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

Abstract

Device (100) which is designed to generate a robot coordinate system (C R ), wherein the device (100) comprises: a coordinate system detection section (102) which is arranged to use positions (B1, B2) of two coordinate systems (C R1 , C R2 ) by calculating a position (B3) of another robot coordinate system (C R3 ) which lies between the positions (B1, B2) of the two robot coordinate systems (C R1 , C R2 ) is to be set; characterized in that the coordinate system detecting section (102) detects the position (B3) of the other robot coordinate system (C R3 ) as a position on a curved line (A5) which connects the positions (B1, B2) of the two robot coordinate systems (C R1 , C R2) with each other.

Description

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

[0002] A device is known that is configured to teach a robot an operation (e.g., JP S59 - 167 685 U). The related prior art aims to provide a technique that can accurately determine a robot coordinate system of a robot configured to be moved along an axis.

[0003] DE 101 50 225 A1 discloses the generic prior art. DE 10 2018 006 245 A1, DE 10 2015 014 485 A1, WO 2008 / 145 184 A1, US 2014 / 0 012 416 A1, and JP 2012-210 675 A disclose further relevant prior art.

[0004] One solution to the problem consists in a device having the features of patent claim 1, which is configured to set a robot coordinate system for a robot moved along a first axis, and comprises a coordinate system detection section which is configured to obtain, by calculation, a position of another robot coordinate system to be set between the positions of the two robot coordinate systems based on positions of two coordinate systems preset along the first axis.

[0005] A further solution to the problem consists in a robot control device having the features of patent claim 5.

[0006] A further solution to the problem consists in a robot system having the features of patent claim 6.

[0007] A further solution to the problem consists in a method having the features of patent claim 7 for setting a robot coordinate system for a robot moved along a first axis, which method comprises obtaining a position of another robot coordinate system to be set between positions of two robot coordinate systems by calculation based on the positions of the two coordinate systems preset along the first axis.

[0008] According to the present disclosure, even if the axis along which the robot is moved deforms, the position of the other robot coordinate system set between the two preset coordinate systems can be accurately obtained to correspond to the deformation of the axis. Fig. 1 is a block diagram of a robot system according to an example. Fig. 2 is a perspective view of a robot, a travel device and an external device shown in Fig. 1 are shown. Fig. 3 is a schematic view of the robot, the travel device and the external device shown in Fig. 2 and shows different coordinate systems and operating axes. Fig. 4 shows a state in which a Fig. 3 shown guide rail section is deformed. Fig. 5 is a diagram showing a method of setting a different robot coordinate system between two robot coordinate systems. Fig. 6 is a diagram illustrating a method for determining an orientation of the Fig. 5 shows the other robot coordinate system. Fig. 7 is a diagram showing another method for setting a different robot coordinate system between two robot coordinate systems. Fig. 8 is a block diagram of a robot system according to another example.

[0009] Examples of the present disclosure will be described in detail below with reference to the drawings. It should be noted that in the various examples described below, similar components are denoted by the same reference numerals, and redundant description thereof will be omitted. In addition, the upper, lower, left, and right sides of the drawing may be referred to as upper, lower, left, and right sides in the following description. First, with reference to Fig. 1 to Fig. 3 describes a robot system 10 according to an example. The robot system 10 includes a robot 12, a traversing device 14, an external device 16, and a device 100.

[0010] Referring to Fig. 2, the robot 12 is moved by the travel device 14 along an axis A1 (first axis). In the present example, the axis A1 is a straight line. The robot 12 is an articulated robot and includes a base 18, a rotary body 20, a robot arm 22, a wrist 24, and an end effector 26. The rotary body 20 is provided on the base 18 so as to be rotatable about an axis A3. The axis A3 is substantially parallel to the vertical direction (or substantially orthogonal to the axis A1).

[0011] The robot arm 22 includes a first arm 28 rotatably provided on the rotating body 20 and a second arm 30 rotatably provided at a distal end of the first arm 28. The wrist 24 is rotatably provided at a distal end of the second arm 30. The end effector 26 is detachably attached to a distal end of the wrist 24, and the wrist 24 rotatably supports the end effector 26. The end effector 26 is, for example, a welding torch, a robot hand, a laser processing head, or a coating material application device and is configured to perform a predetermined work process (welding, workpiece handling, laser processing, or coating) on a workpiece W.

[0012] Servo motors (not shown) are installed in the respective components of the robot 12 (ie, the base 18, the rotating body 20, the robot arm 22 and the wrist 24), these servo motors driving the movable components of the robot 12 (ie, the rotating body 20, the robot arm 22 and the wrist 24) to rotate about drive shafts to move the end effector 26.

[0013] The traversing device 14 is configured to move the robot 12 along the axis A1. Specifically, the traversing device 14 includes a support frame 32, a guide rail 34, a slider 36, and a drive section 38. The support frame 32 includes a plurality of columns 40 extending vertically and an upper wall 42 fixedly provided at the upper ends of the columns 40.

[0014] The guide rail 34 is fixedly provided on a bottom surface 42a of the top wall 42 and extends linearly along the axis A1. The slider 36 engages with the guide rail 34 to be slidable along the axis A1. The slider 36 is guided to reciprocate along the axis A1 by engaging the guide rail 34.

[0015] The drive section 38 is, for example, a servomotor and generates power to move the slider 36 along the axis A1. The drive section 38 rotates a drive belt (not shown) arranged along the guide rail 34. The drive belt engages an upper portion of the slider 36 and transmits the power generated by the drive section 38 to the slider 36.

[0016] The base 18 of the robot 12 is attached to a bottom surface of the slider 36. When the drive section 38 rotates the drive belt, the slider 36 engaged with the drive belt is moved along the axis A1, thereby moving the robot 12 attached to the slider 36 along the axis A1.

[0017] The external device 16 is mounted outside the robot 12 and rotates the workpiece W to be machined by the robot 12 about an axis A2 (second axis). Specifically, the external device 16 includes a drive device 44 and an output device 46. The drive device 44 includes a base 48, an output flange 50, and a drive section 52. The base 48 is fixed to the floor of a work cell. The output flange 50 is a circular disc-like member and is provided on the base 48 so as to be rotatable about the axis A2. The drive section 52 is, for example, a servo motor and generates power to rotate the output flange 50.

[0018] The output device 46 includes a base 54 and an output flange 56. The base 54 is attached to the floor of the work cell and is arranged opposite the base 48 of the drive device 44. The output flange 56 is a circular disc-like element arranged concentrically with the output flange 50 with respect to the axis A2 and provided on the base 54 so as to be rotatable about the axis A2.

[0019] The workpiece W is secured to the output flange 50 and the output flange 56 by a clamping device (not shown). When the drive section 52 rotates the output flange 50, the workpiece W is rotated together with the output flange 50, and the output flange 56 is also rotated about the axis A2 in response to the rotation of the workpiece W. In the present example, the axis A1 and the axis A2 are substantially parallel to each other.

[0020] As in Fig. 3, a traversing device coordinate system C T set. The traversing device coordinate system C T serves to automatically control the operation of the traversing device 14 and is a fixed coordinate system that is fixedly set in a three-dimensional space. In the present example, the traversing device coordinate system is C T set so that its origin is positioned at the left end of the guide rail 34, its X-axis direction coincides with the axis A1, and its Z-axis direction is parallel to the vertical direction.

[0021] For the external device 16, a coordinate system of the external device C E set. The coordinate system of the external device C Eserves to automatically control the operation of the external device 16 and is a fixed coordinate system that is fixedly set in a three-dimensional space. In the present example, the coordinate system of the external device C is E adjusted so that its origin is positioned at the center of the output flange 50 and its X-axis direction coincides with the axis A2.

[0022] For robot 12, however, a robot coordinate system C R set. The robot coordinate system C R serves to automatically control the movable components of the robot 12 and is a moving coordinate system that moves together with the slider 36 of the traversing device 14 in a three-dimensional space. In the present example, the robot coordinate system C Radjusted so that its origin is positioned at the center of the base 18 and its Z-axis direction coincides with the axis A3.

[0023] When the robot 12 performs the work on the workpiece W, the travel device 14 places the robot 12 successively in predetermined work positions B1 and B2. These work positions B1 and B2 can be defined as positions in the direction of the axis A1 (i.e., X coordinates of the travel device coordinate system C T ). At this time, the robot coordinate system C R successively set at the working positions B1 and B2 and the robot 12 together with an operation in which the external device 16 rotates the workpiece W about the axis A2 with reference to the robot coordinate system C R controlled in such a way that it carries out the work process successively in each of the working positions B1 and B2 on the workpiece W.

[0024] In this context, the guide rail 34 of the travel device 14 may deform due to a factor such as gravity. An example in which such a deformation of the guide rail 34 occurs is shown in Fig. 4. In the Fig. In the example shown in Figure 4, the upper wall 42 and the guide rail 34 are bent downward at a central portion thereof. In this case, the actual axis A1' of the guide rail 34 does not coincide with the designed axis A1 (the X-axis of the traveler coordinate system C T ) together.

[0025] In this case, when the robot 12 is arranged in the working positions B1 and B1 by the travel device 14, positions and orientations of the base 18 of the robot 12 may differ from those shown in Fig. 3 shown designed positions and orientations. If the guide rail 34 deforms in this way, it is necessary to adjust the robot coordinate system C Rto be set at the working positions B1 and B1 in such a way that a deviation of the actual axis A1' from the designed axis A1 is taken into account.

[0026] In this example, the robot coordinate systems C R1 and C R2 to the Fig. 4, respectively, are preset. A method for setting a robot coordinate system is described below. First, the positioning device 14 positions the robot 12 in the working position B1. Then, the robot 12 processes three points defined on the workpiece W (or a test workpiece) through the end effector 26 while the external device 16 rotates the workpiece W.

[0027] Based on position data of the robot 12 at this time and information indicating the positions of the three points defined on the workpiece W, it is possible to acquire data indicating a relative position between the robot 12 (specifically, the base 18) located at the work position B1 and the external device 16. The position data of the robot 12 includes, for example, a rotation angle of each servomotor installed in the robot 12, which rotation angle can be detected by a rotary encoder (encoder or Hall element) provided on the servomotor.

[0028] As an example, a position and direction of the axis A2 of the external device 16 with respect to the robot 12 (base 18) are acquired as relative position data between the robot 12 arranged at the work position B1 and the external device 16. Based on the relative position data, an origin position (ie, the center of the base 18) and directions of respective axes of the robot coordinate system C to be set at the work position B1 are determined. R1 Thus, it is possible to define the robot coordinate system C R1 , as in Fig. 4, at the working position B1.

[0029] Likewise, the travel device 14 places the robot 12 in the working position B2, the robot 12 then reworks three points defined on the workpiece W by the end effector 26, while the external device 16 rotates the workpiece W, thereby acquiring data indicating a relative position between the robot 12 (base 18) arranged in the working position B2 and the external device 16 (e.g., a position and direction of the axis A2 with respect to the robot 12 arranged in the working position B2).

[0030] Based on the relative position data, the robot coordinate system C R2 , as in Fig. 4, at the working position B2. By the procedure for setting the robot coordinate system described above, the coordinate systems C R1 and C R2previously set and the setting information of positions (origin positions) and orientations (directions of respective axes) of the respective robot coordinate systems C R1 and C R2 stored in a memory (not shown).

[0031] If a further working position B3 is set between the working positions B1 and B2, the device 100 according to the present example automatically sets another robot coordinate system C R3 at the working position B3. As shown in Fig. 1, the device 100 comprises in particular a coordinate system detection section 102. The coordinate system detection section 102 obtains, based on the positions of the two robot coordinate systems C R1 and C R2 , which are preset by the above-described method for setting the robot coordinate system, by calculating a position of another coordinate system C R3which is to be set at the working position B3.

[0032] The following is with reference to Fig. 5 describes a function of the coordinate system acquisition section 102. First, an operator inputs position information of the work position B3. The operator inputs the position information of the work position B3, for example, as the X coordinate of the travel device coordinate system C. T The coordinate system acquisition section 102 obtains the position of the robot coordinate system C to be set at the work position B3 R3 as a position on a virtual straight line A4, which represents the position (origin) of the robot coordinate system C R1 and the position (origin) of the robot coordinate system C R2 connects with each other.

[0033] Specifically, the coordinate system acquisition section 102 obtains, by calculation, coordinates (or functions) of the virtual straight line A4 in the traveling device coordinate system C T (so-called linear interpolation between two points). Then, the coordinate system acquisition section 102 obtains the coordinates in the travel device coordinate system C by calculation T of a point P1 on the virtual straight line A4 at the work position B3. Thus, the coordinate system detecting section 102 can calculate the position P1 of the origin of the robot coordinate system C to be set at the work position B3. R3 receive.

[0034] Next, the coordinate system acquisition section 102 obtains an orientation of the robot coordinate system C to be set at the work position B3 R3 . In the Fig. In the example shown in Figure 5, the coordinate system detecting section 102 obtains the orientation of the robot coordinate system C by calculation R3 as an intermediate alignment between the alignment of the robot coordinate system C R1 and the orientation of the robot coordinate system C R2 .

[0035] An example of a method for obtaining the orientation of the robot coordinate system C R3 is described below with reference to Fig. 5 and Fig. 6. The coordinate system detecting section 102 calculates an intermediate direction between the Z-axis direction of the robot coordinate system C R1 and the Z-axis direction of the robot coordinate system C R2 in the traversing device coordinate system C T and determines the calculated direction as the Z-axis direction of the robot coordinate system C R3 .

[0036] As in Fig. 6, it is assumed that the origins of the Z-axes of the robot coordinate systems C R1 , C R2 and C R3 are arranged so that they coincide with each other, an angle between the Z-axis direction of the robot coordinate system C R1 and the Z-axis direction of the robot coordinate system C R2 as θ z0 and an angle between the Z-axis direction of the robot coordinate system C R1 and the Z-axis direction of the robot coordinate system C R3 as θ z is defined.

[0037] In this case, the intermediate direction between the Z-axis direction of the robot coordinate system C R1 and the Z-axis direction of the robot coordinate system C R2 be defined as the direction in which, in the same plane as the Z-axes of the robot coordinate systems C R1 and C R2 θ z =θ z0 / 2 is fulfilled. Therefore, in this case, as in Fig. 6, the Z-axis of the robot coordinate system C R3 as the direction in the same plane as that of the Z-axes of the robot coordinate systems C R1 and C R2 by the angle θ z =θ z0 / 2 from the Z-axis direction of the robot coordinate system C R1 to the Z-axis direction of the robot coordinate system C R2 is inclined.

[0038] Likewise, the coordinate system detecting section 102 calculates an intermediate direction between the X-axis direction (or Y-axis direction) of the robot coordinate system C R1 and the X-axis direction (or Y-axis direction) of the robot coordinate system C R2 in the traversing device coordinate system C T and determines the calculated direction as the X-axis direction (or Y-axis direction) of the robot coordinate system C R3. Thus, the coordinate system detecting section 102 can detect the orientation (directions of the respective axes) of the robot coordinate system C R3 as an intermediate orientation between the orientations of the robot coordinate systems C R1 and C R2 receive.

[0039] Alternatively, the coordinate system detecting section 102 may be configured to detect the robot coordinate systems C based on the orientations of the robot coordinate systems C R1 and C R2 and the position of point P1 the orientation of the robot coordinate system C R3 as a function. In particular, the Z-axis direction of the robot coordinate system C R3 as a function θ z =f z (x), where the Fig. 6 shown angles θ z depending on the X coordinate of the traversing device coordinate system C T in a range of 0≤θ z ≤θ z0changes (e.g. with the X coordinate of the traversing device coordinate system C T increases). Accordingly, the coordinate system detecting section 102 can, using the X coordinate of the moving device coordinate system C T at the working position B3 and the function θ z =f z (x) the Z-axis direction of the robot coordinate system C to be set at the working position B3 R3 obtained by calculation.

[0040] Likewise, the X-axis direction (or Y-axis direction) of the robot coordinate system C R3 as a function θ x =f x (x) (or θ y =f y (x)) which depends on the X coordinate of the traversing device coordinate system C T Accordingly, the coordinate system detecting section 102 can, based on the X coordinate in the moving device coordinate system C T at the working position B3 and the function θ x =fx (x) (or the function θ y =f y (x)) the X-axis direction (or Y-axis direction) of the robot coordinate system C R3 obtained by calculation.

[0041] Thus, the coordinate system detecting section 102 can calculate by using the functions f z (x), f x (x) or f y (x) the orientation of the robot coordinate system C R3 The parameter, such as a coefficient or a variable, in the function f z (x), f x (x) or f y (x) can be determined by the operator.

[0042] By the method described above, the coordinate system detecting section 102 can detect the robot coordinate system C R3with the orientation obtained by the calculation at the position P1 automatically at the work position B3. It should be noted that the coordinate system detection section 102 detects the robot coordinate system C R3 with a given orientation at point P1 without changing the orientation of the robot coordinate system C R3 For example, the coordinate system detecting section 102 may detect the robot coordinate system C R3 with the same orientation as that of the robot coordinate system C R1 or C R2 set at point P1.

[0043] In the Fig. In the example shown in Figure 5, the coordinate system detecting section 102 obtains the position P1 of the robot coordinate system C R3 as a position on the virtual straight line A4. However, the position P1 can also be obtained as a position on a curved line. Such an embodiment is described with reference to Fig. 7. In the present embodiment, the coordinate system detecting section 102 obtains the position of the robot coordinate system C to be set at the work position B3. R3 as a position on a virtual curved line A5.

[0044] The virtual curved line A5 may, for example, be a curved line connecting both ends of the guide rail 34 (or both ends of the movement stroke of the slider 36) and the origins of the robot coordinate systems C R1 and C R2 and may include a parabolic line, an arc line, an arbitrarily curved line, or a combination thereof. The coordinate system acquisition section 102 obtains, by calculation, coordinates (or a function) of the virtual curved line A5 in the travel device coordinate system C. T(so-called interpolation of a curved line (or parabolic line or arc) between a plurality of points).

[0045] Then, the coordinate system acquisition section 102 obtains coordinates in the travel device coordinate system C by calculation T a point P2 on the virtual curved line A5 at the work position B3. Thus, the coordinate system detecting section 102 can calculate the position P2 of the origin of the robot coordinate system C to be set at the work position B3. R3 Furthermore, the coordinate system detecting section 102 can detect the orientation of the robot coordinate system C by the method described above. R3 receive.

[0046] The device 100 having the above-described function is composed, for example, of a computer including a processor (CPU, GPU, or the like) and a memory (ROM, RAM, or the like). In this case, the processor of the computer performs various calculations to execute the function of the coordinate system acquisition section 102. Note that the device 100 may be a robot controller configured to control the robot 12.

[0047] As described above, the coordinate system acquisition section 102 of the device 100 obtains, from the positions of the two robot coordinate systems C preset along the axis A1 R1 and C R2 by calculating the position P1, P2 of the robot coordinate system C R3 , which lies between the positions of the two robot coordinate systems C R1 and C R2According to this configuration, even if the guide rail 34 of the travel device 14 deforms, it is possible to adjust the position of the robot coordinate system C R3 precisely and automatically so that it corresponds to the deformation of the guide rail 34.

[0048] In addition, by controlling the robot 12 arranged in the working position B3 with reference to the robot coordinate system C R3 possible to perform more accurate cooperative operation between the robot 12 and the external device 16. Furthermore, since the operator can control the position P1, P2 of the robot coordinate system C R3 does not have to be determined manually, the load required to start the robot system 10 can be reduced.

[0049] In the example described above, the two robot coordinate systems C R1 and C R2along the A1 axis. However, the operator can also select the nth robot coordinate system C R_n (n = 1, 2, 3, ...) along the axis A1.

[0050] In this case, the coordinate system acquisition section 102 obtains, using the method described above, from positions of two robot coordinate systems C R_n-1 and C R_n by calculating a position P m another robot coordinate system C R_m , which is located between the two adjacent robot coordinate systems C R_n-1 and C R_n By increasing the number of preset robot coordinate systems C R_n it is possible to change the position P m of the between any two robot coordinate systems C R_n-1 and C R_n robot coordinate system C to be set R_mso that it corresponds to the deformation of the guide rail 34 with greater accuracy.

[0051] Next, with reference to Fig. 8, another robot system 60 is described. The robot system 60 includes the robot 12, the travel device 14, the external device 16, and a robot controller 62. The robot controller 62 controls the operation of the robot 12, the travel device 14, and the external device 16.

[0052] The robot controller 62 includes a processor 64, a memory 66, and an input device 68. The processor 64 includes, for example, a CPU or GPU and is communicatively connected to the memory 66 and the input device 68 via a bus 70. The processor 64 performs various calculations and simultaneously communicates with the memory 66 and the input device 68. The memory 66 includes, for example, a ROM or RAM and stores various types of data. The input device 68 includes, for example, a keyboard, a mouse, or a touchpad and receives data input from an operator.

[0053] The robot control device 62 comprises a device 110 which is configured to control the robot coordinate system C RIn the present example, a function of the device 110 is implemented in the form of software or hardware in the robot controller 62, and the processor 64 performs various calculations to execute the function of the device 110.

[0054] The function of the device 110 is described below. First, the processor 64 presets an nth robot coordinate system C R_n (n = 1, 2, 3, ...) along the axis A1. In particular, the processor 64 controls the travel device 14 so that the robot 12 is in the nth working position B n is arranged.

[0055] Then, the processor 64 controls the robot 12 using the above-described method for setting the robot coordinate system to rework three points defined on the workpiece W by the end effector 26, along with controlling the external device 16 for rotating the workpiece W (or test workpiece), and acquires the data of the relative position between the workpiece W in the n-th working position B n arranged robot 12 and the external device 16 (e.g., the data indicating the position and direction of the axis A2 of the external device 16 with respect to the robot 12). Thus, the processor 64 functions as a position detecting section 104 configured to detect the relative position between the robot 12 and the external device 16.

[0056] Then, based on the acquired relative position data, the processor 64 determines the original position (i.e., the center of the base 18) and the directions of the respective axes of the workpiece located at the n-th working position B n nth robot coordinate system C to be set R_n . Thus, the processor 64 sets up the n-th robot coordinate system C R_n at the nth working position B n a.

[0057] Thus, the processor 64 functions as a coordinate system setting section 106, which is configured to set the n-th robot coordinate system C based on the relative position R_n to be set in advance. The processor 64 stores setting information (e.g., coordinates of the traversing device coordinate system C T ) the position and orientation of the n-th robot coordinate system C R_n in memory 66.

[0058] Then, depending on the content of the work process to be carried out on the workpiece W, the operator sets between the adjacent (n-1)th work position B n-1 and nth working position B n optionally another work position B m In particular, the operator operates the input device 68, for example, to input position information of the working position B m as X-coordinate of the traversing device coordinate system C T to enter.

[0059] Upon receipt of the input of the position information of the work position B m the processor 64 functions as a coordinate system detection section 102 to use the coordinate system described above with reference to Fig. 5 to Fig. 7 using the setting information of the positions and orientations of the (n-1)th robot coordinate system C R_n-1 and n-th robot coordinate system C R_n, which are preset to a position P m and orientation of another robot coordinate system C R_m which is located between the (n-1)th robot coordinate system C R_n-1 and the nth robot coordinate system C R_n is to be set.

[0060] When arranging the robot 12 in the working position B m and performing the work process on the workpiece W by the robot 12, the processor 64 controls the traversing device 14 to position the robot 12 in the working position B m and sets the robot coordinate system C R_m at position P m and with the alignment obtained as described above, in the working position B m a.

[0061] Then, the processor 64 controls the robot 12 with reference to the robot coordinate system C R_mand performs the work process on the workpiece W together with the rotation process of the workpiece W by the external device 16 by the robot 12. Thus, the processor 64 can successively in each of the nth working positions B n and working position B m by the robot 12 on the workpiece W carry out the work process.

[0062] According to the present example, even if the guide rail 34 of the travel device 14 deforms, the processor 64 can control the position of the workpiece at the working position B m robot coordinate system C to be set R_m precisely and automatically so that it corresponds to the deformation of the guide rail 34. Furthermore, by controlling the in the working position B m arranged robot 12 with reference to the robot coordinate system C R_mpossible to perform more precise cooperative operation between the robot 12 and the external device 16. In addition, since the operator can control the position P m of the robot coordinate system C R_m does not have to be determined manually, the load required to start the robot system 60 can be reduced.

[0063] In the examples described above, the coordinates of the virtual straight line A4, the virtual curved line A5, the point P1 and the point P2 are used as coordinates in the travel device coordinate system C T However, they can also be used, for example, as coordinates in the coordinate system of the external facility C E or a world coordinate system (not shown). The world coordinate system is a fixed coordinate system that is set differently than the robot coordinate system C R3 , the traversing device coordinate system C Tand the coordinate system of the external facility C E to define a three-dimensional space of a work cell.

[0064] In addition, in the examples described above, the position information of the work position B3, B m as X-coordinate of the traversing device coordinate system C T entered. The position information of the work position B3, B m However, they can also be used, for example, as a coordinate of the coordinate system of the external device C E or the world coordinate system (not shown).

[0065] Furthermore, the robot 12 is not limited to the articulated robot, but may include any other type of robot, such as a parallel-link robot or the like. Furthermore, the travel device 14 may be any device as long as it can move the robot 12 along the axis A1. Furthermore, the axis A1 is not limited to a straight line, but may also be a curved line.

Claims

[1] Device (100) which is designed to generate a robot coordinate system (C R ), wherein the device (100) comprises: a coordinate system detection section (102) which is arranged to use positions (B1, B2) of two coordinate systems (C R1 , C R2 ) by calculating a position (B3) of another robot coordinate system (C R3 ) which lies between the positions (B1, B2) of the two robot coordinate systems (C R1 , C R2 ) is to be set; characterized by , that the coordinate system detecting section (102) detects the position (B3) of the other robot coordinate system (C R3 ) as a position on a curved line (A5) which connects the positions (B1, B2) of the two robot coordinate systems (C R1 , C R2) with each other. [2] The apparatus (100) according to claim 1, wherein the coordinate system detecting section (102) further calculates an orientation of the other robot coordinate system (C R3 ) as an intermediate alignment between the alignments of the two robot coordinate systems (C R1 , C R2 ) receives. [3] Device (110) according to one of claims 1 to 2, further comprising: a position detection section (104) configured to detect a relative position between the robot (12) and an external device (16) mounted outside the robot (12), and a coordinate system setting section (106) configured to set the two robot coordinate systems (C R1 , C R2 ) must be set beforehand, wherein the coordinate system detecting section (102) detects the position (B3) of the other robot coordinate system (CR3 ) based on the positions (B1, B2) of the two robot coordinate systems (C R1 , C R2 ) receives. [4] The apparatus (110) according to claim 3, wherein the external device (16) is configured to rotate a workpiece (W) to be machined by the robot (12) about a second axis (A2), wherein the position detecting section (104) detects a position and orientation of the second axis (A2) with respect to the robot (12) as a relative position. [5] Robot control device (62) comprising the device (110) according to one of claims 1 to 4. [6] Robot system (60) comprising: a robot (12) which is moved along a first axis (A1), an external device (16) mounted outside the robot (12) and adapted to rotate a workpiece (W) to be machined by the robot (12) about a second axis (A2), and the robot control device (62) according to claim 5, wherein the robot control device (62) controls an operation of the robot (12) together with an operation of the external device (16) for rotating the workpiece (W) so that the robot (12) performs a work operation on the workpiece (W). [7] Method for setting a robot coordinate system (C R ) for a robot (12) moved along a first axis (A1), the method comprising: Obtaining a position (B3) of another robot coordinate system (C R3 ) that is located between positions (B1, B2) of two robot coordinate systems (C R1 , C R2) is to be set by calculation based on the positions (B1, B2) of the two coordinate systems (C R1 , C R2 ); characterized by Obtaining the position (B3) of the other robot coordinate system (C R3 ) as a position on a curved line (A5) connecting the positions (B1, B2) of the two robot coordinate systems (C R1 , C R2 ) with each other.

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