Processing apparatus and relative marking device to generate process trajectories

A processing apparatus comprising an industrial robotic unit and a marking device configured to generate process trajectories that are automatically recognizable by the industrial robotic unit, wherein,

• said industrial robotic unit comprises a multi-axis manipulator robot including processing means arranged to perform a plurality of processing or assembly operations,
• said marking device is configured to be used manually by an operator to indicate the process trajectories automatically recognizable by the multi-axis manipulator robot, wherein the marking device is rod-shaped and further comprises at least one pointer element optically detectable by the multi-axis manipulator robot by a vision system,
• wherein the pointer element comprises:
• a three-dimensional solid-shaped body further comprising a plurality of faces and a plurality of vertices defined by respective intersection of the faces;
• a contact portion located at any of the plurality of faces or the plurality of vertices of the body of the pointer element, the contact portion configured to be brought into contact with a point of a working area, wherein the multi-axis manipulator robot is configured to learn a position of said point of said working area;
• and
• at least one of the plurality of faces is configured to carry at least one of a two-dimensional marker, or a QR code, each of which includes a center and is readable by the vision system,
• wherein the two-dimensional marker and the QR code each further comprise information about an identifying element of the respective two-dimensional marker or the QR code, in such a way as to allow a controller to calculate a position of the contact portion of the pointer element based on a position of the respective two-dimensional marker or the QR code which is read by the vision system,
• wherein a predetermined of the at least one of the two-dimensional marker or the QR code is selectively connected to a predetermined face of the plurality of faces of the pointer element that is associated with the selectively connected two-dimensional marker or the QR code,
• wherein the identifying element of the two-dimensional marker or the QR code selectively connected is configured to enable identification of the center of the two-dimensional marker or the QR code allowing the controller to translate a coordinate of the center into a coordinate of the contact portion.