Auxiliary device for model selection of speed reducer

Abstract

A reduction gear type selection assistance device (100) is provided with: a storage unit that associates and stores characteristic information of a reduction gear, i.e., characteristic information that changes in accordance with changes in the state of the reduction gear, with information that can determine the type of the reduction gear; a first receiving unit (121) that receives specification information of the robot; a second receiving unit (122) that receives designation of a reduction gear to be attached to each joint of the robot; an analysis unit (127) that analyzes the behavior of the robot after the specified reduction gear is attached to each joint; and a result provision unit (129) that provides the analysis result to the user.

Description

Technical Field

[0001] The present invention relates to an auxiliary device for selecting a speed reduction device. Background Art

[0002] There are known robots in which speed reduction devices are assembled at a plurality of joint portions. For example, Patent Document 1 discloses a robot in which an eccentric swing type speed reducer is assembled at a joint portion.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2006-263878 Summary of the Invention

[0006] Technical Problem to be Solved by the Invention

[0007] When designing a robot, it is necessary to select a speed reduction device to be assembled at each joint, but this selection is very time-consuming and laborious.

[0008] The present invention has been made in view of this situation, and an object thereof is to provide a technique for assisting the selection of a speed reduction device.

[0009] Means for Solving the Technical Problem

[0010] In order to solve the above problems, a speed reduction device selection assistance device according to an embodiment of the present invention includes: a storage unit that stores characteristic information of the speed reduction device, and characteristic information that changes as the state of the speed reduction device changes, in association with information that can identify the type of the speed reduction device; a first reception unit that receives specification information of a robot; a second reception unit that receives a designation of a speed reduction device to be assembled at each joint of the robot; an analysis unit that analyzes the behavior of the robot after the designated speed reduction device is assembled at each joint; and a result providing unit that provides the analysis result to a user.

[0011] Another embodiment of the present invention is also a speed reduction device selection assistance device. The device includes: a storage unit that stores characteristic information of the speed reduction device, and characteristic information that changes corresponding to the change in the state of the speed reduction device, in association with information that can identify the category of the speed reduction device; a first reception unit that receives specification information of a robot; a fourth reception unit that receives behavior information of a robot to be achieved; a selection unit that selects a speed reduction device suitable for achieving the behavior received by the fourth reception unit from the speed reduction devices stored in the storage unit; and a result providing unit that provides the selection result.

[0012] In addition, any combination of the above components, and the mutual replacement of the components or expressions of the present invention between methods, devices, systems, etc. are also effective as embodiments of the present invention.

[0013] Advantages of the Invention

[0014] According to the present invention, a technique for assisting in selecting a speed reduction device can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram showing the structure of a speed reduction device selection assistance system according to the first embodiment.

[0016] Figure 2 It shows Figure 1 a block diagram of the functions and structure of a speed reduction device selection assistance device.

[0017] Figure 3 It shows Figure 2 an example of a selection assistance screen provided by a screen providing unit.

[0018] Figure 4 It is a diagram showing an example of an analysis result provided to a user.

[0019] Figure 5 It is a diagram showing another example of an analysis result provided to a user.

[0020] Figure 6 It is a diagram showing still another example of an analysis result provided to a user.

[0021] Figure 7 It is a block diagram of the functions and structure of a speed reduction device selection assistance device according to the second embodiment.

[0022] Figure 8 It shows Figure 7 an example of a selection assistance screen provided by a screen providing unit. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, the same or equivalent components, parts, and processes shown in the respective drawings are denoted by the same reference numerals, and repeated descriptions are appropriately omitted. Also, for ease of understanding, the dimensions of the parts in the respective drawings are appropriately enlarged or reduced and shown. Also, a part of the parts that are not important in explaining the embodiment is omitted in each drawing.

[0024] First, the process of implementing the present invention will be described. When designing a robot, a reduction gear device assembled to each joint needs to be selected. In the selection of the reduction gear device, through simulation tests, the behavior of the robot with the candidate reduction gear device assembled to the joint during specified operations is analyzed. The characteristic information of the reduction gear device required at this time is recorded in a catalog. However, the characteristic information of the reduction gear device is affected by factors such as temperature and rotational speed that change due to frictional heat generation of the reduction gear device, and the characteristic information recorded in the catalog does not consider these effects. Although it is also considered to determine the characteristic information that takes into account the effects of temperature, rotational speed, etc. based on the actual equipment in which the user uses the reduction gear device itself, this places a great burden on the user and also increases the man-hours. In this way, it is time-consuming and laborious in the selection of the reduction gear device. The present invention is made in view of such a technical insight in order to assist in the selection of the reduction gear device.

[0025] (First Embodiment)

[0026] Before explaining the first embodiment in detail, a summary will be explained first. The first embodiment relates to a technique for assisting in the selection of a reduction gear device assembled to a robot joint. The reduction gear device selection assistance device of the first embodiment provides a selection assistance screen to the user terminal. The user terminal receives the input from the user to the selection assistance screen. In the input to the selection assistance screen, it includes the specification information of the robot being designed, the designation of the reduction gear device (model or specification) to be assembled to the robot joint, and the operation of the robot for which the behavior needs to be analyzed. The reduction gear device selection assistance device receives these inputs.

[0027] The reduction gear device selection assistance device analyzes the behavior when the robot of the received specification (with the designated reduction gear device assembled to the joint) performs the received operation through simulation tests. Here, the reduction gear device selection assistance device stores the characteristic information of each of a plurality of reduction gear devices, that is, the characteristic information (such as friction, angular transmission error, etc.) that changes with conditions (for example, temperature, rotational speed, etc.). For example, the friction as the characteristic information is stored as a function having at least temperature and rotational speed as variables. Therefore, the reduction gear device selection assistance device can perform a highly accurate analysis considering the condition changes of the reduction gear device. The reduction gear device selection assistance device provides the analysis result obtained in this way to the user terminal. The user can use this analysis result as a reference for selecting the reduction gear device.

[0028] Figure 1 It is a schematic diagram showing the structure of the reduction gear device selection assistance system 10 of the first embodiment. The reduction gear device selection assistance system 10 includes a reduction gear device selection assistance device 100 and a user terminal 200. The reduction gear device selection assistance device 100 and the user terminal 200 are connected via a network such as the Internet.

[0029] The deceleration device selection assistance device 100 is an information processing device managed by the deceleration device manufacturer 102. The deceleration device manufacturer 102 is an enterprise that manufactures deceleration devices. The deceleration device is a speed reducer or a gear motor (a device in which a speed reducer and a motor are connected). In the phrase "managed by the deceleration device manufacturer 102" here, it includes not only the case directly managed by the deceleration device manufacturer 102, but also the case managed by an enterprise commissioned by the deceleration device manufacturer 102.

[0030] In the present embodiment, the deceleration device selection assistance device 100 is constituted by a single device (housing), but there is no limitation on the number of physical housings of the deceleration device selection assistance device 100, and it can also be realized by the cooperation of multiple devices.

[0031] The user terminal 200 is an information processing terminal used by the user 202, for example, a general PC, a tablet terminal, or a smart phone. The user 202 is not particularly limited, and typically is a robot manufacturer. That is, the user 202 is a user who selects a deceleration device to be assembled into a robot joint.

[0032] Figure 2 It is a block diagram showing the functions and structure of the deceleration device selection assistance device 100. Each functional module shown here can be realized by elements such as a CPU (Central Processing Unit) of a computer or a mechanical device in terms of hardware, and can be realized by a computer program or the like in terms of software. However, the functional modules depicted here are functions realized through their cooperation. Thus, those skilled in the art who come into contact with this specification can of course understand that these functional modules can be realized in various forms through a combination of hardware and software. Figure 7 The block diagram is the same.

[0033] The deceleration device selection assistance device 100 includes a communication unit 110, a data processing unit 120, and a storage unit 130. The communication unit 110 communicates with the user terminal 200 according to various communication protocols. The data processing unit 120 performs various data processing based on the data obtained through the communication unit 110 or the data stored in the storage unit 130. The storage unit 130 stores various data prepared in advance or the data received from the communication unit 110 or the data processing unit 120.

[0034] The storage unit 130 includes a deceleration device information storage unit 131. The deceleration device information storage unit 131 stores, in association with each other, a deceleration device ID for uniquely identifying a deceleration device, information capable of determining the type of the deceleration device (hereinafter, also referred to as type determination information), and characteristic information of the deceleration device for each of a plurality of deceleration devices. The type determination information includes the model, frame number, reduction ratio, etc. of the deceleration device.

[0035] When the speed reduction device is a speed reducer, the characteristic information includes the characteristic information of the speed reducer. When the speed reduction device is a gear motor, the characteristic information includes the characteristic information of both the speed reducer and the motor that make up the gear motor. The characteristic information includes friction, angular transmission error, etc. The characteristic information is defined to vary with the conditions of the speed reduction device (e.g., temperature, rotational speed, etc.). That is, friction is defined as a function with at least temperature and rotational speed as variables. Similarly, the angular transmission error is defined as a function with at least the rotational angle of the speed reducer as a variable.

[0036] The speed reduction device information storage unit 131 can store the characteristic information of all speed reduction devices manufactured by the speed reduction device manufacturer 102. In addition, the speed reduction device information storage unit 131 can store the characteristic information of speed reduction devices manufactured in the past (i.e., those that have completed manufacturing) in addition to the characteristic information of the speed reduction device being manufactured.

[0037] The data processing unit 120 includes a first receiving unit 121, a second receiving unit 122, a third receiving unit 123, a screen providing unit 125, a speed reduction device determination unit 126, an analysis unit 127, and a result providing unit 129.

[0038] The screen providing unit 125 sends, according to a request, a screen for assisting in selecting a speed reduction device, i.e., a selection assistance screen, to the user terminal 200 and causes it to be displayed on the display of the user terminal 200.

[0039] Figure 3 It is a diagram showing an example of the selection assistance screen 20 provided by Figure 2 the screen providing unit 125. The selection assistance screen 20 includes a template selection button 22, a robot display area 24, a workpiece information column 26, a robotic arm information area 28, a joint information area 30, an action bar 32, and an analysis button 34.

[0040] If the template selection button 22 is selected, a list of pre-prepared templates (not shown) is displayed. The user selects a template corresponding to the robot to be constructed from the displayed template list. A schematic diagram of the robot of the selected template is displayed in the robot display area 24.

[0041] The mass characteristics (weight or center of gravity position, moment of inertia, etc.) of the workpiece are input in the workpiece information column 26.

[0042] The robotic arm information area 28 includes a robotic arm ID column 36 and a robotic arm mass characteristic column 38. The ID for identifying the robotic arm is displayed in the robotic arm ID column 36. In addition, the number of robotic arms of the robot is determined by selecting a template. The mass characteristics of the robotic arm are input in the robotic arm mass characteristic column 38.

[0043] The joint information area 30 includes a rotation axis (joint) ID column 40, a rotation axis position column 42, and a speed reducer column 44. An ID for identifying the rotation axis is displayed in the rotation axis ID column 40. In addition, the number of rotation axes (joints) of the robot is determined by selecting a template.

[0044] In the rotation axis position column 42, the three-dimensional positions of the respective rotation axes in the reference posture (e.g., the initial posture) of the robot with a specified reference point O (refer to the robot display area 24) as the origin are input. Default values set in the template can also be input in the rotation axis position column 42. At this time, the user can, as needed, change the rotation axis position column 42 from the default value, for example, by directly inputting. In addition, in the schematic diagram displayed in the robot display area 24, the position of the rotation axis can be changed by operations such as drag-and-drop, and the input in the rotation axis position column 42 can be changed correspondingly. That is, the rotation axis position column 42 can be input in the form of changing the template.

[0045] In the speed reducer column 44, information specifying the speed reducer to be assembled to each rotation axis is input, such as the model, frame number, or specification information of the speed reducer. In the specification information of the speed reducer, for example, it includes the reduction ratio and the required torque. When the speed reducer is a gear motor, in the specification information of the speed reducer, for example, it also includes the inertia moment and the maximum output torque of the motor. In the rotation axis position column 42, multiple pieces of information, such as multiple specification information, can be input for one rotation axis. For example, in the rotation axis position column 42, the reduction ratio and the required torque can be input for one rotation axis at the same time. In addition, when the speed reducer does not include a motor, the inertia moment or the maximum output torque of the motor can be in the form of being selected from the template the same as the speed reducer, or in a form that the user can specify individually.

[0046] In the action column 32, the action of the robot whose behavior is to be analyzed is input. The action can be, for example, moving the reference point P of the tool mounted at the front end of the robotic arm from the first position to the second position within t seconds. And, for example, the action can also be moving the reference point P of the tool along a three-dimensional target trajectory. The action can be input in a form preset by type. The control method or control parameters of the motor during behavior analysis can be in a form that the user can adjust.

[0047] If the analysis button 34 is selected, Figure 3 each information item of is sent from the user terminal 200 to the speed reducer selection assistance device 100, and the analysis described below is performed in the speed reducer selection assistance device 100.

[0048] Return to Figure 2 The first receiving unit 121 receives the specification information of the robot to be the object of behavior analysis from the user via the user terminal 200. Specifically, the first receiving unit 121 receives from the user terminal 200 the information related toFigure 3 Information items related to the specifications of the robot in the selection assistance screen 20, specifically the mass characteristics of the workpiece, the mass characteristics of the robotic arm, the number of rotating axes, and the positions of the respective rotating axes of the rotating axes.

[0049] The second receiving unit 122 receives from the user via the user terminal 200 the designation of the reduction gear to be assembled to each joint of the robot. Specifically, the second receiving unit 122 receives from the user terminal 200 Figure 3 the input in the reduction gear column 44 of the selection assistance screen 20.

[0050] The third receiving unit 123 receives from the user via the user terminal 200 the movement of the robot whose behavior is to be analyzed. Specifically, the third receiving unit 123 receives from the user terminal 200 Figure 3 the input in the movement column 32 of the selection assistance screen 20. Additionally, a configuration in which the data processing unit 120 does not include the third receiving unit 123 may also be considered. In this case, it is only necessary to analyze the behavior of the pre-set movement.

[0051] The reduction gear determination unit 126 determines the reduction gear based on the designation of the reduction gear received by the second receiving unit 122. Specifically, the reduction gear determination unit 126 determines from the reduction gear information storage unit 131 the reduction gear ID of the reduction gear that matches the designation of the reduction gear received by the second receiving unit 122 and the determination information of the reduction gear. Additionally, multiple reduction gears may also be determined. For example, when the information designating the reduction gear is the specification information of the reduction gear, there may be multiple reduction gears that match the specification information (i.e., satisfy the specification information). In this case, the reduction gear determination unit 126 only needs to determine the multiple reduction gears.

[0052] The analysis unit 127 assembles the reduction gear determined by the reduction gear determination unit 126 according to the designation received by the second receiving unit 122 to the joints of the robot having the specifications received by the first receiving unit 121, and analyzes the execution of the movement received by the third receiving unit 123. The analysis unit 127 can perform the analysis using known or future available analysis techniques. The analysis unit 127 uses the characteristic information stored in the reduction gear information storage unit 131 (i.e., the characteristic information that changes with conditions such as temperature and rotational speed) as the characteristic information of the reduction gear assembled to each joint for the analysis.

[0053] When the reduction gear determination unit 126 determines multiple reduction gears for a certain joint, the analysis unit 127 can sequentially assemble the multiple reduction gears and analyze the behavior of each case.

[0054] The result providing unit 129 provides the analysis result to the user. The analysis result is, for example, the deviation between the position of the reference point P of the tool mounted at the front end of the robot arm and the command value, the deviation between the rotation angle of each rotation axis and the command value, and the comparison between the load applied to the speed reducer and the allowable load included in the characteristic information of the speed reducer. The result providing unit 129, for example, sends an analysis result screen representing the analysis result to the user terminal 200 and causes it to be displayed on the display of the user terminal 200.

[0055] Figure 4 It is a diagram showing an example of the analysis result provided to the user. The analysis result in this example is the error from the command value when the reference point P of the tool moves along the target trajectory. In Figure 4 the horizontal axis represents time, and the vertical axis represents the position of the reference point P of the tool. The solid line curve is the analysis result, and the dashed line curve is the command value.

[0056] Figure 5 It is a diagram showing another example of the analysis result provided to the user. In Figure 5 the horizontal axis represents time, and the vertical axis represents the load applied to the rotation axis. The solid line curve is the analysis result, and the dashed line curve is the allowable load of the speed reducer.

[0057] By the user confirming Figure 4 , Figure 5 the analysis result, the user can clearly understand the behavior of the robot when the specified speed reducer is assembled.

[0058] Figure 6 It is a diagram showing still another example of the analysis result provided to the user. The analysis result in this example is, Figure 4 like that, the error from the command value when the reference point P of the tool moves along the target trajectory. This example shows the analysis result when the speed reducer determination unit 126 determines a plurality of speed reducers as candidates for a certain joint and the analysis unit 127 analyzes the behavior in each case. Here, the solid line curve and the single dotted line curve are the analysis results, and the dashed line curve is the command value. By presenting the analysis results for each of the multiple candidates, the user can select a more suitable speed reducer.

[0059] The above is the structure of the speed reducer selection assistance system 10. Next, its operation will be described. The speed reducer selection assistance device 100 provides a selection assistance screen 20 to the user terminal 200 according to a request. The user inputs, via the user terminal 200, the specification information of the robot, the designation of the speed reducer to be assembled to the robot, and the action of the robot whose behavior is to be analyzed, into the selection assistance screen 20. When the analysis button 34 on the selection assistance screen 20 is selected, the user terminal 200 sends each information item on the selection assistance screen 20 to the speed reducer selection assistance device 100. The first receiving unit 121, the second receiving unit 122, and the third receiving unit 123 of the speed reducer selection assistance device 100 respectively receive the specification information of the robot, the designation of the speed reducer to be assembled to the robot, and the action of the robot whose behavior is to be analyzed. The analysis unit 127 assembles the speed reducer determined according to the designation received by the second receiving unit 122 to the joint of the robot having the specification received by the first receiving unit 121, and analyzes the behavior when performing the action received by the third receiving unit 123. At this time, the analysis unit 127 uses the characteristic information stored in the speed reducer information storage unit 131 (that is, the characteristic information that changes according to conditions such as temperature and rotational speed) as the characteristic information of the speed reducer assembled to each joint for analysis.

[0060] According to the present embodiment, the speed reducer selection assistance device 100 analyzes the behavior of the action of the robot assembled with the speed reducer according to the specification information of the robot and the designation of the speed reducer received from the user, and provides the analysis result to the user. Here, the speed reducer selection assistance device 100 stores the characteristic information that changes according to the conditions of the speed reducer as the characteristic information of the speed reducer, and performs analysis considering the change in the conditions of the speed reducer. Therefore, according to the present embodiment, while reducing the burden on the user, high-precision analysis can be performed, and the speed reducer can be appropriately selected.

[0061] Moreover, according to the present embodiment, when there are a plurality of speed reducers that match the user's designation of the speed reducer, the speed reducer selection assistance device 100 sequentially assembles the plurality of speed reducers to the robot joints, analyzes the behavior in each case, and provides these analysis results to the user. By presenting the analysis results of each combination of multiple candidates, the user can select a more suitable speed reducer.

[0062] Furthermore, according to the present embodiment, the speed reducer selection assistance device 100 receives from the user the designation of the robot action whose behavior is to be analyzed, and analyzes the behavior of the robot when performing the action. By analyzing the behavior in the predetermined action actually performed by the robot, more appropriate selection can be made.

[0063] Further, according to the present embodiment, the speed reducer selection assistance device 100 receives the specification information of the robot input in the form of changing a pre-prepared robot template. In other words, the user can input the specification information of the robot in the form of changing a pre-prepared robot template. Thereby, the burden on the user is reduced.

[0064] (Second Embodiment)

[0065] In the first embodiment, the specification of the robot and the designation of the speed reducer to be assembled to the robot are received from the user, the behavior of the robot with the speed reducer assembled to the joint is analyzed and provided to the user. In the second embodiment, the specification of the robot and the behavior of the robot to be achieved are received from the user, and a speed reducer suitable for achieving the behavior is selected. Hereinafter, the differences from the first embodiment will be mainly described.

[0066] Figure 7 FIG. is a block diagram showing the functions and structure of the speed reducer selection assistance device 100 according to the second embodiment. In the speed reducer selection assistance device 100 according to the second embodiment, the data processing unit 120 includes a first reception unit 121, a fourth reception unit 124, a screen providing unit 125, a selection unit 128, and a result providing unit 129.

[0067] Figure 8 FIG. is a diagram showing Figure 7 an example of the selection assistance screen 50 provided by the screen providing unit 125. The selection assistance screen 50 includes a template selection button 22, a robot display area 24, a workpiece information column 26, a robotic arm information area 28, a joint information area 30, an action / behavior column 52, and a selection button 56.

[0068] In the action / behavior column 43, the action of the robot for which the behavior is to be analyzed and the behavior of the robot to be achieved at this time are specified. The action can be, for example, moving the reference point P of the tool mounted at the front end of the robotic arm of the robot from the first position to the second position within t seconds. The behavior to be achieved at this time can be that the load applied to the speed reducer is below a specified load, or that the deviation of the second position as the arrival position from the command is below a specified value.

[0069] And, for example, the action can be: moving the reference point P of the tool along a three-dimensional target trajectory. The behavior to be achieved at this time can be: the deviation from the command is below a specified value.

[0070] Return to Figure 2 . The fourth reception unit 124 receives from the user via the user terminal 200 the action of the robot for which the behavior is to be analyzed and the behavior of the robot to be achieved at this time. Specifically, the fourth reception unit 124 receives the input from the user terminal 200 to Figure 8 the action / behavior column 43 of the selection assistance screen 50.

[0071] The selection unit 128 selects a speed reducer for implementing the behavior received by the third receiving unit 123 from among the multiple (all) speed reducers stored in the speed reducer information storage unit 131. First, the selection unit 128 sequentially assembles each of the multiple speed reducers stored in the speed reducer information storage unit 131 to the robot having the specifications received by the first receiving unit 121, and analyzes the behavior of each when the action received by the fourth receiving unit 124 is executed. Then, the selection unit 128 selects a set of speed reducers that satisfy the behavior to be implemented received by the fourth receiving unit 124 based on the analysis results.

[0072] The result providing unit 129 provides the selection result to the user. The selection result includes information on the selected speed reducer. In addition, in the selection result, in addition to the information on the selected speed reducer, the results of the analysis performed at the time of selection may also be included.

[0073] Next, the action will be described. The speed reducer selection assistance device 100 provides a selection assistance screen 50 to the user terminal 200 according to a request. The user inputs, via the user terminal 200, the specification information of the robot, the action of the robot whose behavior is to be analyzed, and the behavior of the robot to be implemented in the selection assistance screen 50. If the selection button 56 of the selection assistance screen 50 is selected, the user terminal 200 sends each information item of the selection assistance screen 50 to the speed reducer selection assistance device 100. The first receiving unit 121 and the fourth receiving unit 124 of the speed reducer selection assistance device 100 respectively receive the specification information of the robot, the action of the robot whose behavior is to be analyzed, and the behavior of the robot to be implemented. The selection unit 128 sequentially assembles each of the multiple speed reducers stored in the speed reducer information storage unit 131 to the robot having the specifications received by the first receiving unit 121, and analyzes the behavior of each when the action received by the fourth receiving unit 124 is executed. At this time, the selection unit 128 uses the characteristic information stored in the speed reducer information storage unit 131 (that is, the characteristic information that changes with conditions such as temperature and rotational speed) as the characteristic information of the speed reducer assembled to each joint for analysis. Moreover, the selection unit 128 selects a set of speed reducers that satisfy the behavior to be implemented based on the analysis results.

[0074] According to the present embodiment, the reduction gear selection assistance device 100 selects a reduction gear suitable for achieving a behavior based on the specification information of the robot received from the user, the motion of the robot whose behavior is to be analyzed, and the behavior of the robot to be achieved. Here, since the reduction gear selection assistance device 100 stores characteristic information that changes according to the condition of the reduction gear as the characteristic information of the reduction gear, in the behavior analysis for selection, an analysis considering the change in the condition of the reduction gear is performed. Therefore, according to the present embodiment, while reducing the burden on the user, high-precision analysis can be performed, and as a result, a more suitable reduction gear can be selected.

[0075] As described above, the present invention has been described according to the embodiment. Those skilled in the art can understand that this embodiment is an example, and various modification examples can exist in the combination of these respective constituent elements or respective processing steps, and such modification examples are also included in the scope of the present invention. And, in the embodiment, the reduction gear selection assistance device 100 is mainly described as a device, but the present invention can also be understood as a reduction gear selection assistance method having each step executed by the reduction gear selection assistance device 100, can also be understood as an invention of a program for causing the reduction gear selection assistance device 100 to execute each step, and can also be understood as an invention of a storage medium storing the program.

[0076] Industrial Applicability

[0077] The present invention relates to a reduction gear selection assistance device.

[0078] Reference Signs

[0079] 10 - Reduction gear selection assistance system, 100 - Reduction gear selection assistance device, 121 - First receiving unit, 122 - Second receiving unit, 123 - Third receiving unit, 124 - Fourth receiving unit, 127 - Analysis unit, 129 - Result providing unit, 131 - Reduction gear information storage unit.

Claims

1. A deceleration device selection assistance device, comprising: A storage unit that stores the characteristic information of the deceleration device, that is, the characteristic information that changes with the condition of the deceleration device, in association with information capable of determining the type of the deceleration device; A first receiving unit that receives the specification information of the robot; A second receiving unit that receives the designation of the deceleration device assembled to each joint of the robot; An analysis unit that analyzes the behavior of the robot after assembling the designated deceleration device to each joint; and A result providing unit that provides the analysis result to the user.

2. The deceleration device selection assistance device according to claim 1, wherein, when there are multiple deceleration devices that match the designation received by the second receiving unit, the analysis unit analyzes the multiple deceleration devices and provides the analysis result.

3. The deceleration device selection assistance device according to claim 1 or 2, comprising: A third receiving unit that receives the action of the robot whose behavior is to be analyzed.

4. The deceleration device selection assistance device according to any one of claims 1 to 3, wherein, the deceleration device selection assistance device is constituted by a single device.

5. The deceleration device selection assistance device according to any one of claims 1 to 4, wherein, the deceleration device is a gear motor formed by connecting a speed reducer and a motor, and the storage unit stores the characteristic information of the speed reducer and the motor.

6. The deceleration device selection assistance device according to any one of claims 1 to 5, wherein, the first receiving unit receives the specification information of the robot input in the form of changing a pre-prepared robot template.

7. A deceleration device selection assistance device, comprising: A storage unit that stores the characteristic information of the deceleration device, that is, the characteristic information that changes with the condition of the deceleration device, in association with information capable of determining the type of the deceleration device; A first receiving unit that receives the specification information of the robot; A fourth receiving unit that receives the behavior information of the robot to be achieved; A selection unit that selects a deceleration device suitable for achieving the behavior received by the fourth receiving unit from the deceleration devices stored in the storage unit; and A result providing unit that provides the selection result.

8. The deceleration device selection assistance device according to claim 7, wherein, the selection unit makes the selection by analyzing the behavior of the robot after assembling each of the multiple deceleration devices stored in the storage unit to the joint.

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