COORDINATE SYSTEM SETTING METHOD, COORDINATE SYSTEM SETTING APPARATUS, AND ROBOT SYSTEM PROVIDED WITH COORDINATE SYSTEM SETTING APPARATUS

摘要

An apparatus for setting a conveyor coordinate system in a robot system. The apparatus includes features provided on a movable part of a conveyor; a sensor provided on a robot; a first coordinate acquiring section for making the sensor detect positions of two features, when the movable part is in a first position, and acquiring two first coordinates in a base coordinate system of the robot; a conveying operation executing section for making the movable part perform a conveying operation from the first position toward a second position; a second coordinate acquiring section for making the sensor detect a position of one feature, when the movable part is in the second position, and acquiring one second coordinate in the base coordinate system; and a coordinate system determining section for determining the conveyor coordinate system based on a conveying operation direction, two first coordinates and one second coordinate.

主权项

1. A coordinate system setting method configured to set a conveyor coordinate system having a predetermined relationship with a base coordinate system of a robot, as a coordinate system for defining a position of an object on a conveyor, in a system having a configuration in which a position of the object conveyed by the conveyor is detected and the robot performs a work with respect to the object based on a detected position, the method comprising:
providing a movable part of the conveyor with a plurality of features having a fixed positional relationship with each other, the movable part performing an object conveying operation; providing the robot with a sensor able to detect a position of each of the plurality of features in a non-contact manner; detecting positions of at least two features by the sensor, when the movable part is located at a first operating position, and acquiring detected positions as at least two first coordinates in the base coordinate system; making the movable part perform the object conveying operation from the first operating position toward a second operating position; detecting a position of at least one feature by the sensor, when the movable part is located at the second operating position, and acquiring a detected position as at least one second coordinate in the base coordinate system; and determining the conveyor coordinate system based on a direction of the object conveying operation, the at least two first coordinates and the at least one second coordinate.