Auxiliary devices

Abstract

An auxiliary device includes: a storage unit (140) that stores characteristic information of a deceleration device in association with information that can determine the type of the deceleration device, wherein the characteristic information of the deceleration device is characteristic information that changes according to changes in the condition of the deceleration device; a first receiving unit (121) that receives specification information of a robot; a second receiving unit (122) that receives a designation of a deceleration device assembled on each joint of the robot; an analysis unit (127) that analyzes the behavior of the robot with the designated deceleration device assembled on each joint; and a result providing unit that provides analysis results to a user, wherein the analysis unit (127) analyzes the robot behavior, including temperature changes in specific parts of the robot.

Description

Technical Field

[0001] This invention relates to an auxiliary device. Background Technology

[0002] Robots with deceleration devices assembled at multiple joints are known. For example, Patent Document 1 discloses a robot with an eccentric oscillating type reducer assembled at the joints.

[0003] Previous technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2006-263878 Summary of the Invention

[0004] The technical problem to be solved by the invention When designing a robot, the selection of deceleration devices to be assembled at each joint is a time-consuming and labor-intensive process.

[0005] The present invention was made in view of the above circumstances, and its object is to provide a technique for assisting in the selection of a deceleration device.

[0006] means for solving technical problems To address the aforementioned issues, an auxiliary device according to one embodiment of the present invention includes: a storage unit that associates and stores characteristic information of a deceleration device with information determining the category of the deceleration device, wherein the characteristic information of the deceleration device is characteristic information that changes according to changes in the condition of the deceleration device; a first receiving unit that receives robot specification information; a second receiving unit that receives a designation of a deceleration device assembled at each joint of the robot; an analysis unit that analyzes the behavior of the robot with the designated deceleration device assembled at each joint; and a result providing unit that provides the analysis results to a user. The analysis unit analyzes the robot's behavior, including temperature changes at specific parts of the robot.

[0007] Another embodiment of the present invention is also an auxiliary device. This device includes: a storage unit that associates and stores characteristic information of a deceleration device with information determining the category of the deceleration device, wherein the characteristic information of the deceleration device is characteristic information that changes according to changes in the condition of the deceleration device; a first receiving unit that receives robot specification information; a third receiving unit that receives the robot's operating conditions; an analysis unit that analyzes temperature changes in specific parts of the robot operating under specified operating conditions; and a deceleration device recommendation unit that recommends one or more deceleration devices to the user based on the analysis results.

[0008] Furthermore, any combination of the above-mentioned constituent elements, or the technical solutions obtained by substituting the constituent elements and descriptions of the present invention among methods, apparatuses, systems, etc., are also effective as embodiments of the present invention.

[0009] Invention Effects According to the present invention, a technique is provided to assist in selecting a deceleration device. Attached Figure Description

[0010] Figure 1 This is a schematic diagram showing the structure of the deceleration device selection auxiliary system of the first embodiment.

[0011] Figure 2 It is shown Figure 1 A block diagram showing the function and structure of the auxiliary device selected for the speed reduction device.

[0012] Figure 3 It is shown Figure 2 The image shows an example of a selection aid screen provided by the screen provider.

[0013] Figure 4 This is a diagram showing an example of the parsing results provided to the user.

[0014] Figure 5 This is another example of the parsing results provided to the user.

[0015] Figure 6 This is another example of the parsing results provided to the user.

[0016] Figure 7 This is another example of the parsing results provided to the user.

[0017] Figure 8 This is an example of a screen showing the prediction results provided to the user.

[0018] Figure 9 It is shown Figure 2 A diagram illustrating an example of the data structure of the material information storage department.

[0019] Figure 10 It is shown Figure 2 A diagram illustrating an example of the data structure of the robot's state information storage unit.

[0020] Figure 11 It is shown Figure 2 The image provided by the training data is an example of an image generated from the image provided by the image provider.

[0021] Figure 12 This is a block diagram illustrating the function and structure of the deceleration device selection auxiliary device according to the second embodiment.

[0022] Figure 13 It is shown Figure 12 The image shows an example of a selection aid screen provided by the screen provider. Detailed Implementation

[0023] Hereinafter, identical or equivalent components, parts, and processes shown in the various figures will be labeled with the same symbols, and repeated descriptions will be omitted where appropriate. Furthermore, for ease of understanding, the dimensions of components in each figure have been appropriately enlarged or reduced. Additionally, in each figure, parts that are not essential for illustrating the embodiments are omitted from the representation.

[0024] (First Embodiment) Figure 1 This is a schematic diagram showing the structure of the assistance system 10 according to the first embodiment. The assistance system 10 is a system that assists a user with a deceleration device. The assistance system 10 includes an assistance device 100 and a user terminal 200. The assistance device 100 and the user terminal 200 are connected via a network such as the Internet.

[0025] Auxiliary device 100 is an information processing device managed by speed reduction device manufacturer 102. Speed ​​reduction device manufacturer 102 is a company that manufactures speed reduction devices. A speed reduction device is a speed reducer or gear motor (a device consisting of a speed reducer and a motor). The phrase "managed by speed reduction device manufacturer 102" here includes not only situations where it is directly managed by speed reduction device manufacturer 102, but also situations where it is managed by a company entrusted by speed reduction device manufacturer 102.

[0026] In this embodiment, the auxiliary device 100 is composed of a single device (housing), but there is no limit to the number of physical housings of the auxiliary device 100, and it can also be achieved through the cooperation of multiple devices.

[0027] The auxiliary device 100 implements a "selection assistance function" and a "training data generation function." The selection assistance function assists in selecting a deceleration device assembled on the robot joint. The training data generation function generates training data, which is the data required for a machine learning device to learn fault diagnosis of a robot assembled with the selected deceleration device. Here, "fault diagnosis" includes at least one of diagnosing whether a fault has occurred and diagnosing whether the probability of a fault occurring is high (i.e., fault prediction).

[0028] User terminal 200 is the information processing terminal used by user 202, such as a regular PC, tablet, or smartphone. User 202 is not particularly limited, but is typically a robot manufacturer. That is, user 202 is the user who selects and installs a reduction gear into the robot joint. In other words, user 202 is the user who selects and installs a reduction gear into the robot joint or uses the selected reduction gear after it has been installed into the robot joint.

[0029] Figure 2This is a block diagram illustrating the function and structure of the auxiliary device 100. The modules shown here can be implemented at the hardware level by components or mechanical devices, such as a computer's CPU (central processing unit), and at the software level by computer programs, etc. However, what is described here are functional modules implemented based on their cooperation. Therefore, those skilled in the art who have access to this specification will understand that these functional modules can be implemented in various ways through a combination of hardware and software. Regarding... Figure 12 The block diagram is the same.

[0030] The auxiliary device 100 includes a communication unit 110, a data processing unit 120, and a storage unit 140. The communication unit 110 performs communication processing with the user terminal 200 according to various communication protocols. The data processing unit 120 performs various data processing based on data acquired through the communication unit 110 or data stored in the storage unit 140. The storage unit 140 stores various pre-prepared data and data received from the communication unit 110 or the data processing unit 120.

[0031] The data processing unit 120 includes a first receiving unit 121, a second receiving unit 122, a third receiving unit 123, an image providing unit 125, a deceleration device determining unit 126, an analysis unit 127, an analysis result providing unit 129, a lifespan prediction unit 130, a predicted lifespan providing unit 131, a deceleration device recommending unit 132, a robot state information generating unit 133, and a robot state information providing unit 134.

[0032] The storage unit 140 includes a deceleration device information storage unit 141, a material information storage unit 142, and a robot status information storage unit (training data storage unit) 143.

[0033] The components of the data processing unit 120 and the storage unit 140 are shown only those components of interest in this embodiment.

[0034] <Select Accessibility> The selection assistance function is explained. The selection assistance function is mainly implemented through the deceleration device information storage unit 141, the first receiving unit 121, the second receiving unit 122, the third receiving unit 123, the screen providing unit 125, the deceleration device determination unit 126, the analysis unit 127, the analysis result providing unit 129, the life prediction unit 130, the predicted life providing unit 131, and the deceleration device recommendation unit 132.

[0035] The speed reduction device information storage unit 141 establishes and stores a corresponding association for each of the multiple speed reduction devices, including the speed reduction device ID used to uniquely identify the speed reduction device, information that can determine the category of the speed reduction device (hereinafter also referred to as category-specific information), the characteristic information of the speed reduction device, and the thermal capacity information of the speed reduction device. The category-specific information includes the model, type, and reduction ratio of the speed reduction device.

[0036] When the reduction gear is a speed reducer, the characteristic information includes the characteristic information of the speed reducer. When the reduction gear is a geared motor, the characteristic information includes the characteristic information of both the speed reducer constituting the geared motor and the motor itself. The characteristic information includes friction, angular transmission error, etc. The characteristic information is not particularly limited, but is defined as varying according to the conditions of the reduction gear (e.g., temperature or rotational speed). That is, friction is defined as a function that is at least a variable of temperature and rotational speed. Similarly, angular transmission error is defined as a function that is at least a variable of the speed reducer's rotational angle.

[0037] Heat capacity information is information that determines heat capacity. Therefore, heat capacity information can also include heat capacity itself. Additionally, heat capacity information can also include specific heat and mass. This is because heat capacity is the product of specific heat and mass. Heat capacity information can also include density and volume instead of mass. That is, heat capacity information can also include specific heat, density, and volume. Heat capacity information can also include material properties instead of specific heat and density. That is, heat capacity information can also include material properties and volume.

[0038] When the reduction gear is a speed reducer, the heat capacity information of the speed reducer includes the heat capacity information of the speed reducer itself. The heat capacity information of the speed reducer includes the heat capacity information of the speed reducer housing and the heat capacity information of the components within that housing. When the speed reducer is a geared motor, the heat capacity information of the speed reducer includes the heat capacity information of both the speed reducer and the motor that constitute the geared motor. The heat capacity information of the motor includes the heat capacity information of the motor housing and the heat capacity information of the components within that housing.

[0039] The speed reduction device information storage unit 141 can store information on all speed reduction devices manufactured by the speed reduction device manufacturer 102. In addition to information on speed reduction devices currently under manufacture, the speed reduction device information storage unit 141 can also store information on speed reduction devices manufactured in the past (i.e., those that have been discontinued).

[0040] The screen providing unit 125 sends the selection screen of the auxiliary deceleration device, i.e. the selection auxiliary screen, to the user terminal 200 according to the request, and displays it on the display of the user terminal 200.

[0041] Figure 3This diagram shows an example of a selection assistance screen 20 provided by the screen providing unit 125. The selection assistance screen 20 includes a template selection button 22, a robot display area 24, a workpiece information bar 26, a robotic arm information area 28, a joint information area 30, an action condition bar 32, an analysis button 34, and a lifespan prediction button 35.

[0042] If template selection button 22 is selected, a list of pre-prepared templates (not shown) is displayed. The user selects the template corresponding to the robot they wish to build from the displayed template list. A schematic diagram of the robot for the selected template is displayed in robot display area 24.

[0043] Enter the workpiece's mass characteristics in workpiece information field 26. Mass characteristics include, for example, weight, center of gravity position, and moment of inertia.

[0044] The robotic arm information area 28 includes a link ID field 36, a link mass characteristic field 38, and a thermal capacity information field 39. The link ID field 36 displays the ID used to identify the link. Additionally, the number of links in the robot is determined by selecting a template. The mass characteristics of the link are entered in the link mass characteristic field 38. The thermal capacity information of the link is entered in the thermal capacity information field 39. The thermal capacity information of the link can be the link's thermal capacity itself, or it can be the link's volume, specific heat, or material.

[0045] The joint information area 30 includes a joint ID field 40, a joint position field 42, a reduction gear field 44, and a heat capacity information field 45. The joint ID field 40 displays the ID of the identifying joint (rotation axis). Additionally, the number of joints in the robot is determined by selecting a template.

[0046] In the joint position field 42, enter the three-dimensional positions of each joint (rotation axis) under the robot's reference pose (e.g., initial pose), with the predetermined reference point O (refer to robot display area 24) as the origin. Default values ​​set in a template can also be entered in the joint position field 42. At this time, the user can change the default values ​​of the joint position field 42 as needed, for example, by direct input. Furthermore, in the illustration displayed in robot display area 24, the joint positions can be changed through drag-and-drop operations, and the input in the joint position field 42 can be changed accordingly. That is, the joint position field 42 can also be entered by changing a template.

[0047] In the reduction gear section 44, enter the information of the reduction gear to be assembled into each joint, such as the model, type, or specifications of the reduction gear. The reduction gear specifications include, for example, the reduction ratio and required torque. If the reduction gear is a geared motor, the specifications also include, for example, the motor's moment of inertia and maximum generating torque. Multiple pieces of information, such as multiple specifications, can be entered for a single joint in the reduction gear section 44. For example, in the reduction gear section 44, both the reduction ratio and the required torque can be entered for a single joint. Furthermore, if the reduction gear does not include a motor, the motor's moment of inertia or maximum generating torque can be selected from the same template as the reduction gear or can be specified individually by the user.

[0048] When the reduction gear is a speed reducer, enter the thermal capacity information of the motor connected to the speed reducer in the thermal capacity information field 45. The motor's thermal capacity information includes the thermal capacity information of the motor housing and the thermal capacity information of the components inside the housing. When the speed reducer is a geared motor, the thermal capacity information field 45 can be left blank and no content should be entered.

[0049] Enter the robot's motion conditions in the motion conditions field 32. For example, motion conditions include the start and end points of the movement of the reference point P of the tool mounted on the front end of the robot arm, the stopping time at each point, the presence or absence of the workpiece during the motion, and the speed and acceleration of the reference point P. Alternatively, the motion condition may be, for example, the three-dimensional target path for the movement of the reference point P. Motion conditions can be entered in a pre-defined format according to their type. The motor control method or control parameters during behavior analysis can be user-adjustable. Conditions for sequentially performing multiple actions can also be provided. In lifespan calculations, it is preferable to input a series of actions as a loop; therefore, restrictions can be imposed when receiving user input to ensure that the start and end points are consistent.

[0050] Multiple action conditions can be entered in action condition field 32. In this case, multiple action conditions can be entered in the order of execution. In addition, for multiple action conditions, enter the number of times or the time to run the robot under each action condition.

[0051] If you select the parsing button 34, then Figure 3 Each information item is sent from the user terminal 200 to the auxiliary device 100, where the parsing described later is performed.

[0052] If you select the lifespan prediction button 35, then Figure 3 Each information item is sent from the user terminal 200 to the auxiliary device 100, where the lifetime prediction described later is performed.

[0053] Return to Figure 2The first receiving unit 121 receives robot specification information from the user via the user terminal 200. Specifically, the first receiving unit 121 receives information from the user terminal 200 related to... Figure 3 The selection of auxiliary screen 20 includes information related to the robot's specifications. Specifically, it receives the workpiece's mass characteristics, the link's mass characteristics, the link's thermal capacity, the number of joints, and the joint positions of each joint. Additionally, the reduction gear at any joint is a speed reducer, and... Figure 3 If thermal capacity information is entered in the thermal capacity information field 45 of the selection auxiliary screen 20, the first receiving unit 121 also receives the thermal capacity information.

[0054] The second receiving unit 122 receives specified information from the user via the user terminal 200 regarding the reduction gears to be assembled into the robot's joints. Specifically, the second receiving unit 122 receives from the user terminal 200... Figure 3 Select the input in the deceleration device bar 44 of the auxiliary screen 20.

[0055] The third receiving unit 123 receives the robot's operating conditions from the user via the user terminal 200. Specifically, the third receiving unit 123 receives from the user terminal 200... Figure 3 Select the action condition bar 32 in the auxiliary screen 20.

[0056] The deceleration device determination unit 126 determines a deceleration device based on the deceleration device designation received by the second receiving unit 122. Specifically, the deceleration device determination unit 126 determines from the deceleration device information storage unit 141 the deceleration device ID and characteristic information of the deceleration device that matches the deceleration device designation received by the second receiving unit 122. Alternatively, multiple deceleration devices can be determined. For example, if the designated deceleration device information is the deceleration device specification information, there may be multiple deceleration devices that match that specification information (i.e., satisfy that specification information). In this case, the deceleration device determination unit 126 can determine these multiple deceleration devices.

[0057] The analysis unit 127 analyzes the behavior under the following conditions through simulation: The deceleration device determined by the deceleration device determination unit 126 based on the specified information received by the second receiving unit 122 is assembled to the joint of the robot according to the specifications received by the first receiving unit 121, and the robot operates under the action conditions received by the third receiving unit 123. For example, the analysis unit 127... Figure 3 The analysis is performed when the analysis button 34 is selected. The analysis unit 127 can perform the analysis using known or future available analysis techniques. In this analysis, the analysis unit 127 uses the characteristic information stored in the deceleration device information storage unit 141 as the characteristic information of the deceleration device assembled in each joint.

[0058] When the deceleration device determination unit 126 determines multiple deceleration devices for a certain joint, the analysis unit 127 can assemble the multiple deceleration devices in sequence and analyze the behavior in each case.

[0059] The analysis result providing unit 129 provides the analysis results from the analysis unit 127 to the user. Examples of analysis results include: the deviation of the position of the reference point P of the tool mounted at the front end of the robot arm from the command value; the deviation of the rotation angle of each joint (rotation axis) from the command value; and a comparison of the load applied to the deceleration device with the allowable load included in the characteristic information of the deceleration device. The analysis result providing unit 129, for example, sends an analysis result screen representing the analysis results to the user terminal 200 and displays it on the display of the user terminal 200.

[0060] Figure 4 This is a diagram illustrating an example of the analytical results provided to the user. In this example, the analytical results show the error relative to the command value when moving the tool's reference point P along the target trajectory. Figure 4 In the graph, the horizontal axis represents time, and the vertical axis represents the position of the tool's reference point P. The solid line graph represents the analytical results, and the dashed line graph represents the command values.

[0061] Figure 5 This is another example of the parsing results provided to the user. In Figure 5 In the graph, the horizontal axis represents time, and the vertical axis represents the load applied to the joint, i.e., the deceleration device. The solid line curve represents the analytical results, and the dashed line curve represents the allowable load of the deceleration device.

[0062] User confirms Figure 4 , Figure 5 The analysis results provide a clear understanding of the behavior of a robot equipped with a specified deceleration device.

[0063] Figure 6 This is another example of a diagram showing the parsing results provided to the user. (And...) Figure 4 Similarly, the analysis result in this example is the error relative to the command value when the reference point P of the tool moves along the target trajectory. This example shows the analysis result in the following case: the deceleration device determination unit 126 determines multiple candidates for a certain joint, and the analysis unit 127 analyzes the behavior of each case. Here, the solid line curve and the dashed line curve are the analysis results, and the dashed line curve is the command value. By displaying the analysis results of each candidate, the user can select a more suitable deceleration device.

[0064] The analysis of the analysis unit 127 will be further explained. The analysis unit 127 can analyze the temperature change of a specific part of the robot as one of the robot's behaviors. In addition, the reducer generates heat due to friction, and the motor generates heat due to losses (iron losses, copper losses, etc.). Due to these heat generation, the temperature of various parts of the robot will rise.

[0065] The analysis unit 127 analyzes the temperature changes of specific parts of the robot by performing a first analysis and a second analysis. In the first analysis, the heat generated by the reducer and motor is obtained by analyzing the behavior of the robot in operation. In the second analysis, the temperature changes of each component are obtained by calculating thermal migration.

[0066] In the first analysis, the reduction gear determining unit 126, based on the specifications received by the second receiving unit 122, assembles the reduction gear determined by the reduction gear determining unit 126 at the robot joint of the specifications received by the first receiving unit 121, and analyzes the robot's behavior under the action conditions received by the third receiving unit 123, thereby obtaining the frictional torque of the reducer, the motor current value, and the speed of the reducer and the motor. Then, in the first analysis, the heat generation of the reducer is obtained by calculating the frictional torque and the speed. Additionally, in the first analysis, the heat generation of the motor is obtained by calculating the motor current and the speed.

[0067] In the second analysis, heat transfer is calculated using the heat output of the heat source, the heat capacity of each component, the heat transfer rate between each component, and the heat transfer rate between each component and the environment, thereby calculating the temperature of each component. In the second analysis, known or future-available calculation formulas can be used. Furthermore, the heat source includes components within the reducer and components within the motor. Each component includes components within the reducer, the reducer housing, components within the motor, the motor housing, and the robot's robotic arm. The heat capacity of the components within the reducer, the heat capacity of the reducer housing, the heat capacity of the components within the motor, and the heat capacity of the motor housing are determined by the reducer information storage unit 141. The heat capacity of the robot's robotic arm is received by the first receiving unit 121 from the selection assistance screen 20. The heat transfer rate uses a value determined based on experiments, simulations, or insights. As a variation, the heat transfer rate of each reducer can be stored in the reducer information storage unit 141. Alternatively, the user can input the heat transfer rate.

[0068] Here, since the friction of the reducer changes with temperature, a change in the reducer's temperature will also result in a change in the heat generated. Similarly, since the winding resistance of the motor coil changes with temperature, a change in the motor's temperature will also result in a change in the heat generated. Changes in the heat generated by the reducer and motor will also affect the temperature changes of each component. Therefore, the first and second analyses are performed alternately and repeatedly. In the first analysis, the heat generated is analyzed using the temperature obtained from the second analysis performed in the previous round; in the second analysis, the temperature is analyzed using the heat generated from the first analysis performed in the previous round. That is, a coupled analysis is performed.

[0069] When the third receiving unit 123 receives multiple consecutive operating conditions, the analysis unit 127 analyzes the continuous temperature changes under these multiple operating conditions as behavior. In this embodiment, since the first analysis is repeatedly performed, even if the operating conditions change midway, the heat generated under the new operating conditions will be analyzed, thus enabling proper analysis of temperature changes when the operating conditions change midway.

[0070] There is no particular limitation on the interval between the first and second analyses. The second analysis can be performed immediately after the first analysis without delay. The first and second analyses can also be performed at a predetermined period, i.e., a constant interval. Alternatively, the first and second analyses can be performed in a first period during a period when the probability of significant temperature changes is high, followed by a second period longer than the first period. For example, this period could be the interval from when the robot starts running until a predetermined time has elapsed. Or, if the motion conditions change midway through the process, this period could be the interval from when the change in motion conditions is completed until a predetermined time has elapsed.

[0071] The analysis result providing unit 129 provides the user with the temperature changes of a specific part of the robot, as analyzed by the analysis unit 127. The specific part may be the housing of the reducer or motor, or a component within the housing of the reducer or motor.

[0072] Figure 7 This is another example of the analytical results provided to the user. In this example, the analytical results show the temperature changes in a specific part of the robot, specifically the housings of the motors and reducers assembled within the robot. Figure 7 In the graph, the horizontal axis represents time, and the vertical axis represents temperature. The curve is the analytical result, showing the temperature change. In this example, it shows the temperature changes of the motor housing and reducer housing when the robot is first running under action condition 1, then under action condition 2, and finally under action condition 3. The user confirms... Figure 7 The analysis results provide a clear picture of the temperature changes in the motor and reducer housings.

[0073] Return to Figure 2 The life prediction unit 130 performs life prediction of the deceleration device under the following conditions: the deceleration device determined by the deceleration device determination unit 126 based on the specified information received by the second receiving unit 122 is assembled at the joint of the robot of the specifications received by the first receiving unit 121, and the robot operates under the motion conditions received by the third receiving unit 123. For example, the life prediction unit 130 performs life prediction in... Figure 3When the life prediction button 35 is selected, the life prediction is performed. The life prediction unit 130 can predict the life of the deceleration device using known or future available prediction techniques. The predicted life is expressed as the duration during which the robot repeatedly performs user-specified motion conditions until a failure occurs. In the case of a robot with multiple joints, the life prediction unit 130 can predict the candidate life of the deceleration device for each joint.

[0074] For example, the life prediction unit 130 can predict the life using a known or future-available life calculation formula. For instance, the life calculation formula may include the rated life [h], rated speed [rpm], and rated torque [Nm] of the reduction gear as parameters, and the average speed [rpm] and average load torque [Nm] of the reduction gear as variables. In this case, the life prediction unit 130 simply substitutes the average speed and average load torque obtained by analyzing the characteristic information stored in the reduction gear information storage unit 141 into the life calculation formula. This analysis uses a known or future-available analysis technique. This analysis can be performed by the life prediction unit 130 or by the analysis unit 127.

[0075] When the deceleration device determination unit 126 determines multiple deceleration devices for a certain joint, the life prediction unit 130 can assemble the multiple deceleration devices in sequence and predict their respective lifespans.

[0076] The life prediction providing unit 131 provides the user with the life prediction result of the deceleration device predicted by the life prediction unit 130. For example, the life prediction providing unit 131 sends a life prediction result screen that displays the life prediction result to the user terminal 200 and displays it on the display of the user terminal 200.

[0077] The deceleration device recommendation unit 132 determines whether the lifespan of the deceleration device predicted by the lifespan prediction unit 130 meets the predetermined lifespan conditions. If the predicted lifespan does not meet the predetermined lifespan conditions, the deceleration device recommendation unit 132 recommends a different deceleration device to the user. For example, the deceleration device recommendation unit 132 sends a recommendation screen showing other deceleration devices to the user terminal 200 and displays it on the display screen of the user terminal 200.

[0078] The predetermined lifespan condition can be that the predicted lifespan meets a pre-set lifespan requirement. Specifically, the predetermined lifespan condition can be that the predicted lifespan (duration) is not less than the normally required lifespan duration (e.g., 20,000 hours). Alternatively, the predetermined lifespan condition can be that the predicted lifespan exceeds the total number of action loops (e.g., 1 million loops) that treat a series of user-input actions as a cycle. Or, the predetermined lifespan condition can also be that the predicted lifespan exceeds the total number of action loops specified by the user.

[0079] The predetermined lifespan condition can also be that the predicted lifespan is not less than the necessary lifespan specified by the user. The necessary lifespan can be either duration or total revolutions.

[0080] Other speed reduction devices are not particularly limited, but speed reduction devices with a load-bearing capacity higher than the speed reduction device specified by the user (i.e., speed reduction devices determined not to meet the predetermined lifespan conditions) can be selected. Typically, they can be larger speed reduction devices. In this case, other speed reduction devices can be all speed reduction devices stored in the speed reduction device information storage unit 141 that have a load-bearing capacity greater than the speed reduction device specified by the user.

[0081] Alternatively, other speed reduction devices may be those among the multiple speed reduction devices stored in the speed reduction device information storage unit 141, whose load-bearing capacity is greater than that of the user-specified speed reduction device and whose load-bearing capacity is closest to that of the user-specified speed reduction device. That is, other speed reduction devices may be those among the multiple speed reduction devices stored in the speed reduction device information storage unit 141 that are one size larger than the user-specified speed reduction device.

[0082] For speed reduction devices that do not meet the predetermined lifespan conditions, the speed reduction device recommendation unit 132 provides the user with category-specific information on other recommended speed reduction devices.

[0083] Figure 8 This is an example of a lifespan prediction result screen provided to the user. The lifespan prediction result screen in this example includes: the joint ID of each joint, the required lifespan conditions for the deceleration devices of each joint, the predicted lifespan of the deceleration devices for each joint specified by the user, and category-specific information on other deceleration devices recommended when the lifespan conditions are not met. In this example, the lifespan prediction result screen also serves as a recommendation screen for other deceleration devices.

[0084] User confirms Figure 8 The life prediction results screen clearly shows the lifespan of the speed reduction device specified by the user, whether the lifespan meets the lifespan conditions, and other speed reduction devices recommended if the lifespan conditions are not met.

[0085] The above describes the structure related to selecting the assistance function. Next, the actions related to selecting the assistance function will be explained. The assistance device 100 provides the selection assistance screen 20 to the user terminal 200 as required. The user inputs the robot's specifications, the specified information of the reduction gear to be assembled on the robot, and the robot's operating conditions in the selection assistance screen 20 via the user terminal 200.

[0086] If the analysis button 34 of the auxiliary screen 20 is selected, the user terminal 200 sends each information item of the auxiliary screen 20 to the auxiliary device 100. The first receiving unit 121, the second receiving unit 122, and the third receiving unit 123 of the auxiliary device 100 receive the robot's specification information, the specified information of the deceleration device to be assembled into the robot, and the robot's operating conditions, respectively. The analysis unit 127 analyzes the robot's behavior in the following situations: the deceleration device determined according to the specified information received by the second receiving unit 122 is assembled into the robot joint with the specifications received by the first receiving unit 121, and the robot operates under the operating conditions received by the third receiving unit 123. At this time, the analysis unit 127 uses the characteristic information stored in the deceleration device information storage unit 141 (i.e., characteristic information that changes according to changes in temperature, rotation speed, etc.) as the characteristic information of the deceleration device assembled into each joint for analysis. For example, the analysis unit 127 analyzes the robot's behavior, including temperature changes in specific parts of the robot. The analysis result providing unit 129 provides the analysis result of the analysis unit 127 to the user.

[0087] If the life prediction button 35 of the auxiliary screen 20 is selected, the user terminal 200 sends the selected information items of the auxiliary screen 20 to the auxiliary device 100. The first receiving unit 121, the second receiving unit 122, and the third receiving unit 123 of the auxiliary device 100 receive the robot's specification information, the specified information of the reduction gear to be assembled into the robot, and the robot's operating conditions, respectively. The life prediction unit 130 predicts the life of the reduction gear under the following conditions: the reduction gear determined according to the specified information received by the second receiving unit 122 is assembled into each joint of the robot according to the specifications received by the first receiving unit 121, and the robot is operated under the operating conditions received by the third receiving unit 123. At this time, the life prediction unit 130, for example, uses the characteristic information stored in the reduction gear information storage unit 141 for analysis, and substitutes the average rotational speed and average load torque obtained through this analysis into the life calculation formula to calculate the life of the reduction gear. The life prediction providing unit 131 provides the user with the prediction result of the life of the reduction gear predicted by the life prediction unit 130. If the lifespan of the deceleration device predicted by the lifespan prediction unit 130 does not meet the predetermined lifespan conditions, the deceleration device recommendation unit 132 recommends a different deceleration device to the user.

[0088] The above describes the actions related to selecting accessibility features. Next, the effects related to selecting accessibility features will be explained.

[0089] According to this embodiment, the auxiliary device 100 analyzes the robot's behavior based on the robot's specification information received from the user, the specified information of the deceleration device, the robot's action conditions, and the stored characteristic information of the deceleration device, and provides the analysis results to the user. Here, the auxiliary device 100 stores characteristic information that changes according to changes in the deceleration device's condition as the deceleration device's characteristic information, and performs analysis that takes into account factors related to changes in the deceleration device's condition. Therefore, according to this embodiment, both the user's burden and high-precision analysis can be performed, thereby enabling the rational selection of the deceleration device.

[0090] Furthermore, according to this embodiment, the auxiliary device 100 analyzes the temperature changes of specific parts of the robot, such as components within the housing of the reducer or motor, as part of the robot's behavior, and displays the analysis results to the user. Here, the reducer generates heat due to movement, which may affect the temperature of specific parts of the robot. For example, if the temperature of the robot's motor exceeds the allowable temperature, the motor may malfunction due to overload. By analyzing the temperature changes of this specific part during robot operation and displaying the analysis results, it is possible to confirm whether the temperature of this specific part during robot operation is below the allowable temperature. Therefore, the user can select a more suitable reducer.

[0091] Furthermore, according to this embodiment, if multiple deceleration devices meet the user-specified conditions, the auxiliary device 100 will sequentially assemble the multiple deceleration devices onto the robot joints, analyze the robot's motion behavior in each case, and provide these analysis results to the user. By prompting the user with the analysis results when assembling multiple candidate deceleration devices, the user can select a more suitable deceleration device.

[0092] Furthermore, according to this embodiment, the auxiliary device 100 receives the robot's operating conditions from the user and analyzes the robot's behavior when operating under those conditions. By analyzing the robot's behavior under actual operating conditions, a more appropriate selection can be made.

[0093] Furthermore, according to this embodiment, the auxiliary device 100 can receive robot specification information input in the form of modifying a preset robot template. In other words, the user can input robot specification information in the form of modifying a preset robot template. This reduces the user's burden.

[0094] Furthermore, according to this embodiment, the auxiliary device 100 predicts the lifespan of the deceleration device based on the robot's specification information received from the user, the specified information of the deceleration device assembled on the robot's joints, the robot's motion conditions, and the stored characteristic information of the deceleration device, and provides the prediction result to the user. Therefore, according to this embodiment, the burden on the user in predicting the lifespan of the deceleration device and even in selecting the deceleration device can be reduced.

[0095] Furthermore, according to this embodiment, if multiple deceleration devices meet the user-specified conditions, the auxiliary device 100 will sequentially assemble the multiple deceleration devices onto the robot joints, predict the lifespan under each condition, and provide these prediction results to the user. By prompting the user with the lifespan prediction results when assembling multiple candidate deceleration devices separately, the user can select a more suitable deceleration device.

[0096] <Training data generation function> Return to Figure 2 The training data generation function is explained below. The training data generation function is mainly realized through the material information storage unit 142, the robot state information storage unit 143, the first receiving unit 121, the second receiving unit 122, the third receiving unit 123, the image providing unit 125, the deceleration device determining unit 126, the robot state information generation unit 133, and the robot state information providing unit 134.

[0097] Figure 9 An example of the data structure of the material information storage unit 142 is shown.

[0098] The material information storage unit 142 stores information used to generate robot state information. The material information storage unit 142 establishes and stores corresponding associations between the deceleration device ID, data ID, deceleration device characteristic information, and deceleration device state information. That is, the material information storage unit 142 stores datasets consisting of deceleration device ID, data ID, characteristic information, and state information for each of multiple deceleration devices.

[0099] Category-specific information includes the model, type, and reduction ratio of the speed reduction device.

[0100] When the reduction gear is a speed reducer, the characteristic information includes the speed reducer's characteristic information. When the reduction gear is a geared motor, the characteristic information includes the characteristic information of both the speed reducer and the motor that constitute the geared motor. The characteristic information includes rigidity, friction, angular transmission error, etc.

[0101] The status information indicates the state of the speed reduction device. "Normal" indicates that the speed reduction device is functioning normally, meaning that the speed reduction device is in a normal state. "Abnormal" indicates that the speed reduction device is in an abnormal state, meaning that the speed reduction device is in an abnormal state.

[0102] The material information storage unit 142 can store information related to all speed reduction devices manufactured by the speed reduction device manufacturer 102. In addition to storing information related to speed reduction devices under manufacture, the material information storage unit 142 can also store information related to speed reduction devices manufactured in the past (i.e., those that have been discontinued).

[0103] Material information storage unit 142 stores n data points for each speed reduction device with IDs A, B, C, D, E, F, G, ... a n b n c n d n e n f n g There are n datasets... a n b n c n d n e n f and n g All are integers greater than or equal to 2.

[0104] The material information storage unit 142 stores, for each of the multiple deceleration devices, both datasets showing normal status information and datasets showing abnormal status information. That is, for the multiple deceleration devices, the material information storage unit 142 simultaneously stores characteristic information of the deceleration device in its normal state and characteristic information of the deceleration device in its abnormal state.

[0105] The material information storage unit 142 preferably stores multiple datasets for each of the multiple reduction gears, where the reduction gears are in normal condition and their characteristic information is different; more preferably, it stores a large number of datasets. Furthermore, the material information storage unit 142 preferably stores multiple datasets for each of the multiple reduction gears, where the reduction gears are in abnormal condition and their characteristic information is different; more preferably, it stores a large number of datasets. Additionally, "different characteristic information" means that at least one of rigidity, friction, and angular transmission error is different.

[0106] Figure 10 An example of the data structure of the robot state information storage unit 143 is shown.

[0107] The robot state information storage unit 143 establishes a corresponding association between robot state information, which represents the robot's own state during operation, and labels, which indicate whether an anomaly has occurred while the robot is in that state, and stores them. That is, the robot state information storage unit 143 stores labeled training data, which are used to indicate whether an anomaly exists in the robot under the corresponding robot state information.

[0108] In this example, the robot's status information includes tool position, motor current, and vibration. Tool position is the location of the reference point P of the tool mounted on the front end of the robot arm (see below). Figure 11 Motor current is the motor current that drives the motor of the reduction gear. When the reduction gear is a speed reducer, the motor is the motor connected to the speed reducer; when the speed reducer is a geared motor, the motor is the motor that constitutes the geared motor. Vibration is the vibration of the robot at a predetermined position.

[0109] Return to Figure 2 Upon request, the screen providing unit 125 sends the screen used to generate training data, namely the training data generation screen, to the user terminal 200 and displays it on the display of the user terminal 200.

[0110] Figure 11 An example of a training data generation screen 60 provided by the screen providing unit 125 is shown. The training data generation screen 60 includes a template selection button 22, a robot display area 24, a workpiece information bar 26, a robotic arm information area 28, a joint information area 30, an action condition bar 32, and a training data generation button 62.

[0111] Template selection button 22, robot display area 24, workpiece information bar 26, and motion condition bar 32 are respectively connected to Figure 3 The correspondence is consistent. In addition, after the user selects the template selection button 22, they can select the template corresponding to the robot with the selected deceleration device to be assembled or already assembled from the displayed template list.

[0112] In this embodiment, the robotic arm information area 28 includes a link ID field 36 and a link mass characteristic field 38. Additionally, the joint information area 30 includes a joint ID field 40, a joint position field 42, and a reduction gear field 44. Information specifying the reduction gear to be assembled or already assembled to each joint is entered in the reduction gear field 44.

[0113] If you select button 62 to generate training data, then Figure 11 Each information item is sent from the user terminal 200 to the auxiliary device 100, where the training data generation described later is performed.

[0114] Return to Figure 2 As explained in the description of the selection assistance function, the first receiving unit 121 receives robot specification information input by the user via the user terminal 200. In the training data generation function, the first receiving unit 121 receives data from the user terminal 200... Figure 11 The training data is generated by inputting robot specification-related information items in screen 60.

[0115] As explained in the description of the selection assistance function, the second receiving unit 122 receives information from the user regarding the deceleration devices to be assembled on each joint of the robot via the user terminal 200. In the training data generation function, the second receiving unit 122 receives data from the user terminal 200. Figure 11 The training data is generated from the input information in the deceleration device column 44 of the screen 60.

[0116] As explained in the description of the assistance function selection, the third receiving unit 123 receives robot action conditions input by the user via the user terminal 200. In the training data generation function, the third receiving unit 123 receives data from the user terminal 200... Figure 11 The training data generates the input information in the action condition bar 32 of screen 60.

[0117] As explained in the description of the selection of auxiliary functions, the deceleration device determination unit 126 determines the deceleration device based on the deceleration device designation received by the second receiving unit 122.

[0118] The robot state information generation unit 133 generates robot state information indicating the robot state under the following conditions: the deceleration device determined by the deceleration device determination unit 126 based on the specified information received by the second receiving unit 122 is assembled at the robot joint of the specifications received by the first receiving unit 121, and the robot operates based on the motion conditions received by the third receiving unit 123. For example, in Figure 11 When the training data generation button 62 is selected, the robot state information generation unit 133 performs the generation.

[0119] The robot state information generation unit 133 can also generate robot state information when the deceleration device is assembled on the robot and it is operating under the specified action conditions through simulation-based analysis. In this case, the robot state information generation unit 133 can use known or future available analysis techniques for analysis.

[0120] During the above generation process, the robot state information generation unit 133 uses the characteristic information stored in the material information storage unit 142 as the characteristic information of the deceleration device for each joint. While changing the combination of characteristic information of the deceleration devices for each joint, the robot state information generation unit 133 generates robot state information corresponding to each combination. The robot state information generation unit 133 generates robot state information when using normal and abnormal deceleration devices at each joint.

[0121] For example, when the robot has joints 1 to 6 and each is equipped with a reduction gear A to F, the robot state information generation unit 133 can also generate the n of the reduction gear A of joint 1. a Individual characteristic information, the deceleration device B of joint 2, n bIndividual characteristic information, the deceleration device C of joint 3, n c Individual characteristic information, the deceleration device D of joint 4, n d Individual characteristic information, the deceleration device E of joint 5. e Individual characteristic information, the deceleration device F of joint 6, n f Each characteristic information is permuted and combined one by one to generate a total of (n) a ×n b ×n c ×n d ×n e ×n f ( ) robot status information.

[0122] The robot state information generation unit 133 stores the generated robot state information in the robot state information storage unit 143. In particular, the robot state information generation unit 133 establishes a corresponding association between the robot state information and a tag indicating whether an anomaly has occurred when the robot is in that state, and stores the association in the robot state information storage unit 143.

[0123] When all the deceleration devices of each joint used to generate robot state information are functioning normally, the robot state information generation unit 133 sets the generated robot state information as normal robot state information, that is, sets it as the robot state information when the robot is functioning normally. At this time, the robot state information generation unit 133 establishes a corresponding association between the robot state information and the normal tag and stores it in the robot state information storage unit 143.

[0124] If at least one of the deceleration devices in each joint used to generate robot state information malfunctions, the robot state information generation unit 133 sets the generated robot state information to abnormal robot state information, that is, sets it to the robot state information when the robot (specifically, at least one deceleration device assembled to the robot) malfunctions. At this time, the robot state information generation unit 133 establishes a corresponding association between the robot state information and the abnormal tag and stores it in the robot state information storage unit 143.

[0125] Return to Figure 2 The robot status information providing unit 134 provides the user with the tagged robot status information, i.e., training data, stored in the robot status information storage unit (training data storage unit) 143. For example, the robot status information providing unit 134 sends the training data to the user terminal 200.

[0126] The above describes the structure related to the training data generation function. Next, the actions related to the training data generation function will be explained. The auxiliary device 100 provides the training data generation screen 60 to the user terminal 200 upon request. The user inputs the robot's specifications, the specified information of the deceleration device to be assembled or already assembled on the robot, and the robot's action conditions in the training data generation screen 60 via the user terminal 200.

[0127] If the training data generation button 62 on the training data generation screen 60 is selected, the user terminal 200 sends each information item from the training data generation screen 60 to the auxiliary device 100. The first receiving unit 121, the second receiving unit 122, and the third receiving unit 123 of the auxiliary device 100 receive the robot's specification information, the specified information of the deceleration device to be assembled or already assembled on the robot, and the robot's action conditions, respectively. The robot state information generation unit 133 generates robot state information indicating the robot's state under the following conditions: the deceleration device, determined according to the specification received by the second receiving unit 122, is assembled at the robot joints of the specifications received by the first receiving unit 121, and the robot operates under the action conditions received by the third receiving unit 123. At this time, the robot state information generation unit 133 uses the characteristic information stored in the material information storage unit 142 as the characteristic information of the deceleration device assembled at each joint. The robot state information generation unit 133 establishes a corresponding association between the generated robot state information and a tag and stores it in the robot state information storage unit 143. This tag is used to indicate whether an abnormality has occurred when the robot is in this state. The robot status information providing unit 134 provides the user with the robot status information associated with the tags, i.e., the training data.

[0128] The above describes the actions related to the training data generation function. Next, the effects related to the training data generation function will be explained.

[0129] According to this embodiment, the auxiliary device 100 generates robot state information based on robot specification information received from the user, specified information of the deceleration device, robot action conditions, and stored characteristic information of the deceleration device. The auxiliary device 100 sets the robot state information when the deceleration device is functioning normally as normal robot state information, and sets the robot state information when the deceleration device is malfunctioning as abnormal robot state information. The auxiliary device 100 provides these as training data to the user terminal 200. This reduces the burden on the user in generating training data for robot machine learning.

[0130] (Second Implementation) In the first embodiment, the robot's specifications, the specified reduction gear to be assembled on the robot, and the robot's operating conditions are received from the user. When the robot with the reduction gear assembled at its joints operates under these operating conditions, the lifespan of the reduction gear is predicted and provided to the user. In the second embodiment, the robot's specifications and operating conditions are received from the user, and a reduction gear suitable for operating the robot under these operating conditions is recommended. The differences from the first embodiment will be described below.

[0131] Figure 12 This is a block diagram illustrating the function and structure of the auxiliary device 100 according to the second embodiment. The data processing unit 120 of the auxiliary device 100 in the second embodiment includes: a first receiving unit 121, a third receiving unit 123, a screen providing unit 125, a deceleration device determining unit 126, a parsing unit 127, a lifespan prediction unit 130, a deceleration device recommending unit 132, a robot state information generating unit 133, and a robot state information providing unit 134.

[0132] The auxiliary device 100 implements a "selection assistance function" and a "training data generation function". The training data generation function is implemented in the same manner as in the first embodiment. Hereinafter, the selection assistance function will be described in terms of its differences from the selection assistance function in the first embodiment.

[0133] The selection of auxiliary functions is mainly achieved through the deceleration device information storage unit 141, the first receiving unit 121, the third receiving unit 123, the screen providing unit 125, and the deceleration device recommendation unit 132.

[0134] Figure 13 It shows Figure 12 An example of the selection assistance screen 20 provided by the screen providing unit 125. The selection assistance screen 20 includes: a template selection button 22, a robot display area 24, a workpiece information bar 26, a robotic arm information area 28, a joint information area 30, an action condition bar 32, a behavior bar 33, and a recommendation button 56.

[0135] In this embodiment, the joint information area 30 includes a joint ID field 40, a joint position field 42, a heat capacity information field 45, and a required lifespan field 46. The required lifespan of the deceleration device assembled in each joint is entered in the required lifespan field 46.

[0136] In the Behavior field 33, enter the desired robot behavior when the robot operates under the action conditions entered in the Action Condition field 32. For example, if the action conditions include the start and end points of the movement of the reference point P of the tool mounted at the front end of the robot arm, the speed of the movement of the reference point P, and the acceleration, the desired behavior could be that the load applied to the deceleration device is below a specified load, or that the deviation from the command regarding the reached position, i.e., the second position, is below a predetermined value. As another example, if the action condition is a three-dimensional target path, the desired behavior could be that the deviation from the command is below a predetermined value. Alternatively, the Behavior field 33 can be left blank.

[0137] If you select the recommended button 56, then Figure 13 Each information item is sent from the user terminal 200 to the auxiliary device 100, where the recommendation process described later is performed.

[0138] Return to Figure 12 The third receiving unit 123 in this embodiment also receives the necessary lifespan of the deceleration devices assembled in each joint of the robot. Specifically, the third receiving unit 123 also receives... Figure 13 Select the necessary lifespan field 46 in the auxiliary screen 20.

[0139] The life prediction unit 130 predicts the life of each of the multiple deceleration devices under the following conditions: each of the multiple deceleration devices stored in the deceleration device information storage unit 141 is sequentially assembled on the robot of the specifications received by the first receiving unit 121, and the robot is operated under the action conditions received by the third receiving unit 123.

[0140] The deceleration device recommendation unit 132 recommends one or more deceleration devices suitable for operating the robot under the motion conditions received by the third receiving unit 123, based on the life prediction results of the life prediction unit 130.

[0141] For example, the speed reduction device recommendation unit 132 can recommend one or more speed reduction devices whose predicted lifespan is greater than or equal to the required lifespan as candidates. Alternatively, the speed reduction device recommendation unit 132 can recommend only one speed reduction device as a candidate if only one speed reduction device has a predicted lifespan greater than or equal to the required lifespan, and recommend all of the speed reduction devices as candidates if multiple speed reduction devices have predicted lifespans greater than or equal to the required lifespan.

[0142] The speed reduction device recommendation unit 132 can also recommend the speed reduction device with the longest predicted lifespan as a candidate even if the required lifespan is not input.

[0143] Furthermore, the third receiving unit 123 can also receive actions desired for the robot to perform. Specifically, if in Figure 13The desired behavior of the robot is entered in the behavior column 33 of the selection auxiliary screen 20, and the third receiving unit 123 can also receive this input.

[0144] In this case, the analysis unit 127 analyzes the respective behaviors in the following situations: assembling multiple deceleration devices stored in the deceleration device information storage unit 141 sequentially onto the robot of the specifications received by the first receiving unit 121, and operating the robot under the action conditions received by the third receiving unit 123. The deceleration device recommendation unit 132 may also recommend one or more deceleration devices as candidates whose predicted lifespan is greater than the required lifespan and which meet the expected behavior.

[0145] Furthermore, if the required lifespan is not input, but the desired behavior for the robot is input, the lifespan prediction unit 130 may not be executed, and only the behavior analysis unit 127 may be executed. In this case, the deceleration device recommendation unit 132 will recommend one or more deceleration devices that satisfy the desired behavior as candidates.

[0146] Similar to the first embodiment, the analysis unit 127 can also analyze temperature changes in specific parts of the robot, such as components within the housing of a reducer or motor. That is, the behavior analyzed by the analysis unit 127 can also include temperature changes in specific parts of the robot. In this case, the reduction device recommendation unit 132 can also recommend one or more reduction devices to the user based on the analysis results of temperature changes. When lifespan prediction and behavior analysis are performed, the reduction device recommendation unit 132 can also recommend one or more reduction devices whose predicted lifespan is greater than the necessary lifespan and which meet predetermined temperature conditions as candidates. Furthermore, when the reduction device recommendation unit 132 performs behavior analysis only without lifespan prediction, it can also recommend one or more reduction devices that meet predetermined temperature conditions as candidates. The predetermined temperature condition can be that the temperature of a specific part of the robot during operation is below a predetermined allowable temperature.

[0147] If a deceleration device that meets the temperature requirements is not available, the deceleration device recommendation unit 132 prompts a change in the operating conditions. For example, the deceleration device recommendation unit 132 sends a screen indicating that the operating conditions should be changed because a deceleration device that meets the temperature requirements is not available to the user terminal 200 and displays it on the display of the user terminal 200.

[0148] The above describes the structure related to selecting assistive functions. Next, the actions related to selecting assistive functions will be explained. Here, we will explain the case where the desired behavior of the robot is entered in the behavior field 33 of the assistive function selection screen 20.

[0149] The auxiliary device 100 provides a selection assistance screen 20 to the user terminal 200 upon request. The user inputs robot specifications, robot operation conditions, and the required lifespan of the deceleration device into the selection assistance screen 20 via the user terminal 200. If the recommendation button 56 of the selection assistance screen 20 is selected, the user terminal 200 sends each information item from the selection assistance screen 20 to the auxiliary device 100. The first receiving unit 121 of the auxiliary device 100 receives the robot specifications; the third receiving unit 123 receives the required lifespan of the deceleration device, the robot operation conditions, and the expected behavior of the robot. The lifespan prediction unit 130 predicts the lifespan of each deceleration device under the following conditions: multiple deceleration devices stored in the deceleration device information storage unit 141 are sequentially assembled onto the robot of the specifications received by the first receiving unit 121, and the robot is operated under the operation conditions received by the third receiving unit 123. The analysis unit 127 analyzes the behavior of each robot in the following situations: multiple speed reduction devices stored in the speed reduction device information storage unit 141 are sequentially assembled onto a robot of the specifications received by the first receiving unit 121; and the robot operates under the action conditions received by the third receiving unit 123. For example, the analysis unit 127 analyzes temperature changes in specific parts of the robot as a behavior of the robot. The speed reduction device recommendation unit 132 recommends candidate speed reduction devices based on lifespan prediction results and behavior analysis results.

[0150] According to this embodiment, the auxiliary device 100 sequentially assembles multiple speed reduction devices onto a robot of specifications received from the user, predicts the lifespan of each speed reduction device when the robot operates under the motion conditions received from the user, and recommends candidate speed reduction devices based on the prediction results. Therefore, according to this embodiment, the user's burden can be reduced while selecting a more suitable speed reduction device.

[0151] The auxiliary device 100 recommends deceleration devices whose predicted lifespan exceeds the required lifespan received from the user as candidates. According to this embodiment, a more suitable deceleration device can be selected.

[0152] Furthermore, according to this embodiment, the assist device 100 can also receive the behavior expected to be performed by the robot. In this case, the assist device 100 analyzes the behavior in the following situations: sequentially assembling multiple deceleration devices onto the robot of specifications received from the user, and operating the robot under the action conditions received from the user. The assist device 100 recommends candidate deceleration devices based on either prediction results or, alternatively, analysis results of the robot's behavior. Therefore, according to this embodiment, a suitable deceleration device can be selected while reducing the user's burden.

[0153] The auxiliary device 100 analyzes temperature changes at specific parts of the robot as part of the robot's behavior, for example. In this case, the auxiliary device 100 can recommend candidates for deceleration devices that meet predetermined temperature conditions. Therefore, according to this embodiment, a more suitable deceleration device can be selected.

[0154] The present invention has been described above based on embodiments. These embodiments are examples, and those skilled in the art will understand that various modifications can exist in the combination of these constituent elements or processing steps, and such modifications are also within the scope of the present invention. Hereinafter, such modifications will be described.

[0155] (Example 1) In the above embodiment, the life prediction unit 130 predicts the life of the entire deceleration device, but the life prediction unit 130 can also predict the life of each of the multiple parts of the deceleration device.

[0156] The life prediction unit 130 can use known or future-available prediction techniques to predict the lifespan of multiple components separately. The life prediction methods for each component can be different. For example, the life prediction unit 130 can use known or future-available life calculation formulas to predict the lifespan of each component individually. These multiple components may be, for example, main bearings such as crossed roller bearings, eccentric bearings, and gear teeth.

[0157] The life prediction providing unit 131 can provide the user with the predicted life of each of the multiple parts of the deceleration device. Alternatively, the life prediction providing unit 131 can provide the user with the predicted life of the part with the shortest predicted life among the multiple parts of the deceleration device. That is, the life prediction providing unit 131 can provide the user with the predicted life of the deceleration device as the predicted life of the deceleration device, based on the predicted life of the part with the shortest predicted life among the multiple parts of the deceleration device.

[0158] The deceleration device recommendation unit 132 determines whether the lifespan of the part with the shortest predicted lifespan among the multiple parts predicted by the lifespan prediction unit 130 meets the predetermined lifespan condition. If the shortest predicted lifespan does not meet the predetermined lifespan condition, it can recommend a different deceleration device to the user.

[0159] (Second variation) The third receiving unit 123 can also receive the ambient temperature around the deceleration device as an operating condition. For example, the third receiving unit 123 can receive the ambient temperature from the user via the user terminal 200. Furthermore, a temperature sensor can be installed in an appropriate location, such as within the deceleration device, from which the third receiving unit 123 receives the ambient temperature. The lifespan prediction unit 130 can also consider the ambient temperature received by the third receiving unit 123 to predict the lifespan of the deceleration device. For example, when the lifespan prediction unit 130 predicts the lifespan using a lifespan calculation formula, the lifespan calculation formula can also include the ambient temperature [°C] as a variable. According to this modified example, the lifespan of the deceleration device can be predicted with higher accuracy.

[0160] (3rd variation) Although not specifically mentioned in the embodiment, the lifespan prediction unit 130 can also predict the lifespan of the lubricant sealed in the reduction gear; in other words, it can predict the lubricant replacement cycle. Specifically, the lifespan prediction unit 130 can predict the lifespan of the lubricant sealed in the reduction gear when: the reduction gear determination unit 126, according to the specification received by the second receiving unit 122, assembles the reduction gear to the robot joint of the specifications received by the first receiving unit 121, and the robot operates under the motion conditions received by the third receiving unit 123. The lifespan prediction unit 130 can use known or future available technologies to predict the lubricant lifespan.

[0161] (4th variation) In one embodiment, the robot state information generation unit 133 establishes a corresponding association between the robot state information and tags indicating whether the robot has experienced an abnormality, and stores the association in the robot state information storage unit 143. However, the present invention is not limited thereto. The robot state information generation unit 133 may also establish a corresponding association between the robot state information and tags indicating whether the deceleration device of each joint is normal or abnormal.

[0162] (5th variation) Unlike the implementation method, the status information of the material information storage unit 142 may include a warning status in addition to normal and abnormal status. A warning status indicates a high probability of a deceleration device malfunction. In this case, if at least one deceleration device in each joint used to generate robot status information is in a warning status, the robot status information generation unit 133 will generate robot status information that corresponds to the warning status. That is, when the robot (specifically, at least one deceleration device assembled in the robot) is in a warning status, robot status information corresponding to the warning category will be generated. At this time, the robot status information generation unit 133 will establish a corresponding association between the robot status information and the warning status label and store it in the robot status information storage unit 143. Furthermore, for example, the status of a new product can be set to "0", the status of a complete failure can be set to "1", and the status of intermediate ranges can be set with corresponding labels at intervals of 0.1. In this case, a predetermined range (e.g., 0.5 to 0.7) can be set as a warning status, and ranges above this range (e.g., 0.8 and above) can be set as a failure status.

[0163] In the embodiments and variations, the auxiliary device 100 has been described as the main device, but the disclosure of the present invention can be regarded as a deceleration device selection assistance method having each step performed by the auxiliary device 100; it can also be regarded as a program for causing the auxiliary device 100 to perform each step; or it can be regarded as a storage medium storing the program.

[0164] Industrial availability This invention can be used in auxiliary devices.

[0165] Symbol Explanation 10-Auxiliary system, 100-Auxiliary device, 121-First receiving unit, 122-Second receiving unit, 123-Third receiving unit, 127-Analysis unit, 129-Analysis result providing unit, 140-Storage unit.

Claims

1. An auxiliary device comprising: The storage unit associates and stores the characteristic information of the deceleration device with information that can determine the category of the deceleration device. The characteristic information of the deceleration device is characteristic information that changes according to the condition of the deceleration device. The first receiving unit receives the robot's specification information; The second receiving unit receives the designation for the deceleration device assembled at each joint of the robot; The analysis unit analyzes the behavior of the robot as it assembles the specified deceleration devices at each joint; and The results provision department provides users with the analysis results. The analysis unit analyzes the robot's behavior, including temperature changes at specific parts of the robot.

2. The auxiliary device according to claim 1, wherein, The first receiving unit receives information that can determine the thermal capacity of each component of the robot, as the robot's specification information.

3. The auxiliary device according to claim 1, comprising: The third receiving unit receives the robot's motion conditions. The third receiving unit receives multiple consecutive action conditions. The analysis unit analyzes the continuous temperature changes under the multiple consecutive action conditions as behavior.

4. An auxiliary device comprising: The storage unit associates and stores the characteristic information of the deceleration device with information that can determine the category of the deceleration device. The characteristic information of the deceleration device is characteristic information that changes according to the condition of the deceleration device. The first receiving unit receives the robot's specification information; The third receiving unit receives the robot's action conditions; The analysis unit analyzes the temperature changes of specific parts of the robot under specified operating conditions; and The speed reduction device recommendation department recommends one or more speed reduction devices to the user based on the analysis results.

5. The auxiliary device according to claim 4, wherein, In the absence of a deceleration device that meets the temperature requirements, the operating conditions are altered.

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