Coordinate system alignment method and alignment system for robot, and alignment device

摘要

Problem to be solved: to provide a technology capable of easily aligning the robot coordinate system.In a system for aligning a coordinate system of a robot and a coordinate systemFirst reference point a located at the origin of the motion space coordinate systemThe second reference point B on the orthogonal two straight lines passing through the first reference pointAn operation space coordinate system setting unit 31 which determines the relationship between the motion space coordinate system and the robot coordinate system by teaching the position of the third reference point C andA projection line acquiring section 432 for irradiating a slit beam from a three-dimensional measuring instrument 4 by a slit beam onto a reference object 52 fixed to a plate member 51 arranged in parallel with a plane on which two axes of an orthogonal triaxial axis defining a motion space coordinate system are parallel to the orthogonal triaxial axes, and a projection line acquiring section 432 for obtaining a projection lineBased on the profile of the projection line, the instrument attitude calculating part 433 for determining the posture of the three-dimensional measuring instrument 30 with respect to the reference object 52 andA measuring instrument moving section 3 for moving the three-dimensional measuring instrument 4 is provided.Diagram