the coordinate system acquisition unit 102 will be described. First, the operator inputs the position information of the work position B3. For example, as the travel device coordinate system C T The operator inputs the position information of the work position B3. The coordinate system acquisition unit 102 obtains the robot coordinate system C set at the work position B3. R3 The position of the robot is used as the connection robot coordinate system C R1 The position (origin) of the robot coordinate system C R2 The position (origin) on the virtual straight line A4.

[0038] Specifically, the coordinate system acquisition unit 102 calculates the virtual straight line A4 in the traveling device coordinate system C T Then, the coordinate system acquisition unit 102 calculates the coordinates (or functions) of the point P1 on the virtual straight line A4 of the work position B3 in the travel device coordinate system C T Thus, the coordinate system acquisition unit 102 can calculate the robot coordinate system C set at the working position B3. R3 The origin position P1.

[0039] Next, the coordinate system acquisition unit 102 obtains the robot coordinate system C set at the working position B3. R3 posture. Figure 5 In the example, the robot coordinate system C R1 The posture and robot coordinate system C R2The coordinate system acquisition unit 102 obtains the robot coordinate system C by calculation. R3 posture.

[0040] Below, refer to Figure 5 and Figure 6 , find the robot coordinate system C R3 The coordinate system acquisition unit 102 acquires the posture of the traveling device in the coordinate system C T In the calculation, the robot coordinate system C is obtained R1 The z-axis direction of the robot coordinate system C R2 The middle direction of the z-axis direction is determined as the robot coordinate system C R3 The z-axis direction.

[0041] Here, if Figure 6 As shown, when the robot coordinate system C R1 , C R2 and C R3 When the z-axis origin of the robot is consistent, the robot coordinate system C R1 The z-axis direction of the robot coordinate system C R2 The angle between the z-axis direction is set to θ z0 , and the robot coordinate system C R1 The z-axis direction of the robot coordinate system C R3 The angle between the z-axis direction is set to θ z .

[0042] At this time, the robot coordinate system C R1 The z-axis direction of the robot coordinate system C R2 The middle direction of the z-axis direction can be defined as the coordinate system C R1 and C R2 The z-axis is on the same plane as θ z =θ z0 / 2 direction. Therefore, in this case, Figure 6 As shown, the robot coordinate system C R3 The z-axis is determined to be in the robot coordinate system C R1 and C R2 The z-axis is on the same plane as the robot coordinate system C R1 The z-axis direction is toward the robot coordinate system C R2 The z-axis tilt angle θ z =θ z0 / 2 direction.

[0043] Similarly, the coordinate system acquisition unit 102 obtains the coordinate system C T In the calculation, the robot coordinate system C is obtained R1The x-axis (or y-axis) direction is consistent with the robot coordinate system C R2 The middle direction of the x-axis (or y-axis) direction is determined as the robot coordinate system C R3 The x-axis (or y-axis) direction of the robot. R1 With C R2 The coordinate system acquisition unit 102 can obtain the robot coordinate system C R3 The posture (direction of each axis).

[0044] As an alternative, the coordinate system acquisition unit 102 may be used as a coordinate system based on the robot coordinate system C R1 and C R2 The robot coordinate system C is obtained by using the posture of the robot and the position of point P1. R3 Specifically, the robot coordinate system C R3 The z-axis direction is expressed as Figure 6 The angle θ shown z At 0≦θ z ≦θ z0 According to the travel device coordinate system C T The x-coordinate of the function θ changes (for example, as the x-coordinate increases) z =f z (x). Therefore, the coordinate system acquisition unit 102 can use the travel device coordinate system C of the work position B3. T The x-coordinate of the function θ z =f z (x), find the robot coordinate system C set at the working position B3 R3 The z-axis direction.

[0045] Similarly, the robot coordinate system C R3 The x-axis (or y-axis) direction is expressed as the coordinate system C of the traveling device. T The x-coordinate of the function θ changes x =f x (x)(or θ y =f y (x)). Therefore, the coordinate system acquisition unit 102 can obtain the coordinate system C of the travel device at the work position B3. T The x-coordinate of the function θ x =f x (x)(or θ y =f y (x)), find the robot coordinate system C R3 The x-axis (or y-axis) direction.

[0046] Thus, the coordinate system acquisition unit 102 can use the function f z (x), fx (x) or f y (x), calculate the robot coordinate system C R3 In addition, these functions f z (x), f x (x) or f y Parameters such as coefficients or variables of (x) are determined by the operator.

[0047] By the above method, the coordinate system acquisition unit 102 can automatically set the robot coordinate system C at the position P1 obtained by calculation and at the posture obtained by calculation at the working position B3. R3 In addition, the coordinate system acquisition unit 102 may not obtain the robot coordinate system C R3 Instead, the robot coordinate system C is set in a predetermined posture. R3 The coordinate system acquisition unit 102 can be set at point P1. R1 or C R2 The same posture, the robot coordinate system C R3 Set at point P1.

[0048] In addition, Figure 5 In the example of FIG. 1 , the robot coordinate system C is obtained by the coordinate system acquisition unit 102 as the position on the virtual straight line A4. R3 The position P1 is not limited to this, and the position P1 can also be obtained as a position on the curve. Figure 7 In this embodiment, the coordinate system acquisition unit 102 obtains the robot coordinate system C set at the working position B3 as the position on the virtual curve A5. R3 location.

[0049] The virtual curve A5 is, for example, a curve that connects the two ends of the rail 34 (or the two ends of the moving stroke of the slider 36) with the robot coordinate system C R1 and C R2 The curve with the origin of the virtual curve A5 can be composed of a parabola, an arc, an arbitrary curve or a combination thereof. The coordinate system acquisition unit 102 calculates the virtual curve A5 in the traveling device coordinate system C T The coordinates (or functions) in (the so-called curve (parabola, circular arc) interpolation between multiple points).

[0050] Then, the coordinate system acquisition unit 102 calculates the coordinate system of the traveling device C of the point P2 on the virtual curve A5 at the working position B3. T Thus, the coordinate system acquisition unit 102 can calculate the robot coordinate system C set at the working position B3. R3The coordinate system acquisition unit 102 can determine the robot coordinate system C by the above method. R3 posture.

[0051] The device 100 for realizing the above functions is composed of, for example, a computer having a processor (CPU, GPU, etc.) and a memory (ROM, RAM, etc.). In this case, the processor of the computer performs various operations for executing the functions of the coordinate system acquisition unit 102. In addition, the device 100 may also be a robot control device that controls the robot 12.

[0052] As described above, the coordinate system acquisition unit 102 of the device 100 obtains the coordinate system of the robot based on the two robot coordinate systems C pre-set along the axis A1. R1 and C R2 The position of the robot is calculated by calculating the coordinate system C R1 and C R2 The robot coordinate system C between the positions R3 According to this structure, even if the track 34 of the traveling device 14 is deformed, the robot coordinate system C can be accurately and automatically calculated corresponding to the deformation of the track 34. R3 location.

[0053] In addition, by controlling the robot coordinate system C R3 The robot 12 configured at the working position B3 as a reference can perform a more accurate cooperative action with the external device 16. In addition, since the operator does not need to manually calculate the robot coordinate system C R3 positions P1 and P2, thereby reducing the burden of starting the robot system 10.

[0054] In the above embodiment, two robot coordinate systems C are pre-set along the axis A1. R1 and C R2 The case is described above, but it is not limited to this. The operator can also pre-set the nth robot coordinate system C along the axis A1. R_n (n=1, 2, 3...).

[0055] In this case, the coordinate system acquisition unit 102 uses the above-mentioned method to obtain the coordinate system of the two adjacent robot coordinate systems C R_n-1 and C R_n The position of the robot is calculated by calculating the coordinate system C R_n-1 and C R_n Another robot coordinate system C between R_m Position P m Therefore, by adding the pre-set robot coordinate system C R_nThe number of can be calculated to set the coordinate system C between any two robots R_n-1 and C R_n The robot coordinate system C R_m Position P m , so that the deformation of the rail 34 can be dealt with with high precision.

[0056] Next, refer to Figure 8 Another robot system 60 will be described. The robot system 60 includes the robot 12, the travel device 14, the external device 16, and a robot control device 62. The robot control device 62 controls the operations of the robot 12, the travel device 14, and the external device 16.

[0057] The robot control device 62 includes a processor 64, a memory 66, and an input device 68. The processor 64 includes a CPU or a GPU, etc., and is communicatively connected to the memory 66 and the input device 68 via a bus 70. The processor 64 performs various operations while communicating with the memory 66 and the input device 68. The memory 66 includes a ROM or a RAM, etc., for storing various data. The input device 68 includes a keyboard, a mouse, a touch panel, etc., for receiving data input from an operator.

[0058] The robot control device 62 has a setting robot coordinate system C R In the present embodiment, the function of the device 110 is installed in the robot control device 62 as software or hardware, and the processor 64 performs various operations for executing the function of the device 110.

[0059] Next, the functions of the device 110 will be described. First, the processor 64 sets the n-th robot coordinate system C along the axis A1. R_n (n=1, 2, 3, ...) Specifically, the processor 64 controls the traveling device 14 to place the robot 12 at the nth working position B n .

[0060] Next, the processor 64 uses the robot coordinate system setting method to control the external device 16 to rotate the workpiece W (or virtual workpiece), and controls the robot 12 to trim the three points determined on the workpiece W through the end effector 26 to obtain the coordinate system configured at the nth working position B. n The processor 64 thus functions as a position acquisition unit 104 for acquiring the relative position between the robot 12 and the external device 16.

[0061] Next, the processor 64 determines the position of the nth operation position B according to the acquired relative position data.n Set the nth robot coordinate system C R_n The origin position (i.e., the center of the base 18) and the direction of each axis. n Prepare the nth robot coordinate system C R_n .

[0062] In this way, the processor 64 sets the nth robot coordinate system C according to the relative position. R_n The coordinate system setting unit 106 functions. The processor 64 sets the nth robot coordinate system C R_n The setting information of the position and posture of the moving device (for example, the moving device coordinate system C T The coordinates of ) are stored in memory 66.

[0063] After that, the operator moves the workpiece W to the adjacent n-1th work position B according to the work content and the like. n-1 With the nth job position B n Set another working position B arbitrarily m Specifically, the operator operates the input device 68 as, for example, the travel device coordinate system C T The x coordinate of the work position B is entered m location information.

[0064] When accepting the job position B m When the position information is input, the processor 64 functions as the coordinate system acquisition unit 102, referring to Figure 5 to Figure 7 , using the above method according to the pre-set n-1th robot coordinate system C R_n-1 and the nth robot coordinate system C R_n The position and posture setting information is used to find the coordinate system C of the robot in the n-1th robot. R_n-1 With the nth robot coordinate system C R_n Another robot coordinate system C is set between R_m Position P m And posture.

[0065] When the robot 12 is arranged at the working position B m When the workpiece W is being worked on, the processor 64 controls the travel device 14 to place the robot 12 at the working position B. m and the position P obtained as above m As well as the posture, the robot coordinate system C R_m Set in working position B m .

[0066] Then, the processor 64 uses the robot coordinate system C R_mThe robot 12 is controlled based on the reference, and the robot 12 performs work on the workpiece W in cooperation with the rotation operation of the workpiece W performed by the external device 16. Thus, the processor 64 can perform work on the workpiece W at the nth work position B n And work location B m At each working position in the figure, the robot 12 operates on the workpiece W in sequence.

[0067] According to the present embodiment, even if the rail 34 of the traveling device 14 is deformed, the processor 64 can accurately and automatically determine the position of the track 34 set at the working position B. m The robot coordinate system C R_m In addition, by controlling the robot coordinate system C R_m The reference is configured at the working position B m The robot 12 can perform more accurate cooperative actions with the external device 16. In addition, since the operator does not need to manually calculate the robot coordinate system C R_m Position P m , thus reducing the burden of starting the robot system 10.

[0068] In the above embodiment, the traveling device coordinate system C T The coordinates of the virtual straight line A4, the virtual curve A5, the point P1, and the point P2 are obtained by using the coordinates of the external device coordinate system C. E Alternatively, the coordinates may be obtained as coordinates of a world coordinate system (not shown). The world coordinate system is identical to the robot coordinate system C R3 , Traveling device coordinate system C T and the external device coordinate system C E A separately set fixed coordinate system for defining the three-dimensional space of the work unit.

[0069] In addition, in the above-mentioned embodiment, for the traveling device coordinate system C T Input the x coordinate of the work position B3, B m The case of the position information is described above, but it is not limited to this. For example, it can also be used as an external device coordinate system C E Or the coordinates of the world coordinate system (not shown) to input the working positions B3, B m location information.

[0070] In addition, the robot 12 is not limited to a multi-joint robot, but may be any type of robot such as a parallel linkage robot. In addition, the travel device 14 may be any type of device as long as it can move the robot 12 along the axis A1. In addition, the axis A1 is not limited to a straight line, but may be a curve.

[0071] The present disclosure has been described above using the embodiments, but the above embodiments are not intended to limit the invention in terms of the scope of protection.

Claims

1. A device for setting a robot coordinate system of a robot moving on a track extending along a first axis, characterized in that The above-mentioned device comprises a coordinate system acquisition unit, The coordinate system acquisition unit calculates the position of another robot coordinate system set between the positions of the two robot coordinate systems set in advance along the first axis. The coordinate system acquisition unit obtains a curve corresponding to the deformation of the track connecting the origins of the two preset robot coordinate systems and both ends of the track, and obtains the position of the origin of the other robot coordinate system as a position on the curve.

2. The device according to claim 1, characterized in that The coordinate system acquisition unit further obtains the posture of the other robot coordinate system through calculation as an intermediate posture between the postures of the two robot coordinate systems.

3. The device according to claim 1 or 2, characterized in that: The above device also has: a position acquisition unit that acquires a relative position between the robot and an external device provided outside the robot; and The coordinate system setting unit prepares and sets the two robot coordinate systems respectively according to the relative position.

4. The device according to claim 3, characterized in that The external device is configured to rotate the workpiece to be operated by the robot around a second axis. The position acquisition unit acquires a position and a direction of the second axis relative to the robot as the relative position.

5. A robot control device, characterized in that: A device according to any one of claims 1 to 4.

6. A robot system, characterized in that: have: a robot that moves along a first axis; an external device disposed outside the robot and causing a workpiece to be operated by the robot to rotate about a second axis; and The robot control device according to claim 5, The robot control device controls the operation of the robot so that the robot performs the operation on the workpiece in coordination with the operation of the external device to rotate the workpiece.

7. A method for setting a robot coordinate system of a robot moving on a track extending along a first axis, characterized in that Based on the positions of the two robot coordinate systems pre-set along the first axis, the position of another robot coordinate system set between the positions of the two robot coordinate systems is calculated. A curve corresponding to the deformation of the track is obtained, which connects the origins of the two preset robot coordinate systems and both ends of the track, and the position of the origin of the other robot coordinate system is obtained as the position on the curve.

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