Robot system and method for monitoring robot system

Abstract

This robot system (100) comprises: a robot (10); a robot controller (20) that controls the operation of the robot; a constituent member (30) that constitutes a part of either the robot or the robot controller and is moved by an operator when the operator performs repair; a power generation unit (40) that generates power in accordance with the movement of the constituent member; and a monitoring unit (50) that monitors the movement of the constituent member using the power from the power generation unit.

Description

ROBOT SYSTEM AND METHOD FOR MONITORING ROBOT SYSTEM - Patent application

[0001] This disclosure relates to a robotic system and a method for monitoring a robotic system.

[0002] BACKGROUND ART Conventionally, robot systems are known. JP 2020-179486 A discloses a robot system including a robot main body and a robot controller that controls the robot main body. The robot main 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.

[0003] Japanese Patent Application Laid-Open No. 2020-179486

[0004] In the robot system described in JP 2020-179486 A, the robot body or the robot controller may be repaired by an unauthorized worker rather than a regular worker. Furthermore, if 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 repair was performed by an unauthorized worker.

[0005] This disclosure has been made to solve the above-mentioned problems, and one object of this disclosure is to provide a robot system and a method for monitoring a robot system that can detect when a robot or a robot controller has been repaired by an unauthorized worker.

[0006] A robot system according to a first aspect of the present disclosure includes a robot, a robot controller that controls the operation of the robot, a component that constitutes 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 term "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 this disclosure includes a power generation unit that generates power in response to movement of a component, and a monitoring unit that monitors the movement of the component using the power of the power generation unit. This makes it possible to monitor the movement of the component when the component is moved by an unauthorized worker during repair. As a result, it is possible to know that the robot or 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] A method for monitoring a robot system according to a second aspect of the present disclosure includes generating power in response to movement of a component and monitoring the movement of the component using the power, as described above. This allows the movement of the component to be monitored when the component is moved by an unauthorized worker during repair. As a result, a method for monitoring a robot system can be provided that can detect when a robot or robot controller has been repaired by an unauthorized worker.

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

[0011] FIG. 1 is a block diagram showing a robot system according to an embodiment; FIG. 2 is a perspective view showing a robot system according to an embodiment; FIG. 3 is a perspective view showing a state in which a cover of a robot controller according to an embodiment is removed; FIG. 4 is a schematic cross-sectional view for explaining generation of power by a power generation unit according to an embodiment; FIG. 5 is a flowchart for explaining control processing of a robot controller according to an embodiment; and FIG. 6 is a perspective view showing a robot according to a modified example of an embodiment.

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

[0013] (Configuration of Robot System) The configuration of a robot system 100 according to one embodiment will be described with reference to Figures 1 to 4. As shown in Figure 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, an elevator 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, etc. The base unit 11 has a detachable cover 111 that 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 that it can be raised and lowered. A motor, a gear that transmits the driving force of the motor, and an encoder that detects the rotation of the motor are arranged 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 part of the exterior of the first link 131 and has a removable cover 131a. The second link 132 forms part of the exterior of the second link 132 and has a removable cover 132a.

[0018] A first joint shaft 133 is provided at the connection between the lift shaft 12 and the first link 131. The first joint shaft 133 rotates the first link 131 relative to the lift shaft 12 about a rotation axis A1. A second joint shaft 134 is provided at the connection between the first link 131 and the second link 132. The second joint shaft 134 rotates the second link 132 relative to the first link 131 about a rotation axis A2. A third joint shaft 135 is provided at the connection between the second link 132 and the hand unit 14. The third joint shaft 135 rotates the hand unit 14 relative to the second link 132 about a rotation axis A3. 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 motors of the robot 10. The robot controller 20 includes a housing 21 and a board 22. The housing 21 forms the exterior of the robot controller 20. The housing 21 has a removable cover 211 that forms 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 inside the housing 21.

[0021] As shown in FIG. 1 , for example, the component 30 is a component that constitutes a part of the robot controller 20. The component 30 is a component that is moved by an operator when performing repairs. The component 30 is also a component that is attached and detached by an operator when performing repairs. For example, the component 30 is the cover 211 of the robot controller 20. The component 30 may also be a component that constitutes a part of the robot 10. The component 30 may also be a component that constitutes a part of the robot controller 20 other than the cover 211. For example, the component 30 may be the circuit board 22 of the robot controller 20, fastening members of the robot controller 20, covers 111, 131a, and 132a of the robot 10, gears of the robot 10, motors of the robot 10, encoders of the robot 10, the circuit board of the robot 10, fastening members of the robot 10, or a 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 circuit 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 circuit 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 through electromagnetic induction. The electromagnetic induction power generating element 41 includes a coil. The power generating unit 40 may also be a photoelectric power generating element that generates power using light, a piezoelectric element that generates power using pressure, or a motor that can generate 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 related to 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 incremented 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] 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 the cover 211, and the power generating unit 40 is the electromagnetic induction power generating element 41.

[0025] 3 and 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 located near the electromagnetic induction power generating element 41. The electromagnetic induction power generating element 41, together with a storage unit 51 serving as the monitoring unit 50, is provided on a monitoring board 80. 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 magnet 70 moves relative to the electromagnetic induction power generating element 41 in accordance with the movement of the cover 211, causing the electromagnetic induction power generating element 41 to generate power through electromagnetic induction. Specifically, the magnet 70 moves relative to the electromagnetic induction power generating element 41 in accordance with the movement when the cover 211 is removed or when the cover 211 is attached, causing the electromagnetic induction power generating element 41 to generate power through electromagnetic induction. Note that while 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] Furthermore, 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, i.e., not receiving power from an external source. Therefore, the storage unit 51 receives 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 and stores it. Also, the storage unit 51 receives 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 and stores it. In this way, when the worker moves the component 30 during repair, the movement of the component 30 is automatically monitored by the monitoring unit 50, which includes the storage unit 51.

[0028] When repairs are performed by an unauthorized worker, the information stored in the memory unit 51 changes, such as an increase in the count value. Therefore, by checking the information stored in the memory unit 51, it is possible to reliably determine that repairs have been performed by an unauthorized worker. On the other hand, when repairs are performed by an authorized worker, the information stored in the memory unit 51 also changes. However, the authorized worker resets the information stored in the memory unit 51 upon completion of the repairs. This makes it possible to avoid a situation where repairs have been performed by an authorized worker and are mistakenly determined to have been performed by an unauthorized worker. For example, to reset the information stored in the memory unit 51, the authorized worker inputs a password into the robot controller 20 to cause the robot controller 20 to perform a process to reset the information stored in the memory unit 51.

[0029] Although the above has described 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 circuit board 22 of the robot controller 20, the fastening members of the robot controller 20, the covers 111, 131 a, 132 a of the robot 10, the gears of the robot 10, the motors of the robot 10, the encoders of the robot 10, the circuit board of the robot 10, the fastening members 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 memory unit 51 as the monitoring unit 50.

[0030] (Control of Robot Controller Based on Monitoring Results) Referring to FIG. 5, the control process of the robot controller 20 based on the monitoring results will be described based on a flowchart.

[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 an unauthorized repair has been performed. For example, the robot controller 20 determines whether an unauthorized repair has been performed by comparing the count value stored in the memory unit 51 at the time of the previous shutdown with the count value stored in the memory unit 51 at the time of the current startup. The robot controller 20 determines that an unauthorized repair has been performed if the current count value is higher than the previous count value. Furthermore, the robot controller 20 determines that an unauthorized repair has not been performed if the previous count value and the current count value match.

[0032] If it is determined that no unauthorized repairs have been performed, the process proceeds to step S3. 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 upper device that manages the robot system 100 of the error. When notified of the error, the upper device displays the details of the error on a display unit.

[0034] Then, in step S5, the robot controller 20 sets a performance limit mode in which 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, when the robot 10 is operated by the robot controller 20, the operation speed is reduced by a predetermined percentage relative 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 20, predetermined joints among the multiple joints are inoperable, and the other joints are operable. Then, the control process ends.

[0035] [Effects of this embodiment] As described above, this embodiment is provided with the power generation 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 from the power generation 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. 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] Furthermore, in order to detect whether the robot 10 or the robot controller 20 has been repaired by an unauthorized worker, it is possible to consider providing an electrical countermeasure by installing a battery. However, installing a battery has the disadvantage of requiring battery replacement. In contrast, by providing a power generation unit 40 that generates power in response to the movement of the component 30 and a monitoring unit 50 that uses the power from the power generation unit 40 to monitor the movement of the component 30, it is possible to detect whether the robot 10 or the robot controller 20 has been repaired by an unauthorized worker without installing a battery. As a result, battery replacement is not required, thereby saving the effort of battery replacement.

[0037] Furthermore, 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 during repairs. As a result, it is possible to easily monitor the movement of the component 30, and therefore it is easy to 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 related to the movement of the component 30 using the power of 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 determined that the robot 10 or the robot controller 20 has been repaired by an unauthorized worker.

[0039] Furthermore, 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 appropriately determine whether or not an unauthorized repair has been performed, and therefore allows appropriate action to be taken if an unauthorized repair has been performed.

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

[0041] Furthermore, in this embodiment, as described above, the power generating unit 40 is an electromagnetic induction power generating element 41 and further includes a magnet 70 provided on the component 30, and the electromagnetic induction power generating element 41 generates power through electromagnetic induction as the magnet 70 moves relative to the electromagnetic induction power generating element 41 in response to movement of the component 30. This makes it possible to generate power through electromagnetic induction by using the movement of the component 30 to move the magnet 70 relative to the electromagnetic induction power generating element 41. 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] Furthermore, 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 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 movement when the component 30 is removed or installed, thereby generating power through electromagnetic induction. This allows power to be generated by moving the magnet 70 relative to the electromagnetic induction power generating element 41 using the movement when the component 30 is removed or installed as a cover. As a result, when the electromagnetic induction power generating element 41 is used as the power generating unit 40, power can be easily generated.

[0043] [Modifications] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and includes all modifications (modifications) within the meaning and scope of the claims.

[0044] In the above embodiment, an example was shown in which the robot was 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 311 and an arm 312. The base 311 has a removable cover 311a that forms part of the exterior of the base 311. The arm 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. Joint shafts are provided at the connection between the base 311 and the first link 321 and at the connection between each link. Each joint shaft is provided with a motor, a gear that transmits the driving force of the motor, and an encoder that detects the rotation of the motor. Each link also has a removable cover that forms part of the exterior of the link.

[0046] In the modified example 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 serving as a 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 serving as a monitoring unit 50. Although a detailed description will be omitted, similar to the above embodiment, the electromagnetic induction power generating element 41 generates power by electromagnetic induction when the magnet 70 moves relative to the electromagnetic induction power generating element 41 in response to movement when the cover 311a is removed or when the cover 311a is attached.

[0047] While the above description has been given of an example in which the component 30 is the cover 311a, the same applies to cases in which the component 30 is a component other than the cover 311a. That is, even when 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, as in the case of the cover 311a, by the magnet 70 provided on the component 30, the electromagnetic induction power generating element 41 as the power generating unit 40, and the memory 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 a cover is attached or detached to repair a motor, an encoder, a circuit board, a harness, or the like.

[0048] In the above embodiment, an example has been described 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 circuit 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, the power generating unit is an electromagnetic induction power generating element, but the present disclosure is not limited to this. For example, if the power generating unit is a photoelectric power generating element, it may be configured as follows. That is, the photoelectric power generating element serving as the power generating unit is provided on the main body of the robot or robot controller. When the cover of the robot or robot controller is removed, the photoelectric power generating element generates power when light hits the photoelectric power generating element.

[0050] Furthermore, for example, when the power generating unit is a piezoelectric element, it may be configured as follows: The piezoelectric element serving as the power generating unit is provided in a bent state on the main body side of the robot or robot controller. 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 robot controller. Furthermore, a gear for rotating the motor is provided as a component. 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 was shown 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 was described in which the monitoring unit included 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 use power from the power generation unit to wirelessly transmit movement information regarding the movement of the component to an external device. By checking the movement information stored in the external device, it is possible to determine whether 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, when it is determined that an unauthorized repair has been performed, the robot may be prevented from operating.

[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, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. 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 processor.

[0056] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0057] (Aspect 1) A robot system comprising: a robot; a robot controller that controls the operation of the robot; a component that forms 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 power from the power generation unit.

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

[0059] (Aspect 3) The robot system according to aspect 1 or 2, wherein the monitoring unit includes a storage unit that stores movement information related to movement of the component member using the power of the power generation unit.

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

[0061] (Aspect 5) In the robot system according to aspect 4, the robot controller sets a performance restriction mode in which performance is restricted more than in a normal operation 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 that can generate power.

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

[0064] (Aspect 8) A robot system according to Aspect 7, wherein the component is either a cover for the robot controller or a cover for the robot, the electromagnetic induction power generating element is provided on the main body of the robot controller or 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 attached, 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 the operation of the robot, the method comprising: forming a part of either the robot or the robot controller, generating power in accordance with movement of a component that is moved by a worker when performing repairs; and monitoring the movement of the component using the power.

[0066] 10, 310 Robot 20 Robot controller 30 Component 40 Power generating unit 41 Electromagnetic induction power generating element 50 Monitoring unit 51 Memory unit 70 Magnet 100 Robot system 111, 131a, 132a Cover 211 Cover 311a Cover

Claims

1. A robot system comprising: a robot; a robot controller that controls the operation of the robot; a component that forms 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 power from the power generation unit.

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

3. A robot system according to claim 1, wherein the monitoring unit includes a memory unit that uses the power of the power generating unit to store movement information regarding the movement of the component member.

4. The robot system according to claim 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.

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 determines that an unauthorized repair has been performed.

6. The robot system of 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 robot system of claim 6, wherein the power generating unit is the electromagnetic induction power generating element, and further comprises a magnet provided on the component, and the electromagnetic induction power generating element generates power by electromagnetic induction as the magnet moves relative to the electromagnetic induction power generating element in response to movement of the component.

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

9. A method for monitoring a robot system comprising a robot and a robot controller that controls the operation of the robot, comprising: 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.

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