Robot system and monitoring method of the same

Abstract

To provide a robot system which makes it possible to grasp that a robot or a robot controller is repaired by an unofficial worker.SOLUTION: A robot system 100 includes: a robot 10; a robot controller 20 which controls operation of the robot 10; a constructional element 30 which forms a part of one of the robot 10 and the robot controller 20 and is moved by a worker during repair; an electric power generation part 40 which generates electric power in response to movement of the constructional element 30; and a monitoring part 50 which uses electric power of the electric power generation part 40 to monitor movement of the constructional element 30.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a robotic system and a method for monitoring a robotic system. [Background technology]

[0002] Conventionally, robot systems are known. Patent Document 1 discloses a robot system including a robot body and a robot controller that controls the robot body. The robot body includes multiple drive shafts. Each drive shaft is provided with a motor that drives the drive shaft and an encoder that detects the rotational position of the motor's rotation shaft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-179486 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a robot system such as that described in Patent Document 1, the robot body or the robot controller may be repaired by an unauthorized worker instead of a regular worker. In addition, when a robot body or a robot controller repaired by an unauthorized worker is used, there is a risk of malfunction, so it is desirable to know that the robot has been repaired by an unauthorized worker.

[0005] This disclosure has been made to solve the above-mentioned problems, and one objective of this disclosure is to provide a robot system and a method for monitoring a robot system that are capable of detecting when a robot or a robot controller has been repaired by an unauthorized worker. [Means for solving the problem]

[0006] A robot system according to a first aspect of this disclosure includes a robot, a robot controller that controls the operation of the robot, a component that constitutes a part of either the robot or the robot controller and is moved by a worker when performing repairs, a power generation unit that generates power in response to the movement of the component, and a monitoring unit that monitors the movement of the component using the power of the power generation unit. Note that in this specification, the component is a broad concept that also includes wiring such as a harness connected to either the robot or the robot controller.

[0007] As described above, the robot system according to the first aspect of the disclosure includes a power generating unit that generates power in response to the movement of a component, and a monitoring unit that monitors the movement of the component using the power of the power generating unit. This makes it possible to monitor the movement of the component when the component is moved by an unauthorized worker during repair work. As a result, it is possible to know that the robot or the robot controller has been repaired by an unauthorized worker.

[0008] A method for monitoring a robot system according to a second aspect of this disclosure is a method for monitoring a robot system including a robot and a robot controller that controls the operation of the robot, and includes forming a part of either the robot or the robot controller, generating power in response to movement of a component moved by a worker when performing repairs, and monitoring the movement of the component using the power.

[0009] In the method for monitoring a robot system according to the second aspect of the present disclosure, as described above, power is generated in response to the movement of a component, and the movement of the component is monitored using the power. This makes it possible to monitor the movement of a component when the component is moved by an unauthorized worker during repair. As a result, it is possible to provide a method for monitoring a robot system that can detect that a robot or a robot controller has been repaired by an unauthorized worker. Effect of the Invention

[0010] According to the present disclosure, it is possible to know that a robot or robot controller has been repaired by an unauthorized worker. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram illustrating a robotic system according to one embodiment. [Diagram 2] FIG. 1 is a perspective view illustrating a robot system according to an embodiment. [Diagram 3] FIG. 2 is a perspective view of a robot controller according to one embodiment with the cover removed. [Figure 4] 5 is a schematic cross-sectional view illustrating generation of power by a power generating unit according to an embodiment; FIG. [Diagram 5] 11 is a flowchart illustrating a control process of a robot controller according to an embodiment. [Figure 6] FIG. 13 is a perspective view showing a robot according to a modified example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0013] (Robot system configuration) The configuration of a robot system 100 according to one embodiment will be described with reference to Fig. 1 to Fig. 4. As shown in Fig. 1, the robot system 100 includes a robot 10, a robot controller 20, components 30, a power generation unit 40, and a monitoring unit 50. The robot 10 and the robot controller 20 are connected by a harness 60.

[0014] The robot 10 is an industrial robot. As shown in Fig. 2, the robot 10 is, for example, a horizontal articulated robot. The robot 10 includes a base unit 11, a lifting shaft 12, an arm unit 13, and a hand unit 14.

[0015] The base unit 11 is fixed to an installation surface such as a floor surface. The base unit 11 has a detachable cover 111 which constitutes a part of the exterior of the base unit 11.

[0016] The lift shaft 12 raises and lowers the arm unit 13. The lift shaft 12 is connected to the base unit 11 so as to be movable up and down. A motor, a gear that transmits the driving force of the motor, and an encoder that detects the rotation of the motor are disposed on the lift shaft 12.

[0017] The arm unit 13 moves the hand unit 14. The arm unit 13 has a first link 131 and a second link 132. One end of the first link 131 is connected to the lift shaft 12, and the other end is connected to one end of the second link 132. One end of the second link 132 is connected to the other end of the first link 131, and the other end is connected to the hand unit 14. The first link 131 forms a part of the exterior of the first link 131 and has a removable cover 131a. In addition, the second link 132 forms a part of the exterior of the second link 132 and has a removable cover 132a.

[0018] A first joint shaft 133 is provided at a connection between the lift shaft 12 and the first link 131. The first joint shaft 133 rotates the first link 131 around the rotation axis A1 relative to the lift shaft 12. A second joint shaft 134 is provided at a connection between the first link 131 and the second link 132. The second joint shaft 134 rotates the second link 132 around the rotation axis A2 relative to the first link 131. A third joint shaft 135 is provided at a connection between the second link 132 and the hand unit 14. The third joint shaft 135 rotates the hand unit 14 around the rotation axis A3 relative to the second link 132. A motor, a gear that transmits the driving force of the motor, and an encoder that detects the rotation of the motor are provided in each of the first joint shaft 133, the second joint shaft 134, and the third joint shaft 135.

[0019] The hand unit 14 holds an object to be held, such as a semiconductor wafer, etc. The hand unit 14 is disposed at the tip of the arm unit 13.

[0020] The robot controller 20 controls the operation of the robot 10. Specifically, the robot controller 20 controls the operation of the robot 10 by controlling the power supplied to the motor of the robot 10. The robot controller 20 includes a housing 21 and a board 22. The housing 21 constitutes the exterior of the robot controller 20. The housing 21 has a removable cover 211 that constitutes a part of the housing 21. The board 22 is a circuit board such as a control circuit board, and one or more boards 22 are arranged within the housing 21.

[0021] As shown in FIG. 1, for example, the component 30 is a component constituting a part of the robot controller 20. The component 30 is a component that is moved by an operator when performing repairs. Also, the component 30 is a component that is attached and detached by an operator when performing repairs. For example, the component 30 is a cover 211 of the robot controller 20. The component 30 may be a component constituting a part of the robot 10. Also, the component 30 may be a component constituting a part of the robot controller 20 other than the cover 211. For example, the component 30 may be the board 22 of the robot controller 20, the fastening members of the robot controller 20, the covers 111, 131a, and 132a of the robot 10, the gears of the robot 10, the motors of the robot 10, the encoders of the robot 10, the board of the robot 10, the fastening members of the robot 10, and the harness 60 that connects the robot 10 and the robot controller 20. The fastening members of the robot controller 20 include fastening members for fixing the cover 211 of the robot controller 20 and fastening members for fixing the board 22. The fastening members of the robot 10 include fastening members for fixing the covers 111, 131a, and 132a of the robot 10, fastening members for fixing the gears of the robot 10, and fastening members for fixing the motors of the robot 10. The board of the robot 10 is a circuit board disposed on at least one of the base unit 11, the lifting shaft 12, the arm unit 13, and the hand unit 14.

[0022] The power generating unit 40 generates power in response to the movement of the component 30. Specifically, the power generating unit 40 generates power in response to the movement of the component 30 when it is removed or when it is attached. For example, the power generating unit 40 is an electromagnetic induction power generating element 41 (see FIG. 3) that generates power by electromagnetic induction. The electromagnetic induction power generating element 41 includes a coil. The power generating unit 40 may be an optical power generating element that generates power by light, a piezoelectric element that generates power by pressure, or a motor capable of generating power.

[0023] The monitoring unit 50 monitors the movement of the component 30 using the power of the power generating unit 40. The monitoring unit 50 includes a memory unit 51 (see FIG. 3). The memory unit 51 is a non-volatile memory such as FRAM (registered trademark). The memory unit 51 stores movement information regarding the movement of the component 30 using the power of the power generating unit 40. The movement information is information indicating that the component 30 has moved, and includes, for example, a count value that is increased each time the component 30 moves. The monitoring unit 50 monitors the movement of the component 30 by storing the movement information in the memory unit 51.

[0024] (Specific examples of monitoring) 3 and 4, a specific example of monitoring of the component 30 by the component 30, the power generating unit 40, and the monitoring unit 50 will be described. The component 30 is a cover 211, and the power generating unit 40 is an electromagnetic induction power generating element 41.

[0025] As shown in Fig. 3 and Fig. 4, a magnet 70, which is a permanent magnet, is provided on the cover 211 serving as the component 30. An electromagnetic induction power generating element 41 serving as the power generating unit 40 is provided on the main body side of the robot controller 20. When the cover 211 is attached to the main body side of the robot controller 20, the magnet 70 is disposed in the vicinity of the electromagnetic induction power generating element 41. The electromagnetic induction power generating element 41 is provided on a monitoring board 80 together with a storage unit 51 serving as the monitoring unit 50. The board 80 is provided separately from the control board 22, and is electrically connected to the board 22 via wiring 81.

[0026] When repair of the robot controller 20 is started, the cover 211 is removed by an operator, and when repair of the robot controller 20 is completed, the cover 211 is attached by the operator. At this time, the electromagnetic induction power generating element 41 generates power by electromagnetic induction as the magnet 70 moves relative to the electromagnetic induction power generating element 41 in response to the movement of the cover 211. Specifically, the electromagnetic induction power generating element 41 generates power by electromagnetic induction as the magnet 70 moves relative to the electromagnetic induction power generating element 41 in response to the movement when the cover 211 is removed or the movement when the cover 211 is attached. Note that, although FIG. 4 illustrates the generation of power due to the movement when the cover 211 is removed, the generation of power due to the movement when the cover 211 is attached is similar.

[0027] Moreover, when the robot 10 or the robot controller 20 is repaired, the robot 10 or the robot controller 20 is in a power-off state in which no power is supplied from the outside. Therefore, the storage unit 51 receives the supply of power generated by the electromagnetic induction power generating element 41 in response to the movement when the cover 211 is removed, and stores the movement information. At this time, for example, the storage unit 51 increments the count value as the movement information by one and stores it. Also, the storage unit 51 receives the supply of power generated by the electromagnetic induction power generating element 41 in response to the movement when the cover 211 is attached, and stores the movement information. At this time, for example, the storage unit 51 increments the count value as the movement information by one and stores it. In this way, when the component 30 is moved by the worker during repair, the movement of the component 30 is automatically monitored by the monitoring unit 50 including the storage unit 51.

[0028] When a repair is performed by an unauthorized worker, the information stored in the storage unit 51 changes, such as an increase in the count value, so that it is possible to reliably know that the repair was performed by an unauthorized worker by checking the information stored in the storage unit 51. On the other hand, when a repair is performed by an authorized worker, the information stored in the storage unit 51 also changes, but the authorized worker resets the information stored in the storage unit 51 when the repair is completed. This makes it possible to avoid a mistaken determination that the repair was performed by an unauthorized worker when the repair was performed by an authorized worker. For example, when resetting the information stored in the storage unit 51, the authorized worker inputs a password into the robot controller 20 and causes the robot controller 20 to perform a process of resetting the information stored in the storage unit 51.

[0029] Although the above describes an example in which the component 30 is the cover 211, the same applies to cases in which the component 30 is something other than the cover 211. That is, even when the component 30 is any one of the board 22 of the robot controller 20, the fastening member of the robot controller 20, the covers 111, 131a, 132a of the robot 10, the gear of the robot 10, the motor of the robot 10, the encoder of the robot 10, the board of the robot 10, the fastening member of the robot 10, and the harness 60, it is possible to monitor the movement of the component 30 in the same way as in the case of the cover 211, by using the magnet 70 provided in the component 30, the electromagnetic induction power generating element 41 as the power generating unit 40, and the storage unit 51 as the monitoring unit 50.

[0030] (Controlling the robot controller based on the monitoring results) The control process of the robot controller 20 based on the monitoring results will be described with reference to a flowchart in FIG.

[0031] As shown in Fig. 5, in steps S1 and S2, the robot controller 20 checks the movement information stored in the memory unit 51 at startup and determines whether or not an unauthorized repair has been performed. For example, the robot controller 20 determines whether or not an unauthorized repair has been performed by comparing the count value stored in the memory unit 51 at the time of the previous stop with the count value stored in the memory unit 51 at the time of the current startup. If the current count value is increased compared to the previous count value, the robot controller 20 determines that an unauthorized repair has been performed. Also, if the previous count value and the current count value match, the robot controller 20 determines that an unauthorized repair has not been performed.

[0032] If it is determined that an unauthorized repair has not been performed, the process proceeds to step S3. Then, in step S3, the robot controller 20 sets the normal operation mode. In the normal operation mode, the robot 10 operates normally without any restrictions when operated by the robot controller 20. Then, the control process ends.

[0033] If it is determined that an unauthorized repair has been performed, the process proceeds to step S4. In step S4, the robot controller 20 notifies an error. For example, the robot controller 20 notifies an error to a host device that manages the robot system 100. When notified of the error, the host device displays the content of the error on a display unit.

[0034] Then, in step S5, the robot controller 20 sets a performance limit mode in which the performance is more limited than in the normal operation mode. For example, the robot controller 20 sets a performance limit mode in which the speed is slower than in the normal operation mode. In this performance limit mode, the robot 10 is operated by the robot controller 20 at a speed that is reduced by a predetermined ratio with respect to the normal speed. Also, for example, the robot controller 20 sets a performance limit mode in which the operation of some of the multiple joints of the robot 1 is limited. In this performance limit mode, when the robot 10 is operated by the robot controller 2, predetermined joints among the multiple joints are inoperable, and the other joints are operable. Then, the control process is terminated.

[0035] [Effects of this embodiment] As described above, this embodiment is provided with the power generating unit 40 that generates power in response to the movement of the component 30, and the monitoring unit 50 that monitors the movement of the component 30 using the power of the power generating unit 40. This makes it possible to monitor the movement of the component 30 when the component 30 is moved by an unauthorized worker during repair work. As a result, it is possible to know that the robot 10 or the robot controller 20 has been repaired by an unauthorized worker.

[0036] Also, in order to detect that the robot 10 or the robot controller 20 has been repaired by an unauthorized worker, it is possible to provide an electrical countermeasure by providing a battery. However, providing a battery has the disadvantage of requiring battery replacement. In response to this, by providing a power generating unit 40 that generates power in response to the movement of the component 30 and a monitoring unit 50 that uses the power of the power generating unit 40 to monitor the movement of the component 30, it is possible to detect that the robot 10 or the robot controller 20 has been repaired by an unauthorized worker without providing a battery. As a result, since there is no need to replace the battery, the trouble of replacing the battery can be saved.

[0037] In this embodiment, as described above, the component 30 is a component that is attached and detached by a worker when performing repairs, and the power generating unit 40 generates power in response to the movement of the component 30 when it is removed or when it is attached. This makes it possible to easily generate power when the component 30 is removed or attached by an unauthorized worker when performing repairs. As a result, it is possible to easily monitor the movement of the component 30, and therefore it is possible to easily know that the robot 10 or the robot controller 20 has been repaired by an unauthorized worker.

[0038] Furthermore, in this embodiment, as described above, the monitoring unit 50 includes a storage unit 51 that stores movement information regarding the movement of the component 30 using power from the power generation unit 40. By storing the movement information in the storage unit 51, the movement of the component 30 can be reliably monitored, and it can be reliably known that the robot 10 or the robot controller 20 has been repaired by an unauthorized worker.

[0039] In this embodiment, as described above, the robot controller 20 checks the movement information stored in the storage unit 51 and determines whether or not an unauthorized repair has been performed. This allows the robot controller 20 to properly determine whether or not an unauthorized repair has been performed, and therefore allows appropriate measures to be taken when an unauthorized repair has been performed.

[0040] In this embodiment, as described above, the power generating unit 40 is any one of the electromagnetic induction power generating element 41 that generates power by electromagnetic induction, the optical power generating element that generates power by light, the piezoelectric element that generates power by pressure, and the motor capable of generating power. This makes it possible to easily generate power by any one of the electromagnetic induction power generating element 41, the optical power generating element, the piezoelectric element, and the motor, which are suitable for generating power in response to the movement of the component 30.

[0041] In addition, in this embodiment, as described above, the power generating unit 40 is the electromagnetic induction power generating element 41, and further includes the magnet 70 provided on the component 30, and the electromagnetic induction power generating element 41 generates power by electromagnetic induction as the magnet 70 moves relative to the electromagnetic induction power generating element 41 in response to the movement of the component 30. In this way, it is possible to generate power by electromagnetic induction by moving the magnet 70 relative to the electromagnetic induction power generating element 41 using the movement of the component 30. As a result, when the electromagnetic induction power generating element 41 is used as the power generating unit 40, power can be easily generated.

[0042] In this embodiment, as described above, the component 30 is either the cover 211 of the robot controller 20 or the cover 111, 131a, or 132a of the robot 10, and the electromagnetic induction power generating element 41 is provided on the main body side of the robot controller 20 or the robot 10. The magnet 70 moves relative to the electromagnetic induction power generating element 41 in response to the movement when the component 30 is removed and the movement when the component 30 is attached, thereby generating electric power by electromagnetic induction. This makes it possible to generate electric power by electromagnetic induction by moving the magnet 70 relative to the electromagnetic induction power generating element 41 using the movement when the component 30 as a cover is removed or the movement when the component 30 as a cover is attached. As a result, when the electromagnetic induction power generating element 41 is used as the power generating unit 40, electric power can be easily generated.

[0043] [Variations] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0044] In the above embodiment, an example has been described in which the robot is a horizontal articulated robot, but the present disclosure is not limited to this. In the present disclosure, the robot may be a vertical articulated robot, a parallel link robot, an orthogonal robot, or the like.

[0045] In the modified example shown in FIG. 6, the robot 310 is a vertical articulated robot. The robot 310 includes a base unit 311 and an arm unit 312. The base unit 311 forms a part of the exterior of the base unit 311 and has a removable cover 311a. The arm unit 312 has a first link 321, a second link 322, a third link 323, a fourth link 324, a fifth link 325, and a sixth link 326. A joint shaft is provided at the connection part between the base unit 311 and the first link 321 and at the connection part of each link. A motor, a gear that transmits the driving force of the motor, and an encoder that detects the rotation of the motor are disposed in each joint shaft. In addition, each link forms a part of the exterior of each link and has a removable cover.

[0046] In the modification shown in FIG. 6, the component 30 is a cover 311a of a base unit 311. A magnet 70 is provided on the cover 311a. An electromagnetic induction power generating element 41 as the power generating unit 40 is provided on the main body side of the robot 310. The electromagnetic induction power generating element 41 is provided on a monitoring board 80 together with a storage unit 51 as the monitoring unit 50. Although a detailed description will be omitted, the electromagnetic induction power generating element 41 generates power by electromagnetic induction as the magnet 70 moves relative to the electromagnetic induction power generating element 41 in response to movement when the cover 311a is removed or moved when the cover 311a is attached, as in the above embodiment.

[0047] Although the above describes an example in which the component 30 is the cover 311a, the same applies to the case in which the component 30 is a cover other than the cover 311a. That is, even if the component 30 is a cover for any of the first link 321, the second link 322, the third link 323, the fourth link 324, the fifth link 325, and the sixth link 326, the movement of the component 30 can be monitored in the same manner as in the case of the cover 311a by the magnet 70 provided in the component 30, the electromagnetic induction power generating element 41 as the power generating unit 40, and the storage unit 51 as the monitoring unit 50. That is, in the robot 310, it is possible to monitor the movement of the component 30 when attaching and detaching a cover to repair a motor, an encoder, a circuit board, a harness, or the like.

[0048] In the above embodiment, an example has been shown in which the power generating unit generates power in response to movement when a cover as a component is removed or when a cover as a component is attached, but the present disclosure is not limited to this. In the present disclosure, even if the component is any of a board, a fastening member, a gear, a motor, an encoder, and a harness, the power generating unit may generate power in response to movement when the component is removed or when the component is attached.

[0049] In the above embodiment, an example was shown in which the power generating unit is an electromagnetic induction power generating element, but the present disclosure is not limited to this. For example, when the power generating unit is an optical power generating element, it may be configured as follows. That is, the optical power generating element as the power generating unit is provided on the main body side of the robot or the robot controller. When the cover of the robot or the cover of the robot controller is removed, the optical power generating element generates power by being exposed to light.

[0050] Furthermore, for example, when the power generating unit is a piezoelectric element, it may be configured as follows: the piezoelectric element as the power generating unit is provided in a bent state on the main body side of the robot or robot controller, and when the cover of the robot or robot controller is removed, the piezoelectric element changes from a bent state to an extended state, thereby generating power.

[0051] Furthermore, for example, when the power generating unit is a motor, it may be configured as follows. That is, the motor as the power generating unit is provided on the main body side of the robot or the robot controller. Also, the component is provided with a gear for rotating the motor. When the cover of the robot or the cover of the robot controller is removed, the motor generates power by being rotated by the gear.

[0052] In the above embodiment, an example has been described in which the electromagnetic induction power generating element includes a coil, but the present disclosure is not limited to this. In the present disclosure, the electromagnetic induction power generating element may include a Wiegand wire.

[0053] In the above embodiment, an example has been described in which the monitoring unit includes a storage unit, but the present disclosure is not limited to this. In the present disclosure, the monitoring unit may include a communication unit. In this case, the communication unit may transmit movement information regarding the movement of the component to an external device by wireless communication using the power of the power generation unit. By checking the movement information stored in the external device, it is possible to determine whether or not an unauthorized repair has been performed.

[0054] In the above embodiment, an example is shown in which the performance restriction mode is set when it is determined that an unauthorized repair has been performed, but the present disclosure is not limited to this. In the present disclosure, the robot may be prevented from operating when it is determined that an unauthorized repair has been performed.

[0055] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0056] [Aspects] The above-described embodiment is a specific example of the following aspects.

[0057] (Aspect 1) Robots and A robot controller for controlling the operation of the robot; a component that constitutes a part of either the robot or the robot controller and that is moved by a worker when performing repairs; a power generating unit that generates power in response to the movement of the component member; a monitoring unit that monitors the movement of the component member using power from the power generating unit.

[0058] (Aspect 2) The component is a member that is attached and detached by a worker when performing repairs, 2. The robot system of claim 1, wherein the power generating unit generates power in response to movement when removing the component or movement when installing the component.

[0059] (Aspect 3) 3. The robot system according to claim 1, wherein the monitoring unit includes a memory unit that uses the power of the power generation unit to store movement information regarding the movement of the component member.

[0060] (Aspect 4) The robot system of aspect 3, wherein the robot controller checks the movement information stored in the memory unit and determines whether or not an unauthorized repair has been performed.

[0061] (Aspect 5) A robot system as described in aspect 4, wherein the robot controller sets a performance restriction mode that restricts performance more than a normal operating mode when it determines that an unauthorized repair has been performed.

[0062] (Aspect 6) The robot system according to any one of aspects 1 to 5, wherein the power generating unit is any one of an electromagnetic induction power generating element that generates power by electromagnetic induction, an optical power generating element that generates power by light, a piezoelectric element that generates power by pressure, and a motor capable of generating power.

[0063] (Aspect 7) the power generating unit is the electromagnetic induction power generating element, The component further includes a magnet, 7. The robot system of claim 6, wherein the electromagnetic induction power generating element generates power through electromagnetic induction as the magnet moves relative to the electromagnetic induction power generating element in response to movement of the component.

[0064] (Aspect 8) the component is either a cover of the robot controller or a cover of the robot, The robot system of aspect 7, wherein the electromagnetic induction power generating element is provided on the robot controller or the main body of the robot, and the magnet moves relative to the electromagnetic induction power generating element in response to movement when the component is removed or when the component is installed, thereby generating power through electromagnetic induction.

[0065] (Aspect 9) A method for monitoring a robot system including a robot and a robot controller that controls an operation of the robot, comprising: a controller that configures the robot and the robot controller and generates power in response to movement of a component moved by a worker when performing repairs; and monitoring the movement of the component using the power. [Explanation of symbols]

[0066] 10.310 Robot 20 Robot Controller 30 Components 40 Power Generation Unit 41 Electromagnetic induction power generating element 50 Monitoring Department 51 Storage section 70 Magnet 100 Robot System 111, 131a, 132a Cover 211 Cover 311a Cover

Claims

1. Robots and A robot controller for controlling the operation of the robot; a component that constitutes a part of either the robot or the robot controller and that is moved by a worker when performing repairs; a power generating unit that generates power in response to the movement of the component member; a monitoring unit that monitors the movement of the component member using power from the power generating unit.

2. The component is a member that is attached and detached by a worker when performing repairs, The robot system according to claim 1 , wherein the power generating unit generates power in response to a movement when the component is removed or when the component is attached.

3. The robot system according to claim 1 , wherein the monitoring unit includes a storage unit that stores movement information regarding movement of the component member using power from the power generating unit.

4. The robot system according to claim 3 , wherein the robot controller checks the movement information stored in the storage unit and determines whether or not an unauthorized repair has been performed.

5. The robot system according to claim 4 , wherein the robot controller sets a performance restriction mode in which performance is restricted more than in a normal operation mode when it is determined that an unauthorized repair has been performed.

6. 2. The robot system according to claim 1, wherein the power generating unit is any one of an electromagnetic induction power generating element that generates power by electromagnetic induction, an optical power generating element that generates power by light, a piezoelectric element that generates power by pressure, and a motor capable of generating power.

7. the power generating unit is the electromagnetic induction power generating element, The component further includes a magnet, The robot system according to claim 6 , wherein the electromagnetic induction power generating element generates power through electromagnetic induction as the magnet moves relative to the electromagnetic induction power generating element in response to movement of the component.

8. the component is either a cover of the robot controller or a cover of the robot, 8. The robot system according to claim 7, wherein the electromagnetic induction power generating element is provided on the robot controller or on the main body of the robot, and the magnet moves relative to the electromagnetic induction power generating element in response to movement when the component is removed or when the component is installed, thereby generating power through electromagnetic induction.

9. A method for monitoring a robot system including a robot and a robot controller that controls an operation of the robot, comprising: a controller that configures the robot and the robot controller and generates power in response to movement of a component moved by a worker when performing repairs; and monitoring the movement of the component using the power.

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