Robot system

Abstract

The robot system (100) includes: a robot (1) including a motor (11); a first storage unit (12a) that is provided so as to correspond to the motor and that stores identification information of the motor; a second storage unit (13a) which is provided separately from the first storage unit and which stores identification information of the motor; and a control unit (2) that detects whether or not the motor attached to the robot is a motor to which identification information is previously assigned by comparing the identification information of the motor stored in the first storage unit with the identification information of the motor stored in the second storage unit.

Description

Technical Field

[0001] The present disclosure relates to robotic systems. Background Art

[0002] Conventionally, a robot system including a robot is known. Such a robot system is disclosed in, for example, Japanese Patent Application Laid-Open No. 2020-179486.

[0003] In the above-mentioned Japanese Patent Gazette No. 2020-179486, a robot system including a robot body and a robot controller for controlling the robot body is disclosed. The robot body includes a plurality of drive shafts. Each drive shaft is provided with a motor for driving the drive shaft and an encoder for detecting the rotation position of the rotating shaft of the motor. In addition, the encoder is provided with a storage unit for storing the serial number of the robot body. When the power is turned on, the robot controller determines whether the serial numbers read from the storage units of each encoder are the same. Different serial numbers mean that the motor has been replaced. Therefore, when the serial numbers are different, the robot controller generates a motor replacement error.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-179486

[0005] Here, although it is not clearly recorded in the above-mentioned Japanese Patent Publication No. 2020-179486, in the production site where the robot is used, when a motor failure occurs, there may be a situation where the motor is replaced informally by a person other than a regular technician. In addition, in a robot using an informally replaced motor, an undesirable situation may occur, so it is hoped that the situation where the motor is replaced informally can be detected. However, in the robot system recorded in the above-mentioned Japanese Patent Publication No. 2020-179486, when the serial numbers read from the storage units of each encoder are different, since it is a structure that generates a motor replacement error, a motor replacement error occurs in either the case where the motor is replaced formally or the case where the motor is replaced informally. Therefore, there is the following problem, namely: when the motor is replaced informally due to a motor failure, etc., it is not easy to detect that the motor has been replaced informally. Summary of the invention

[0006] The present disclosure has been made to solve the above-mentioned problems, and provides a robot system that can easily detect that a motor has been replaced irregularly.

[0007] A robot system according to one aspect of the present disclosure comprises: a robot including a motor; a first storage unit, which is arranged in a manner corresponding to the motor and stores identification information of the motor; a second storage unit, which is arranged independently of the first storage unit and stores identification information of the motor; and a control unit, which detects whether the motor installed in the robot is a motor that has been pre-assigned with identification information by comparing the identification information of the motor stored in the first storage unit with the identification information of the motor stored in the second storage unit.

[0008] A robot system according to one aspect of the present disclosure is provided with a control unit as described above, wherein the control unit detects whether a motor installed in the robot is a motor to which identification information is pre-assigned by checking the identification information of the motor stored in the first storage unit with the identification information of the motor stored in the second storage unit. Thus, it is possible to detect whether a regular motor to which identification information is pre-assigned is installed in the robot or an irregular motor to which identification information is not pre-assigned is installed in the robot. As a result, it is possible to easily detect that a motor has been replaced irregularly.

[0009] According to the present disclosure, as described above, it is possible to easily detect that the motor has been replaced irregularly. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a block diagram of a robot system in one embodiment.

[0011] Figure 2 FIG. (1) is a diagram for explaining the verification of motor identification information in one embodiment.

[0012] Figure 3 FIG. (2) is a diagram for explaining the verification of the identification information of the motor in one embodiment.

[0013] Figure 4 This is a diagram for explaining writing of motor identification information into a storage unit of an encoder in one embodiment.

[0014] Figure 5 This is a diagram for explaining writing of motor identification information into a storage unit of an arm unit in one embodiment.

[0015] Figure 6 This is a diagram showing a setting screen for switching the non-regular motor detection function to be effective or ineffective in one embodiment.

[0016] Figure 7 This is a diagram showing a setting screen for writing the identification information of the motor into the storage unit of the encoder in one embodiment.

[0017] Figure 8 This is a diagram showing a setting screen for writing the identification information of the motor into the storage unit of the arm unit in one embodiment.

[0018] Fig. 9 This is a diagram showing a confirmation screen for confirming the setting of the irregular motor detection function in one embodiment.

[0019] Fig.10 This is a flowchart for explaining a control process of an irregular motor detection function of a robot system in one embodiment. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments in which the present disclosure is embodied will be described based on the drawings.

[0021] (Structure of the robot system)

[0022] Reference Figures 1 to 9 The structure of the robot system 100 in one embodiment will be described. Figure 1 As shown, the robot system 100 includes a robot 1 and a controller 2. The robot 1 is a clean robot arranged in a clean room. In addition, the robot 1 is a substrate transporting robot that transports substrates in the clean room. The robot 1 is a horizontal multi-joint robot having a plurality of joints, which includes a base, an arm connected to the base, and a hand connected to the arm. The hand holds the substrate. The substrate is, for example, a semiconductor wafer. In addition, the controller 2 is an example of a control unit.

[0023] In addition, the robot 1 includes a motor 11, an encoder 12, and a plate 13. A plurality of motors 11 are provided in a manner corresponding to the plurality of joints of the robot 1. The plurality of motors 11 drive the corresponding joints, respectively. A plurality of encoders 12 are provided in a manner corresponding to the plurality of motors 11, respectively. The plurality of encoders 12 are connected to the corresponding motors 11, respectively, to detect the rotational position of the corresponding motors 11. In addition, the plurality of encoders 12 each have a storage unit 12a. The storage unit 12a is a non-volatile memory that stores information related to the operation of the encoder 12, etc. In addition, in the present embodiment, the storage unit 12a stores identification information of the motor 11. In addition, the storage unit 12a is an example of a first storage unit.

[0024] The board 13 is a circuit board provided in the arm of the robot 1. The board 13 has a storage unit 13a. The storage unit 13a is a non-volatile memory, and stores information on the model of the robot 1, etc. In addition, in the present embodiment, the storage unit 13a stores identification information of the motor 11. One storage unit 13a is provided in the arm of the robot 1. In addition, the storage unit 13a is provided separately from the storage unit 12a. In addition, the storage unit 12a and the storage unit 13a are provided in the robot 1. In addition, the storage unit 13a is an example of a second storage unit.

[0025] The controller 2 controls the movement of the robot 1. Specifically, the controller 2 controls the movement of the robot 1 by controlling the power supplied to the motor 11 of the robot 1. In addition, the controller 2 can be connected to a plurality of robots 1 and can control the movement of the plurality of robots 1. Figure 1 In the figure, for convenience, only one robot 1 is shown.

[0026] Here, in this embodiment, if Figure 2 and Figure 3 As shown, the controller 2 checks the identification information of the motor 11 stored in the storage unit 12a with the identification information of the motor 11 stored in the storage unit 13a at startup to detect whether the motor 11 installed in the robot 1 is the motor 11 to which the identification information is given in advance. Specifically, when the identification information of the motor 11 stored in the storage unit 12a is consistent with the identification information of the motor 11 stored in the storage unit 13a (see Figure 2 ), the controller 2 detects that the motor 11 is a motor 11 to which identification information is pre-assigned. In addition, when the identification information of the motor 11 stored in the storage unit 12a is inconsistent with the identification information of the motor 11 stored in the storage unit 13a (refer to Figure 3 ) detects that the motor 11 is a motor 11 to which no identification information has been pre-assigned.

[0027] As described later, identification information is pre-assigned to the regular motor 11, and identification information is not pre-assigned to the irregular motor 11. Therefore, by detecting whether the motor 11 is the motor 11 to which identification information is pre-assigned, it is possible to detect whether the motor 11 is a regular motor or an irregular motor. In addition, when the motor 11 is replaced, usually, the encoder 12 is also replaced together with the motor 11. Therefore, by comparing the identification information of the motor 11 stored in the storage unit 12a of the encoder 12 with the identification information of the motor 11 stored in the storage unit 13a, it is possible to detect whether the motor 11 is the motor 11 to which identification information is pre-assigned.

[0028] In addition, in the present embodiment, the controller 2 sets the normal operation mode when it is detected that the motor 11 is a motor 11 to which identification information is pre-assigned. Specifically, the controller 2 sets the normal operation mode when it is detected that all of the plurality of motors 11 are motors 11 to which identification information is pre-assigned. In the normal operation mode, the robot 1 operates without restriction as usual when the robot 1 operates through the controller 2. In addition, when it is detected that the motor 11 is not a motor 11 to which identification information is pre-assigned, the controller 2 sets a performance restriction mode that restricts performance compared to the normal operation mode. Specifically, when it is detected that at least one of the plurality of motors 11 is not a motor 11 to which identification information is pre-assigned, the controller 2 sets the performance restriction mode.

[0029] For example, when the controller 2 detects that the motor 11 is not the motor 11 to which identification information is pre-assigned, the controller 2 sets a performance restriction mode in which the speed is lower than the normal operation mode. In this performance restriction mode, when the robot 1 is operated by the controller 2, the robot 1 operates at a speed that is reduced by a predetermined ratio relative to the normal speed. In addition, for example, when the controller 2 detects that the motor 11 is not the motor 11 to which identification information is pre-assigned, the controller 2 sets a performance restriction mode in which the movement of some of the multiple joints of the robot 1 is restricted. In this performance restriction mode, when the robot 1 is operated by the controller 2, predetermined joints among the multiple joints cannot move, and the other joints can move.

[0030] Furthermore, when checking the identification information of the motor 11, the controller 2 sets the performance limitation mode when the robot 1 is not equipped with the storage unit 13a or when the identification information of the motor 11 cannot be read from the storage unit 13a. The case where the storage unit 13a is not equipped on the robot 1 is, for example, a case where the board 13 is removed from the robot 1 for some reason. The case where the identification information of the motor 11 cannot be read from the storage unit 13a is, for example, a case where the wiring for communicating with the board 13 is changed for some reason. In these cases, the performance limitation mode is set because the motor 11 may be replaced irregularly.

[0031] In addition, in the present embodiment, the controller 2 notifies an error when it is detected that the motor 11 is not a motor 11 to which identification information is pre-assigned. Specifically, the controller 2 notifies the error to a host device that manages the robot system 100. When the error is notified, the host device displays the contents of the error on a display unit. Thus, the user can recognize an error caused by the fact that the motor 11 mounted on the robot 1 is not a motor 11 to which identification information is pre-assigned.

[0032] Reference Figures 4 to 8 The setting of the identification information of the motor 11 is described. The setting is performed by connecting the setting device 200 and the controller 2. The setting device 200 is, for example, a personal computer, and includes an operation unit for inputting the operator's operation and a display unit for displaying a screen. The operator is a person who can perform regular operations on the robot system 100, such as a technician of the manufacturer of the robot system 100 and a direct user who is not an end user who actually uses the robot system 100.

[0033] In this embodiment, if Figure 4 and Figure 5 As shown, the controller 2, while setting the identification information of the motor 11, receives the input of the identification information of the motor 11 by the operator, stores the received identification information of the motor 11 in the storage unit 12a, and stores the identification information of the motor 11 stored in the storage unit 12a in the storage unit 13a.

[0034] In addition, in this embodiment, if Figure 6 As shown, the controller 2 switches the function of detecting whether the motor 11 is a motor 11 to which identification information is pre-assigned (hereinafter, for convenience, sometimes referred to as "informal motor detection function") to be effective or ineffective based on the operation of the operator. In addition, the controller 2 accepts the input of a password when switching the informal motor detection function to effective or ineffective. The password is automatically set by the controller 2 according to a predetermined rule. The operator grasps the password automatically set by the controller 2 according to the predetermined rule.

[0035] The operator switches the irregular motor detection function to valid or invalid by displaying the setting screen 201 on the display unit of the setting device 200 and operating the controller 2 using the operation unit of the setting device 200. Specifically, the operator inputs a program name and executes a program for switching the irregular motor detection function to valid or invalid. When the program is executed, a password is required to be input. Therefore, the operator inputs the password he knows. When the correct password has been input, input of valid or invalid is required. Therefore, the operator inputs the desired setting of valid or invalid. When valid is input, the irregular motor detection function is displayed as valid. In addition, the irregular motor detection function is set to valid by the controller 2. Similarly, when invalid is input, the irregular motor detection function is displayed as invalid. In addition, the irregular motor detection function is set to invalid by the controller 2. In addition, Figure 6 , an example in which a valid input is shown.

[0036] When the non-regular motor detection function is switched to the valid state, the identification information of the motor 11 is set. Figure 7 As shown, the operator displays the setting screen 202 on the display unit of the setting device 200 and operates the controller 2 using the operating unit of the setting device 200, thereby inputting the identification information of the motor 11 and causing the storage unit 12a to store it. Specifically, the operator executes the program for inputting the identification information of the motor 11 and causing the storage unit 12a to store it by inputting the program name. When the program is executed, a password is required to be input. Therefore, the operator inputs the password he knows. When the correct password is input, the number of the robot 1 is required to be input. The so-called number of the robot 1 refers to the number set for each of the multiple robots 1 when multiple robots 1 are connected to the controller 2. The operator inputs the number of the robot 1 for which the identification information of the motor 11 is desired to be set. In this way, the identification information of the motor 11 can be set according to each robot 1.

[0037] When the number of the robot 1 is input, the operator is required to input the identification information of the motor 11 of the robot 1 whose number is input. Therefore, the operator inputs the identification information of the motor 11. The identification information is composed of numbers, for example. In this case, the operator inputs an arbitrary number as the identification information of the motor 11. When the identification information is input, Figure 4 As shown in FIG. 1 , the controller 2 writes and stores the input identification information in the storage unit 12a corresponding to the motor 11 to which the identification information is input. Thus, the identification information is given to the motor 11. Then, as shown in FIG. Figure 7 As shown in FIG. 1 , it is shown that writing of the identification information of the motor 11 into the storage unit 12 a has been completed normally.

[0038] In addition, if Figure 8 As shown, the operator displays the setting screen 203 on the display unit of the setting device 200 and operates the controller 2 using the operation unit of the setting device 200 to store the identification information of the motor 11 stored in the storage unit 12a in the storage unit 13a. Specifically, the operator executes the program for storing the identification information of the motor 11 stored in the storage unit 12a in the storage unit 13a by inputting the program name. When the program is executed, a password is required to be input. Therefore, the operator inputs the password known to the operator. When the correct password is input, the number of the robot 1 is required to be input. The operator inputs the number of the robot 1 for which the identification information of the motor 11 is desired to be set.

[0039] When the number of robot 1 is entered, Figure 5As shown in FIG. 1 , the controller 2 reads the identification information of the motor 11 from the storage unit 12a of the robot 1 to which the number is input, and writes and stores the read identification information of the motor 11 in the storage unit 13a of the robot 1 to which the number is input. Thus, the same information as the identification information of the motor 11 stored in the storage unit 12a is stored in the storage unit 13a. Then, as shown in FIG. Figure 8 As shown, it is shown that the writing of the identification information of the motor 11 into the storage unit 13a has been completed. In addition, the processing contents of each of the above programs are encrypted. Therefore, the processing contents of each of the above programs including the setting of the password cannot be easily analyzed.

[0040] exist Figures 4 to 8 , an example of initializing the identification information of the motor 11 is shown. When the identification information of the motor 11 is initially set, the identification information of all the motors 11 mounted on the robot 1 is set. In addition, when the motor 11 is replaced regularly, the replaced motor 11 is referenced. Figure 7 and Figure 8 The identification information is set as described above. That is, the controller 2 receives the input of the identification information of the replaced motor 11, stores the received identification information of the motor 11 in the storage unit 12a, and stores the identification information of the motor 11 stored in the storage unit 12a in the storage unit 13a. Therefore, the identification information is given to the regular motor 11 in advance. In addition, the identification information of the motor 11 stored in the storage unit 12a is consistent with the identification information of the motor 11 stored in the storage unit 13a.

[0041] On the other hand, when the motor 11 is replaced irregularly, since the motor 11 is replaced by a person other than a person who can perform regular replacement, no reference is made. Figure 7 and Figure 8 Therefore, identification information is not given in advance to the non-authentic motor 11. In this case, the identification information of the motor 11 stored in the storage unit 12a does not match the identification information of the motor 11 stored in the storage unit 13a.

[0042] Furthermore, when the performance limit mode is set due to the irregular replacement of the motor 11, the performance limit mode can be released by replacing the irregularly replaced motor 11 with a regular replacement and setting the identification information of the motor 11. By setting the identification information, the identification information of the motor 11 stored in the storage unit 12a and the identification information of the motor 11 stored in the storage unit 13a become consistent, so that when the identification information is checked, the normal operation mode is set, and the performance limit mode is released.

[0043] In addition, if Fig. 9As shown, the operator displays the confirmation screen 204 on the display unit of the setting device 200 and operates the controller 2 using the operation unit of the setting device 200, thereby confirming the setting of the irregular motor detection function. Specifically, the operator executes the program for confirming the setting of the irregular motor detection function by inputting the program name. When the program is executed, a password is required to be input. Therefore, the operator inputs the password he knows. When the correct password is input, the controller 2 notifies the setting device 200 of the state of activation of the irregular motor detection function, the identification information of the motor 11 stored in the storage unit 12a of each robot 1, and the identification information of the motor 11 stored in the storage unit 13a of each robot 1. The setting device 200 displays the state of activation of the irregular motor detection function, the identification information of the motor 11 stored in the storage unit 12a of each robot 1, and the identification information of the motor 11 stored in the storage unit 13a of each robot 1 on the display unit. Thus, the operator can confirm the enabled state of the irregular motor detection function, the identification information of the motor 11 stored in the storage unit 12 a of each robot 1 , and the identification information of the motor 11 stored in the storage unit 13 a of each robot 1 .

[0044] Reference Fig.10 The control process of the irregular motor detection function in the robot system 100 of this embodiment will be described based on the flowchart. Each process of the flowchart is performed by the controller 2.

[0045] If controller 2 is started, Fig.10 As shown, in step S1, the identification information of the motor 11 is obtained from the storage units 12a and 13a. Then, in step S2, the identification information of the motor 11 stored in the storage unit 12a is checked against the identification information of the motor 11 stored in the storage unit 13a. Then, in step S3, it is determined whether the identification information of the motor 11 stored in the storage unit 12a is consistent with the identification information of the motor 11 stored in the storage unit 13a. When the identification information of the motor 11 stored in the storage unit 12a is consistent with the identification information of the motor 11 stored in the storage unit 13a, the process proceeds to step S4 to set the normal operation mode. Then, the control process is terminated.

[0046] In addition, in step S3, if the identification information of the motor 11 stored in the storage unit 12a is inconsistent with the identification information of the motor 11 stored in the storage unit 13a, the process proceeds to step S5, and an error is notified to the host device. Then, the error is displayed on the display unit of the host device. Then, in step S6, the performance limit mode is set. Then, the control process is terminated.

[0047] [Effects of this embodiment]

[0048] In the present embodiment, as described above, the robot system 100 comprises: a robot 1, which includes a motor 11; a storage unit 12a, which is arranged in a manner corresponding to the motor 11 and stores identification information of the motor 11; a storage unit 13a, which is arranged separately from the storage unit 12a and stores identification information of the motor 11; and a controller 2, which detects whether the motor 11 installed on the robot 1 is a motor 11 that has been pre-assigned with identification information by comparing the identification information of the motor 11 stored in the storage unit 12a with the identification information of the motor 11 stored in the storage unit 13a.

[0049] This makes it possible to detect whether a legitimate motor 11 to which identification information is pre-assigned is mounted on the robot 1 or an illegitimate motor 11 to which identification information is not pre-assigned is mounted on the robot 1. As a result, it is possible to easily detect that the motor 11 has been illegitimately replaced.

[0050] In addition, in the present embodiment, as described above, the controller 2 sets the normal operation mode when it is detected that the motor 11 is a motor 11 to which identification information is pre-assigned, and sets the performance restriction mode in which the performance is restricted compared to the normal operation mode when it is detected that the motor 11 is not a motor 11 to which identification information is pre-assigned. Thus, when a regular motor 11 to which identification information is pre-assigned is mounted on the robot 1, the normal operation mode can be set, so that the robot 1 can be properly operated as usual. On the other hand, when an irregular motor 11 to which identification information is not pre-assigned is mounted on the robot 1, the performance restriction mode can be set, so that the occurrence of a malfunction in the robot 1 to which an irregular motor 11 having poorer performance than the regular motor 11 is mounted can be suppressed. In addition, when the performance restriction mode is set, the robot 1 can be operated although the performance is restricted, so that the operation of the robot 1 can be continued while waiting for the regular motor 11 to be replaced. As a result, compared with the case where the robot 1 does not operate, the influence on production efficiency and the like caused by the stagnation of the operation of the robot 1 until the regular motor 11 is replaced can be reduced.

[0051] In addition, in the present embodiment, as described above, when the controller 2 detects that the motor 11 is not the motor 11 to which identification information is pre-assigned, the controller 2 sets the performance limitation mode in which the speed is lower than the speed in the normal operation mode. Thus, since the robot 1 can be operated at a low speed while waiting for replacement of a regular motor 11, the influence on production efficiency etc. caused by the stagnation of the operation of the robot 1 until the regular motor 11 is replaced can be easily reduced.

[0052] In addition, in the present embodiment, as described above, the robot 1 is a multi-joint robot, and when the controller 2 detects that the motor 11 is not a motor 11 to which identification information is pre-assigned, it sets a performance restriction mode that restricts the movement of a portion of the multiple joints of the robot 1. As a result, the joints of the multiple joints of the robot 1 whose movements are not restricted can be moved while waiting for replacement of a regular motor 11, so that the influence on production efficiency and the like caused by the stagnation of the operation of the robot 1 until the replacement of the regular motor 11 can be easily reduced.

[0053] In addition, in the present embodiment, as described above, the controller 2 notifies an error when detecting that the motor 11 is not a motor 11 to which identification information is pre-assigned. Thus, when an irregular motor 11 to which identification information is not pre-assigned is mounted on the robot 1, it is possible to easily identify that the irregular motor 11 is mounted on the robot 1 through the error notification.

[0054] In addition, in the present embodiment, as described above, the controller 2 switches the function of detecting whether the motor 11 is a motor 11 to which identification information is pre-assigned to be effective or ineffective based on the operation of the operator. Thus, since the function of detecting whether the motor 11 is a motor 11 to which identification information is pre-assigned can be switched to effective or ineffective based on the judgment of the operator, even when it is desired to temporarily disable the function of detecting whether the motor 11 is a motor 11 to which identification information is pre-assigned, it is possible to flexibly cope with the situation.

[0055] In addition, in the present embodiment, as described above, the controller 2 accepts the input of the password when switching the function of detecting whether the motor 11 is a motor 11 to which identification information is pre-given to be valid or invalid. Thus, since the function of detecting whether the motor 11 is a motor 11 to which identification information is pre-given cannot be switched to valid or invalid without inputting the password, it is possible to suppress the switching of improper functions.

[0056] In addition, in the present embodiment, as described above, when setting the identification information of the motor 11, the controller 2 performs the following processing, namely: receiving the input of the identification information of the motor 11 by the operator; storing the received identification information of the motor 11 in the storage unit 12a; and storing the identification information of the motor 11 stored in the storage unit 12a in the storage unit 13a. Thus, the identification information can be given by the input of the operator, and the identification information given to the motor 11 can be stored in the storage unit 12a and the storage unit 13a, so it is easy to realize a structure for detecting whether the motor 11 is a motor 11 to which the identification information is given in advance.

[0057] In addition, in the present embodiment, as described above, the storage unit 12a is a storage unit of the encoder provided in a manner corresponding to the motor 11. Thus, the storage unit of the encoder can be effectively used to store the identification information of the motor 11, so it is not necessary to provide the storage unit 12a independently of the storage unit of the encoder. As a result, compared with the case where the storage unit 12a is provided independently of the storage unit of the encoder, an increase in the number of components can be suppressed.

[0058] In addition, in the present embodiment, as described above, the storage unit 12a and the storage unit 13a are provided in the robot 1. Therefore, even when the robot 1 itself is replaced, since both the storage unit 12a and the storage unit 13a are provided in the robot 1, the identification information of the motor 11 stored in the storage unit 12a and the identification information of the motor 11 stored in the storage unit 13a can be easily obtained from the robot 1. As a result, even when the robot 1 itself is replaced, it is possible to easily realize a structure for detecting whether the motor 11 is a motor 11 to which identification information is given in advance.

[0059] In addition, in the present embodiment, as described above, the robot 1 is a clean robot arranged in a clean room. Thus, even in the clean robot, when the motor 11 is replaced irregularly due to a failure of the motor 11, etc., it is possible to easily detect that the motor 11 has been replaced irregularly. In addition, in the case where the robot 1 is a clean robot that has a large impact on stopping the movement, if the performance restriction mode is set, the movement of the robot 1 can be continued while waiting for the replacement of the regular motor 11, thereby effectively reducing the impact on production efficiency, etc. caused by the stagnation of the operation of the robot 1 until the regular motor 11 is replaced.

[0060] [Modifications]

[0061] In addition, the embodiments disclosed herein are to be considered as illustrative in all aspects and not restrictive. The scope of the present disclosure is not shown by the description of the above embodiments, but by the claims, and also includes all changes (modifications) within the meaning and scope equivalent to the scope of the claims.

[0062] For example, in the above embodiment, an example is shown in which the robot is a clean robot arranged in a clean room, but the present disclosure is not limited thereto. In the present disclosure, the robot may also be a robot arranged in a place other than a clean room.

[0063] In addition, in the above embodiment, an example is shown in which the robot is a substrate transport robot that transports a substrate, but the present disclosure is not limited to this. In the present disclosure, the robot may also be an industrial robot other than the substrate transport robot.

[0064] In addition, in the above-mentioned embodiment, an example in which the robot is a horizontal multi-joint robot is shown, but the present disclosure is not limited to this. In the present disclosure, the robot may also be a robot such as a vertical multi-joint robot other than the horizontal multi-joint robot.

[0065] In addition, in the above-mentioned embodiment, an example is shown in which the first storage unit is a storage unit of the encoder, but the present disclosure is not limited to this. In the present disclosure, the first storage unit may be a storage unit other than the storage unit of the encoder as long as it is provided in a manner corresponding to the motor. For example, the first storage unit may be a storage unit provided in a driver that drives and controls the motor, or may be a storage unit provided in a mechanical component such as a reducer connected to the motor.

[0066] In addition, in the above embodiment, an example is shown in which the plate having the second storage unit is provided on the arm of the robot, but the present disclosure is not limited thereto. In the present disclosure, the plate having the second storage unit may also be provided on the base of the robot.

[0067] In addition, in the above-mentioned embodiment, an example of setting the performance restriction mode when it is detected that the motor is not a motor to which identification information is pre-assigned is shown, but the present disclosure is not limited thereto. In the present disclosure, it is also possible that: when it is detected that the motor is not a motor to which identification information is pre-assigned, the robot is not caused to act. Thus, since the robot can be prevented from acting when an irregular motor to which identification information is not pre-assigned is installed on the robot, it is possible to suppress the occurrence of inappropriate actions in the robot to which the irregular motor is installed.

[0068] In addition, in the above-mentioned embodiment, an example is shown in which, when it is detected that the motor is not a motor to which identification information is pre-assigned, a performance restriction mode is set to make the speed lower than the speed in the normal operation mode, or a performance restriction mode is set to restrict the movement of part of the multiple joints of the robot, but the present disclosure is not limited thereto. In the present disclosure, it is also possible to set a performance restriction mode other than the performance restriction mode to make the speed lower than the speed in the normal operation mode and the performance restriction mode to restrict the movement of part of the multiple joints of the robot when it is detected that the motor is not a motor to which identification information is pre-assigned.

[0069] In addition, in the above embodiment, an example is shown in which the identification information of the motor stored in the first storage unit is stored in the second storage unit after the identification information of the motor is stored in the first storage unit, but the present disclosure is not limited to this. In the present disclosure, the identification information of the motor may also be stored in the first storage unit and the second storage unit simultaneously and in parallel.

[0070] In addition, in the above-mentioned embodiment, an example in which the second storage unit is provided in the robot is shown, but the present disclosure is not limited to this. In the present disclosure, the second storage unit may also be provided in the controller.

[0071] The functions of the elements disclosed in this specification can be performed using circuits or processing circuits that are constructed or programmed to perform the disclosed functions, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), existing circuits and / or combinations thereof. The processor is considered to be a processing circuit or circuit because it contains transistors and other circuits. In the present disclosure, a circuit, unit or means is hardware that performs the listed functions, or hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware that is programmed or constructed to perform the listed functions. In the case of a processor where the hardware is considered to be a type of circuit, the circuit, means or unit is a combination of hardware and software, and the software is used to construct the hardware and / or processor.

[0072] [Way]

[0073] It will be understood by those skilled in the art that the above-described exemplary embodiments are specific examples of the following aspects.

[0074] (Item 1)

[0075] A robot system, comprising:

[0076] a robot, the robot comprising a motor;

[0077] a first storage unit, the first storage unit being provided in a manner corresponding to the motor and storing identification information of the motor;

[0078] a second storage unit provided independently of the first storage unit and storing identification information of the motor; and

[0079] A control unit detects whether the motor mounted on the robot is a motor to which the identification information is pre-assigned by checking the identification information of the motor stored in the first storage unit with the identification information of the motor stored in the second storage unit.

[0080] (Item 2)

[0081] In the robot system described in item 1,

[0082] The control unit sets a normal operation mode when detecting that the motor is a motor to which the identification information is pre-assigned, and

[0083] When it is detected that the motor is not a motor to which the identification information is given in advance, the robot is not operated, or a performance restriction mode is set in which the performance is restricted compared to the normal operation mode.

[0084] (Item 3)

[0085] In the robot system described in item 2,

[0086] The control unit sets the performance limit mode in which the speed is lower than the speed in the normal operation mode, when detecting that the motor is not the motor to which the identification information is given in advance.

[0087] (Item 4)

[0088] In the robot system described in item 2,

[0089] The robot is a multi-joint robot,

[0090] The control unit sets the performance restriction mode for restricting the operation of some of the plurality of joints of the robot when detecting that the motor is not a motor to which the identification information is previously assigned.

[0091] (Item 5)

[0092] In the robot system described in any one of items 1 to 4,

[0093] The control unit notifies an error when detecting that the motor is not a motor to which the identification information is previously assigned.

[0094] (Item 6)

[0095] In the robot system described in any one of items 1 to 5,

[0096] The control unit switches a function of detecting whether the motor is a motor to which the identification information is assigned in advance to be enabled or disabled based on an operation by an operator.

[0097] (Item 7)

[0098] In the robot system described in item 6,

[0099] The control unit accepts input of a password when switching a function of detecting whether the motor is a motor to which the identification information is previously assigned to be enabled or disabled.

[0100] (Item 8)

[0101] In the robot system described in any one of items 1 to 7,

[0102] When setting the identification information of the motor, the control unit performs the following processing, namely: accepting the input of the identification information of the motor from the operator; storing the accepted identification information of the motor in the first storage unit; and storing the identification information of the motor stored in the first storage unit in the second storage unit.

[0103] (Item 9)

[0104] In the robot system described in any one of items 1 to 8,

[0105] The first storage unit is a storage unit included in an encoder provided so as to correspond to the motor.

[0106] (Item 10)

[0107] In the robot system described in any one of items 1 to 9,

[0108] The first storage unit and the second storage unit are provided in the robot.

[0109] (Item 11)

[0110] In the robot system described in any one of items 1 to 10,

[0111] The above-mentioned robot is a clean robot arranged in a clean room.

[0112] Description of reference numerals:

[0113] 1...robot; 2...controller (control unit); 11...motor; 12a...storage unit (first storage unit); 13a...storage unit (second storage unit); 100...robot system.

Claims

1. A robot system, characterized in that: have: a robot, the robot comprising a motor; a first storage unit, the first storage unit being provided in a manner corresponding to the motor and storing identification information of the motor; a second storage unit, which is provided independently of the first storage unit and stores identification information of the motor; as well as A control unit detects whether the motor mounted on the robot is a motor to which the identification information is pre-assigned by checking the identification information of the motor stored in the first storage unit with the identification information of the motor stored in the second storage unit.

2. The robot system according to claim 1, characterized in that: The control unit sets a normal operation mode when detecting that the motor is a motor to which the identification information is pre-assigned, and When it is detected that the motor is not a motor to which the identification information is given in advance, the robot is not operated, or a performance restriction mode is set in which the performance is restricted compared to the normal operation mode.

3. The robot system according to claim 2, characterized in that: The control unit sets the performance limit mode in which the speed is lower than the speed in the normal operation mode, when detecting that the motor is not the motor to which the identification information is given in advance.

4. The robot system according to claim 2, characterized in that: The robot is a multi-joint robot, The control unit sets the performance restriction mode for restricting the operation of some of the plurality of joints of the robot when detecting that the motor is not a motor to which the identification information is previously assigned.

5. The robot system according to claim 1, characterized in that: The control unit notifies an error when detecting that the motor is not a motor to which the identification information is previously assigned.

6. The robot system according to claim 1, characterized in that: The control unit switches a function of detecting whether the motor is a motor to which the identification information is assigned in advance to be enabled or disabled based on an operation by an operator.

7. The robot system according to claim 6, characterized in that: The control unit accepts input of a password when switching a function of detecting whether the motor is a motor to which the identification information is previously assigned to be enabled or disabled.

8. The robot system according to claim 1, characterized in that: When setting the identification information of the motor, the control unit performs the following processing, namely: accepting the input of the identification information of the motor from the operator; storing the accepted identification information of the motor in the first storage unit; and storing the identification information of the motor stored in the first storage unit in the second storage unit.

9. The robot system according to claim 1, characterized in that: The first storage unit is a storage unit included in an encoder provided so as to correspond to the motor.

10. The robot system according to claim 1, characterized in that: The first storage unit and the second storage unit are provided in the robot.

11. The robot system according to claim 1, characterized in that: The robot is a clean robot arranged in a clean room.

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