Coordinate system setting system and coordinate system setting method

Abstract

The present invention relates to a coordinate system setting system and a coordinate system setting method. The coordinate system setting system includes: a probe; a three-dimensional shape measuring device (40) for measuring a contact position of the probe; and a storage device for storing a three-dimensional model of a part to be measured (30), wherein the three-dimensional model includes information on an origin position serving as an origin of a coordinate system of the part to be measured (30). The three-dimensional shape measuring device (40) measures the position of a front end portion (12) of a robot (1) when the probe contacts the part to be measured multiple times, and calculates the shape of the part to be measured (30) when the probe contacts the part to be measured multiple times. The three-dimensional shape measuring device (40) or a control device (20) of the robot (1) calculates a difference between the calculated shape of the part to be measured and the shape of the three-dimensional model, and uses the calculated difference to at least displace the origin position in the three-dimensional model, thereby setting a coordinate system of the part to be measured (30) relative to the front end portion (12).

Description

Technical Field

[0001] The present invention relates to a coordinate system setting system and a coordinate system setting method. Background Art

[0002] Conventionally, there is known a technique in which a touch pin is attached to the tip of a robot, and the tip of the touch pin is brought into contact with a predetermined jig while the robot is set to multiple postures, thereby setting the position of the tip of the touch pin relative to the robot.

[0003] Also known is a technique in which a detection target is mounted on the front end of a robot, and the position of the detection target is measured in each of the postures while the robot is set to multiple postures, thereby setting the position of the detection target relative to the robot.

[0004] Also known is a technique in which a jig is brought into contact with the tip of a tool mounted on the front end of a robot, and the position of the jig is measured using a three-dimensional measuring instrument to thereby set the position of the tool tip.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 62-272111

[0008] Patent Document 2: Japanese Patent Application Laid-Open No. 11-85247 Summary of the Invention

[0009] Problems to be solved by the invention

[0010] The first two technologies are affected by the clearance between the robot's joints, the deflection of the robot's arm components, and the thermal expansion of these components. Specifically, when the robot is set to multiple postures, these effects are present in each posture. Consequently, the position of the touchpin tip or the detection target relative to the robot becomes inaccurate.

[0011] The latter technique requires that the jig be brought into contact with the tip of the robot's tool, but this may not be possible depending on the shape of the tool, etc. In addition, the jig must be used to set the position of the tip of the tool in the latter technique.

[0012] In view of the above-mentioned actual situation, a technology capable of simply and accurately setting the position of the tip of a tool is desired.

[0013] Solutions for solving problems

[0014] A coordinate system setting system according to a first aspect of the present application includes: a probe capable of contacting a front end portion of a robot; a three-dimensional shape measuring device that measures a contact position of the probe; and a storage device that stores a three-dimensional model of a part to be measured, the part to be measured being a tool mounted on the robot, a workpiece operated by the tool, or a fixture that secures the workpiece, the three-dimensional model including information on an origin position serving as an origin of a coordinate system for the part to be measured. The three-dimensional shape measuring device performs the following processing: position measurement processing for measuring the position of the front end portion when the probe is brought into contact with the robot multiple times; and shape calculation processing for calculating the shape of the part to be measured when the probe is brought into contact with the part to be measured multiple times. The three-dimensional shape measuring device or a robot control device of the robot performs the following processing: difference calculation processing for calculating a difference between a calculated shape of the part to be measured and a shape of the three-dimensional model; and coordinate system setting processing for displacing at least the origin position in the three-dimensional model using the calculated difference, thereby setting the coordinate system for the part to be measured relative to the position of the front end portion.

[0015] The coordinate system setting method of the second aspect of the present application includes the following steps: a configuration step of configuring a three-dimensional shape measuring device near a robot; a position measurement step of contacting the front end portion of the robot with a probe multiple times, thereby using the three-dimensional shape measuring device to measure the position of the front end portion; a shape calculation step of contacting the part to be measured with the probe multiple times, thereby using the three-dimensional shape measuring device to calculate the shape of the part to be measured, wherein the part to be measured is a tool mounted on the robot, a workpiece operated by the tool, or a fixture for fixing the workpiece; a difference calculation step of calculating the difference between the calculated shape of the part to be measured and the shape of the three-dimensional model stored in a storage device by the three-dimensional shape measuring device or the robot control device of the robot; and a coordinate system setting step of using the calculated difference to displace at least the origin position in the three-dimensional model, thereby setting the coordinate system of the part to be measured relative to the position of the front end portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a coordinate system setting system according to one embodiment.

[0017] Figure 2 This is a perspective view of the front end portion of the robot in which the coordinate system is set in the coordinate system setting system of this embodiment.

[0018] Figure 3It is a side view of the front end portion of the robot according to this embodiment.

[0019] Figure 4 This is a block diagram of the robot control device of this embodiment.

[0020] Figure 5 This is a block diagram of the three-dimensional measuring device according to this embodiment.

[0021] Figure 6 This is a flowchart showing an example of processing of the three-dimensional measuring device according to this embodiment.

[0022] Figure 7 This is a perspective view of a workpiece in which a coordinate system is set in a coordinate system setting system according to a modified example of the present embodiment.

[0023] Figure 8 This is a flowchart showing another example of the processing of the three-dimensional measuring device according to this embodiment.

[0024] Figure 9 This is a schematic diagram of a coordinate system setting system according to another modified example of the present embodiment. DETAILED DESCRIPTION

[0025] Hereinafter, a coordinate system setting system according to an embodiment of the present invention will be described with reference to the accompanying drawings. This coordinate system setting system sets a coordinate system of a tool (part to be measured) 30 attached to the front end of a robot 1 .

[0026] like Figure 1 As shown, the robot 1 of this embodiment includes a robot arm 10 and a robot control device 20 that controls the robot arm 10. Furthermore, the robot 1 has a tool 30 mounted on the distal end of the robot arm 10, i.e., the wrist flange 12. The robot 1 uses the tool 30 to perform predetermined operations such as arc welding. If the tool 30 is a manipulator, the robot 1 uses the tool 30 to perform predetermined operations such as removing a workpiece W. The tool 30 may be any of various known tools mounted on the robot 1.

[0027] The robot arm 10 of the robot 1 includes a plurality of robot arm components and a plurality of joints. In addition, the robot arm 10 includes a plurality of servo motors 11 (see Figure 4 As each servo motor 11, various servo motors such as rotary motors and linear motors can be used. Each servo motor 11 has a working position detection device for detecting its working position and working speed. As an example, the working position detection device is an encoder. The detection value of the working position detection device is transmitted to the robot control unit 20.

[0028] like Figure 4As shown, the robot control device 20 includes a processor 21 such as a CPU; a display device 22; a storage device 23 including nonvolatile memory, ROM, RAM, etc.; an input device 24 such as a keyboard, touch panel, or operation panel; and a transceiver 25 for transmitting and receiving signals. The input device 24 and the transceiver 25 function as input devices. The robot control device 20 is connected to a three-dimensional measuring machine (three-dimensional shape measuring device) 40 (described later) and to each servo motor 11.

[0029] In the present embodiment, the robot control device 20 is provided in the robot 1 , but the robot control device 20 may be a computer provided outside the robot 1 , and the computer may have the above-described configuration.

[0030] The storage device 23 stores a system program 23a, which performs the basic functions of the robot controller 20. The storage device 23 also stores an action program 23b. The action program 23b is created based on the reference coordinate system of the robot 1 and is used to sequentially position, for example, the tip of the tool 30 mounted on the tip of the robot arm 10 at a plurality of predetermined welding positions within the reference coordinate system.

[0031] The tool 30 of this embodiment includes a fixing member 31 fixed to the wrist flange 12, and a tool body 32 fixed to the fixing member 31 ( Figure 1 、 Figure 2 As an example, the tool 30 performs welding using arc discharge from the front end 32 b of the tool body 32 .

[0032] The three-dimensional measuring machine 40 of this embodiment is fixed to a movable carriage 50 , and the three-dimensional measuring machine 40 is movable by the movable carriage 50 .

[0033] In addition, the coordinate system setting system of this embodiment includes a probe device 60 ( Figure 3 The probe device 60 is a part of the three-dimensional measuring device 40 .

[0034] As the three-dimensional measuring instrument 40 and the probe device 60, for example, a table-type three-dimensional measuring instrument manufactured by KEYENCE (registered trademark) can be used. Specifically, one of the MX series of handheld probe three-dimensional measuring instruments can be used. In this embodiment, Figure 3 As shown, the probe device 60 includes a grip 61 for an operator to grip, a plurality of light emitting units 62 provided at one end of the grip 61 , and a probe 63 provided at the other end of the grip 61 .

[0035] For example, each of the plurality of light emitting units 62 is an LED. The plurality of light emitting units 62 are arranged so as to be spaced apart from each other in a direction intersecting the extending direction of the gripping unit 61 .

[0036] like Figure 5 As shown, the three-dimensional measuring device 40 includes: a processor 41 such as a CPU; a display device 42; a storage device 43 including a non-volatile memory, ROM, RAM, etc.; an input device 44 such as a keyboard, touch panel, operation panel, etc.; a transceiver 45 for sending and receiving signals; and a light receiving unit 46.

[0037] The storage device 43 stores a system program 43a, which performs the basic functions of the three-dimensional measuring instrument 40. The storage device 43 also stores a position measurement program 43b. As an example, the light receiving unit 46 is a well-known three-dimensional distance sensor. The light receiving unit 46 of the three-dimensional measuring instrument 40 receives light from each light emitting unit 62. Based on the position measurement program 43b, the three-dimensional measuring instrument 40 measures the contact position of the probe 63.

[0038] The storage device 43 stores a three-dimensional model 43d corresponding to a portion of the tool 30. As an example, the tool 30 stores Figure 2 3D model 43d of the shaded portion. Three-dimensional CAD data may also be stored as the model. Furthermore, 3D model 43d includes information on the position of the tip of tool 30 as the origin. As an example, 3D model 43d is a model of multiple, separate areas of interest.

[0039] In addition, the origin may include positions other than the tip of the tool 30. In this embodiment, the model coordinate system is set based on the central axis of the outer peripheral surface 32a of the tool body 32 and the extending directions of the surfaces 31a and 31b in the three-dimensional model 43d.

[0040] Furthermore, the three-dimensional measuring device 40 displays instructions for position measurement on the display device 42 based on the measurement instruction program 43 c stored in the storage device 43 .

[0041] The three-dimensional measuring device 40 performs the following processing based on the position measurement program 43b and the measurement instruction program 43c, for example: Figure 6 Before performing the following process, the operator places the three-dimensional measuring instrument 40 near the robot 1 using the movable carriage 50 .

[0042] The three-dimensional measuring device 40 displays instructions on the display device 42 based on the measurement instruction program 43c (step S1-1). For example, the display device 42 displays instructions for sequentially contacting the probe 63 with multiple locations on the outer peripheral surface 12a of the wrist flange 12 of the robot 1 and sequentially contacting the probe 63 with multiple locations on the axial front end surface 12b of the wrist flange 12.

[0043] Based on the instruction, the operator brings the probe 63 of the probe device 60 into contact with multiple locations on the outer peripheral surface 12a and multiple locations on the front end surface 12b. At this time, the three-dimensional measuring device 40 measures the contact position of the probe 63 each time it makes contact based on the position measurement program 43b, and saves the measured contact position in the storage device 43 (step S1-2). When the contact of the probe 63 based on the instruction ends (step S1-3), the three-dimensional measuring device 40 calculates the position of the wrist flange 12 using the measured multiple contact positions based on the position measurement program 43b (step S1-4). The calculation of the position of the wrist flange 12 in step S1-4 is performed as a position measurement process. Thus, in steps S1-3 and S1-4, the position of the wrist flange 12 is measured.

[0044] Next, the three-dimensional measuring device 40 displays instructions on the display device 42 based on the measurement instruction program 43c (step S1-5). For example, the display device 42 displays instructions to sequentially contact the probe 63 at multiple locations along the circumferential direction of the outer peripheral surface 32a of a portion of the tool body 32, multiple locations along the thickness direction of the surface 31a of the fixing member 31, and multiple locations along the end surface 31b of the fixing member 31. Preferably, the display displays instructions to sequentially contact the probe 63 at multiple locations on the tool body 32 that are located at different positions in the axial and circumferential directions. If step S1-5 is described in a manual or the like, step S1-5 may be omitted.

[0045] Based on the instruction, the operator brings the probe 63 of the probe device 60 into contact with multiple locations on the outer peripheral surface 32a, multiple locations on the surface 31a, and multiple locations on the surface 31b. At this time, the three-dimensional measuring device 40 measures the contact position of the probe 63 based on the position measurement program 43b at each contact, and saves the measured contact position in the storage device 43 (step S1-6). When the contact of the probe 63 based on the instruction ends (step S1-7), the three-dimensional measuring device 40 calculates the position and shape of the tool 30 using the measured multiple contact positions based on the position measurement program 43b (step S1-8). The calculation of the position and shape of the tool 30 in step S1-8 is performed as a shape calculation process. The position obtained in step S1-8 is, for example, the position of the tool 30 relative to the wrist flange 12.

[0046] Next, the three-dimensional measuring device 40 calculates the difference between the calculated shape of the tool 30 and the three-dimensional model 43d based on the position measurement program 43b (step S1-9). For example, if the position of the center axis of the outer peripheral surface 32a, calculated by contacting the probe 63 at multiple locations on the outer peripheral surface 32a, deviates from the position of the center axis of the outer peripheral surface in the three-dimensional model 43d, this deviation becomes the difference. Furthermore, the surface of the fixing member 31 that contacts the front end surface 12b is positioned at the same position as the front end surface 12b. Therefore, if the extension direction of the end surface 31b, calculated by contacting the probe 63, deviates from the extension direction of the end surface in the three-dimensional model 43d, as viewed from the front end surface 12b of the wrist flange 12, this deviation becomes the difference.

[0047] Next, the three-dimensional measuring machine 40, based on the position measurement program 43b, uses the difference calculated in step S1-9 to displace the origin of the model coordinate system of the three-dimensional model 43d (step S1-10). Furthermore, based on the position measurement program 43b, the three-dimensional measuring machine 40 uses the difference calculated in step S1-9 to displace the model coordinate system of the three-dimensional model 43d, for example, in the direction extending along the X-axis (step S1-11).

[0048] In addition, if Figure 2 As shown, the robot controller 20 or the three-dimensional measuring machine 40 uses the origin position after the displacement in steps S1-10 and S1-11 and the extension direction of the X-axis to set the coordinate system 201 of the position of the tool 30 relative to the wrist flange 12 (step S1-12). Step S1-11 may be omitted depending on the required conditions.

[0049] When the three-dimensional measuring machine 40 performs step S1-12, it transmits coordinate system 201 of the position of the tool 30 relative to the wrist flange 12 to the robot controller 20 (step S1-13). The robot controller 20 then controls the robot 1 using coordinate system 201. Furthermore, when manufacturing the robot 1, etc., the position of the wrist flange 12 in the reference coordinate system of the robot 1 is set in the robot controller 20.

[0050] In the above embodiment, if Figure 7 As shown, a coordinate system 202 of the workpiece (portion to be measured) W or a jig (portion to be measured) J for fixing the workpiece W may also be set.

[0051] In this case, the storage device 43 stores a three-dimensional model 43e corresponding to a portion of the workpiece W. As an example, a three-dimensional model 43e corresponding to a portion of the workpiece W is stored for the tool 30. Figure 7A three-dimensional model 43e is provided for the first feature W1, the second feature W2, and the third feature W3. As an example, the first feature W1, the second feature W2, and the third feature W3 are each the inner circumference of a circle. In this embodiment, the three-dimensional model 43e is a model of multiple separate areas of interest.

[0052] Furthermore, the three-dimensional model 43e includes information about the center position of the first feature W1 as its origin. Alternatively, a location other than the center position of the first feature W1 may be included as the origin. In this embodiment, the model coordinate system of the three-dimensional model 43e is defined based on the central axis of the first feature W1 and the direction passing through the central axis and the central axis of the second feature W2.

[0053] In this modification, the three-dimensional measuring device 40 performs the following processing based on the position measurement program 43b and the measurement instruction program 43c, for example: Figure 8 Before performing the following processing, the operator places the three-dimensional measuring instrument 40 near the robot 1 using the movable carriage 50. Although the coordinate system 202 of the workpiece W is set in the following description, the coordinate system of the fixture J can also be set in the same manner.

[0054] The three-dimensional measuring device 40 displays the same instructions as in step S1-1 on the display device 42 based on the measurement instruction program 43c (step S2-1). Furthermore, the three-dimensional measuring device 40 stores the contact position measured in the same manner as in step S1-2 based on the position measurement program 43b in the storage device 43 (step S2-2). When the probe 63 completes contact based on the instructions (step S2-3), the three-dimensional measuring device 40 calculates and determines the position of the wrist flange 12 in the same manner as in step S1-4 (step S2-4).

[0055] Next, the three-dimensional measuring machine 40 displays instructions on the display device 42 based on the measurement instruction program 43c (step S1-5). For example, the display device 42 displays instructions for sequentially contacting the probe 63 with multiple locations on the first feature W1, multiple locations on the second feature W2, and multiple locations on the third feature W3 of the workpiece W. Preferably, instructions are displayed for sequentially contacting the probe 63 with multiple locations that are located at different positions in the axial and circumferential directions for each of the features W1, W2, and W3.

[0056] Based on this instruction, the operator brings probe 63 of probe device 60 into contact with multiple locations of first feature W1, multiple locations of second feature W2, and multiple locations of third feature W3. At this point, three-dimensional measuring machine 40 measures the contact position of probe 63 at each contact based on position measurement program 43b and stores the measured contact positions in storage device 43 (step S2-6). When probe 63 completes contact based on the instruction (step S2-7), three-dimensional measuring machine 40 calculates the position and shape of features W1, W2, and W3 based on the position measurement program 43b using the multiple measured contact positions (step S2-8). The position calculated in step S2-8 is, for example, the position of workpiece W relative to wrist flange 12.

[0057] Next, the three-dimensional measuring machine 40 calculates the difference between the shape of the workpiece W, obtained from the calculated features W1, W2, and W3, and the three-dimensional model 43e (step S2-9). For example, if the distance between the first feature W1 and the second feature W2 deviates from the distance between the first feature W1 and the second feature W2 in the three-dimensional model 43e, the difference is calculated.

[0058] Next, the three-dimensional measuring machine 40, based on the position measurement program 43b, uses the difference calculated in step S2-9 to displace the origin of the model coordinate system of the three-dimensional model 43e (step S2-10). Furthermore, based on the position measurement program 43b, the three-dimensional measuring machine 40 uses the difference calculated in step S2-9 to displace the model coordinate system of the three-dimensional model 43e, for example, in the direction extending along the X-axis (step S2-11).

[0059] In addition, if Figure 7 As shown, the robot controller 20 or the three-dimensional measuring machine 40 uses the origin position and the X-axis extension direction after the displacement in steps S2-10 and S2-11 to set the coordinate system 202 of the position of the workpiece W relative to the wrist flange 12 (step S2-12). Step S2-11 may be omitted depending on the required conditions.

[0060] When the three-dimensional measuring machine 40 performs step S2 - 12 , it transmits the coordinate system 202 of the position of the workpiece W relative to the wrist flange 12 to the robot controller 20 (step S2 - 13 ).

[0061] Alternatively, the position measurement program 43b, the measurement instruction program 43c, and part or all of the three-dimensional models 43d and 43e may be stored in the storage device 23 of the robot controller 20. In this case, the robot controller 20 may receive the measurement results of the contact position of the probe 63 from the three-dimensional measuring instrument 40 and perform part or all of steps S1-1 to S1-12 and steps S2-1 to S2-12. Alternatively, the three-dimensional measuring instrument 40 may be integrated with the robot controller 20.

[0062] As described above, in the above embodiment, the position of the tip of the robot 1 is obtained by contacting the probe 63, and the shape of the part to be measured is calculated. Furthermore, the difference between the calculated shape of the part to be measured and the shape of the three-dimensional models 43d and 43e is calculated, and the origin position in the three-dimensional models is displaced using this calculated difference to establish a coordinate system for the part to be measured relative to the tip of the robot 1. Therefore, the coordinate system for the part to be measured, such as the tool 30, workpiece W, or fixture J, relative to the tip of the robot 1 can be accurately established through simple operations.

[0063] Furthermore, the three-dimensional models 43d and 43e are models of the region of interest in the portion to be measured. More specifically, the three-dimensional models 43d and 43e are models of the region of interest near the origin position in the portion to be measured. Thus, by storing only the models of the region of interest, the processing load for calculating the difference can be reduced, and the data volume of the three-dimensional models 43d and 43e in the storage device 43 can also be reduced.

[0064] Furthermore, the three-dimensional models 43d and 43e represent multiple regions of interest within the portion to be measured. More specifically, the three-dimensional models 43d and 43e represent multiple, mutually separated regions of interest within the portion to be measured. This configuration reduces the amount of processing required to calculate the difference, reduces the amount of data stored in the three-dimensional models 43d and 43e within the storage device 43, and accurately calculates the difference between the calculated shape of the portion to be measured and the three-dimensional model, even when the portion to be measured is large.

[0065] Furthermore, in the above embodiment, in step S1-7, when the probe 63 contacts each of the surfaces 31a, 31b, and 32a a predetermined number of times or more, the calculation in step S1-8 is performed. This configuration allows operators who are not familiar with setting the coordinate system of the measured portion to accurately and smoothly perform the coordinate system setting operation.

[0066] Furthermore, in the above-described embodiment, the surface to be contacted by the probe 63 is displayed on the display device 42 of the three-dimensional measuring machine 40 or the display device 22 of the robot controller 20. This configuration is advantageous in enabling an operator who is unfamiliar with setting the coordinate system of a part to be measured to perform the coordinate system setting operation accurately and smoothly.

[0067] Furthermore, in the above-described embodiment, while the operator is holding the probe device 60 having the probe 63, the operator brings the probe 63 into contact with the part to be measured, thereby calculating the shape of the part to be measured. This configuration makes it easier to set the coordinate system for the part to be measured. Easier setting of the coordinate system for the part to be measured allows for regular or frequent setting of the coordinate system in production lines, for example, which is extremely beneficial for improving the quality of goods manufactured in the production line. Alternatively, the probe 63 can be supported by another robot, which brings the probe 63 into contact with the front end of the robot 1 and the part to be measured in the same manner as the operator.

[0068] In addition, if Figure 9 As shown, a three-dimensional vision sensor 100 may be used instead of the three-dimensional measuring device 40. In this case, the robot control device 20 or other computer detects the contact position of the probe 63 based on the data obtained by the three-dimensional vision sensor 100 according to the position measurement program 43b.

[0069] Description of Reference Numerals

[0070] 1: Robot

[0071] 10: Robotic Arm

[0072] 11: Servo motor

[0073] 12: Wrist flange (front end)

[0074] 20: Robot control device

[0075] 22: Display device

[0076] 23: Storage device

[0077] 23b: Action Program

[0078] 30: Tools (part to be measured)

[0079] 31: Fixed components

[0080] 32: Tool body

[0081] 40: 3D measuring machine (3D shape measuring device)

[0082] 42: Display device

[0083] 43: Storage device

[0084] 43b: Position measurement procedure

[0085] 43c: Measurement Instruction Procedure

[0086] 43d, 43e: 3D model

[0087] 50: Movable trolley

[0088] 60: Probe device

[0089] 61: Grip

[0090] 62: Luminous part

[0091] 63: Probe

[0092] 201, 202: Coordinate system

[0093] W: Workpiece (part to be measured)

[0094] J: fixture (part to be measured)

Claims

1. A coordinate system setting system, characterized in that: include: a probe capable of contacting the front end portion of the robot, the probe not being mounted on the robot and being supported by an operator; a three-dimensional shape measuring device for measuring a contact position of the probe; as well as a storage device storing a three-dimensional model of a tool mounted on the front end portion of the robot, The three-dimensional model includes information on the origin position of the coordinate system of the tool. The three-dimensional shape measuring device performs the following processing: a position measurement process in which the operator measures the position of the front end portion while bringing the probe into contact with the front end portion of the robot a plurality of times; and a shape calculation process in which the operator calculates the shape of the tool when the operator brings the probe into contact with the tool attached to the front end portion multiple times; The three-dimensional shape measuring device or the robot control device of the robot performs the following processing: a difference calculation process of calculating a difference between the calculated shape of the tool and the shape of the three-dimensional model; and The coordinate system setting process sets the coordinate system of the position of the tool relative to the tip portion by displacing at least the origin position in the three-dimensional model using the calculated difference.

2. The coordinate system setting system according to claim 1, wherein: In the coordinate system setting process, the three-dimensional shape measuring apparatus or the robot control apparatus displaces the origin position and the X-axis direction in the three-dimensional model using the difference, thereby setting the coordinate system of the tool.

3. The coordinate system setting system according to claim 1 or 2, characterized in that: The three-dimensional model is a model of the area of interest in the tool, In the shape calculation process, the three-dimensional shape measuring apparatus calculates the shape of the tool corresponding to the model of the region of interest when the probe contacts positions of the tool corresponding to the model of the region of interest a plurality of times.

4. The coordinate system setting system according to claim 1 or 2, characterized in that: The three-dimensional model is a model of multiple areas of interest in the tool, In the shape calculation process, the three-dimensional shape measuring apparatus calculates the shapes of the tool corresponding to the models of the plurality of regions of interest when the probe contacts the positions of the tool corresponding to the models of the plurality of regions of interest a plurality of times.

5. The coordinate system setting system according to claim 1 or 2, characterized in that: The three-dimensional shape measuring apparatus or the robot control apparatus performs the shape calculation process when the probe contacts each of the plurality of surfaces of the tool a predetermined number of times or more.

6. The coordinate system setting system according to claim 1 or 2, characterized in that: The coordinate system setting system includes a display device that displays a surface of the tool with which the probe should come into contact.

7. The coordinate system setting system according to claim 1 or 2, characterized in that: The coordinate system setting system includes a probe device having the probe, The probe device is supported by the operator's hand, The three-dimensional shape measuring apparatus performs the shape calculation process when the operator moves the probe device so that the probe contacts the tool a plurality of times.

8. The coordinate system setting system according to claim 1 or 2, characterized in that: The three-dimensional shape measuring device is a three-dimensional vision sensor.

9. The coordinate system setting system according to claim 1 or 2, characterized in that: The three-dimensional shape measuring device is a three-dimensional measurer.

10. A method for setting a coordinate system, characterized in that: The steps include: a disposing step of disposing the three-dimensional shape measuring device near the robot; a position measuring step of measuring the position of the front end portion of the robot by repeatedly contacting the front end portion of the robot with a probe, wherein the probe is not mounted on the robot but is supported by an operator; a shape calculation step of calculating the shape of the tool by the three-dimensional shape measuring device by causing the probe to contact the tool mounted on the front end portion of the robot multiple times; a difference calculating step in which the three-dimensional shape measuring device or the robot control device of the robot calculates a difference between the calculated shape of the tool and the shape of the three-dimensional model of the tool stored in a storage device; as well as In a coordinate system setting step, the three-dimensional shape measuring device or the robot control device of the robot displaces at least the origin position in the three-dimensional model using the calculated difference, thereby setting a coordinate system of the tool relative to the position of the front end portion.

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