Speed reducer selection support device

Abstract

To provide a technique which supports selection of a speed reducer.SOLUTION: A speed reducer selection support device 100 comprises: a storage part which stores characteristic information of a speed reducer in association with information capable of specifying a type of the speed reducer; a first reception part 121 which receives specification information of a robot; a second reception part 122 which receives a specification of the speed reducer incorporated in each joint of the robot; a third reception part 123 which receives an operation condition of the robot; a life prediction part 130 which predicts a life of the speed reducer when the robot where the specified speed reducer is incorporated into each joint is operated under the specified operation condition; and an estimation life presentation part 131 which presents the prediction result of the life prediction part 130 to a user.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a deceleration device selection support device.

Background Art

[0002] Robots in which deceleration devices are incorporated in a plurality of joint portions are known. For example, Patent Document 1 discloses a robot in which an eccentric swing type reduction gear is incorporated in a joint portion.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When designing a robot, a deceleration device to be incorporated in each joint is selected, but this selection is very time-consuming.

[0005] The present invention has been made in view of such a situation, and an object thereof is to provide a technique for assisting in the selection of a deceleration device.

Means for Solving the Problems

[0006] In order to solve the above problems, a deceleration device selection support device according to an aspect of the present invention includes a storage unit that stores characteristic information of the deceleration device, which is characteristic information that can be specified for the type of the deceleration device and that changes according to a change in the situation of the deceleration device, in association with information that can specify the type of the deceleration device; a first reception unit that receives specification information of a robot; a second reception unit that receives designation of a deceleration device to be incorporated in each joint of the robot; a third reception unit that receives operating conditions of the robot; a life prediction unit that predicts the life of the deceleration device when the robot in which the designated deceleration device is incorporated in each joint is operated under the designated operating conditions; and a predicted life providing unit that provides the prediction result by the life prediction unit to a user.

[0007] Another aspect of the present invention is also a reduction gear selection support device. This device includes a storage unit that stores characteristic information of the reduction gear, which changes according to the change in the situation of the reduction gear, in association with information capable of specifying the type of the reduction gear; a first reception unit that receives the specification information of the robot; a third reception unit that receives the operating conditions of the robot; a life prediction unit that predicts the life of a plurality of reduction gears when operating under the specified operating conditions; and a reduction gear proposal unit that proposes one or more reduction gears to the user based on the life prediction result by the life prediction unit.

[0008] In addition, any combination of the above components, or those obtained by mutually replacing the components and expressions of the present invention among methods, devices, systems, etc., are also effective as aspects of the present invention.

Effects of the Invention

[0009] According to the present invention, a technique for supporting the selection of a reduction gear can be provided.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiment for Carrying Out the Invention

[0011] Hereinafter, the same or equivalent components, members, and steps shown in each drawing are denoted by the same reference numerals, and repeated explanations are omitted as appropriate. Also, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. In addition, a part of the members that are not important for explaining the embodiment in each drawing is omitted from the display.

[0012] First, the background leading to the present invention will be described. When designing a robot, a speed reducer to be incorporated into each joint is selected. In the selection of the speed reducer, the life of the speed reducer when a robot with a candidate speed reducer incorporated into the joint is operated under specified operating conditions is predicted. The life can be predicted, for example, using the life calculation formula described in the catalog. However, for that purpose, it is necessary to calculate the load applied to the speed reducer when the robot is operated under specified operating conditions and extract the value to be input into the life calculation formula, which imposes a large burden on the user. The present invention has been made to assist in the selection of the speed reducer based on such findings.

[0013] (First Embodiment) Before explaining the first embodiment in detail, an overview will be described. The first embodiment relates to a technique for assisting in the selection of a speed reduction device incorporated in a joint of a robot. The speed reduction device selection support device according to the first embodiment provides a selection support screen to a user terminal. The user terminal receives an input from the user with respect to the selection support screen. The input with respect to the selection support screen includes specification information of a robot under design, designation of a speed reduction device (model number or specifications) to be incorporated in a joint of the robot, and operating conditions of the robot. The speed reduction device selection support device receives these inputs. The speed reduction device selection support device predicts the life of the speed reduction device when operating a robot of the received specifications with the designated speed reduction device incorporated in the joint under the received operating conditions. The speed reduction device selection support device provides the prediction result of the life to the user terminal. The user can use this prediction result as a reference for the selection of the speed reduction device.

[0014] FIG. 1 is a schematic diagram showing the configuration of a speed reduction device selection support system 10 according to the first embodiment. The speed reduction device selection support system 10 includes a speed reduction device selection support device 100 and a user terminal 200. The speed reduction device selection support device 100 and the user terminal 200 are connected via a network such as the Internet.

[0015] The speed reduction device selection support device 100 is an information processing device managed by a speed reduction device manufacturer 102. The speed reduction device manufacturer 102 is a company that manufactures speed reduction devices. The speed reduction device is a speed reducer or a gear motor (a device in which a speed reducer and a motor are connected). Here, "managed by the speed reduction device manufacturer 102" includes not only the case where the speed reduction device manufacturer 102 directly manages but also the case where a company commissioned by the speed reduction device manufacturer 102 manages.

[0016] In the present embodiment, the speed reduction device selection support device 100 is configured by a single device (housing), but there is no limit to the physical number of housings of the speed reduction device selection support device 100, and it may be realized by the cooperation of a plurality of devices.

[0017] The user terminal 200 is an information processing terminal used by the user 202, and is, for example, a general PC, a tablet terminal, or a smartphone. The user 202 is not particularly limited, but is typically a robot manufacturer. That is, the user 202 is a user who selects a speed reduction device to be incorporated into the joints of a robot.

[0018] FIG. 2 is a block diagram showing the functions and configuration of the speed reduction device selection support device 100. Each block shown here can be realized, in terms of hardware, by elements and mechanical devices including a computer's CPU (central processing unit), and can be realized, in terms of software, by a computer program or the like. Here, however, functional blocks realized by their cooperation are depicted. Therefore, it is understood by those skilled in the art who have read this specification that these functional blocks can be realized in various forms by a combination of hardware and software. The same applies to the block diagram of FIG. 8.

[0019] The speed reduction device selection support device 100 includes a communication unit 110, a data processing unit 120, and a storage unit 140. The communication unit 110 executes communication processing with the user terminal 200 according to various communication protocols. The data processing unit 120 executes various data processes based on the data acquired by the communication unit 110 and the data stored in the storage unit 140. The storage unit 140 stores various prepared data and the data received from the communication unit 110 and the data processing unit 120.

[0020] The storage unit 140 includes a speed reduction device information storage unit 141. The speed reduction device information storage unit 141 stores, in association with each other, a speed reduction device ID for uniquely identifying a speed reduction device, information capable of specifying the type of the speed reduction device (hereinafter also referred to as type specification information), and characteristic information of the speed reduction device for each of a plurality of speed reduction devices. The type specification information includes the model, frame number, reduction ratio, etc. of the speed reduction device.

[0021] 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, and the like. The characteristic information is not particularly limited, but is defined to change according to changes in the situation of the speed reduction device (for example, temperature and rotational speed). That is, friction is defined as a function having at least temperature and rotational speed as variables. Similarly, the angular transmission error is defined as a function having at least the rotational angle of the speed reducer as a variable.

[0022] The speed reduction device information storage unit 141 may store the characteristic information of all speed reduction devices manufactured by the speed reduction device manufacturer 102. Further, the speed reduction device information storage unit 141 may store the characteristic information of the speed reduction devices manufactured in the past (that is, the manufacturing has been completed) in addition to the characteristic information of the speed reduction devices being manufactured.

[0023] The data processing unit 120 includes a first reception unit 121, a second reception unit 122, a third reception unit 123, a screen providing unit 125, a speed reduction device specifying unit 126, an analysis unit 127, an analysis result providing unit 129, a life prediction unit 130, a predicted life providing unit 131, and a speed reduction device proposal unit 132.

[0024] The screen providing unit 125 transmits a selection support screen, which is a screen for supporting the selection of a speed reduction device, to the user terminal 200 in response to a request and causes it to be displayed on the display of the user terminal 200.

[0025] FIG. 3 is a diagram showing an example of the selection support screen 20 provided by the screen providing unit 125 of FIG. 2. The selection support screen 20 includes a template selection button 22, a robot display area 24, a work information column 26, an arm information area 28, a joint information area 30, an operation condition column 32, an analysis button 34, and a life prediction button 35.

[0026] When 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 configured from the displayed list of templates. In the robot display area 24, a schematic diagram of the robot of the selected template is displayed.

[0027] The workpiece information field 26 inputs the mass characteristics of the workpiece. The mass characteristics are, for example, weight, center of gravity position, moment of inertia, etc.

[0028] The arm information area 28 includes a link ID column 36 and a link mass characteristic column 38. In the link ID column 36, an ID for identifying the link is displayed. Note that the number of links of the robot is determined by selecting a template. In the link mass characteristic column 38, the mass characteristics of the link are input.

[0029] The joint information area 30 includes a joint ID column 40, a joint position column 42, and a speed reducer column 44. In the joint ID column 40, an ID for identifying the joint (rotation axis) is displayed. Note that the number of joints of the robot is determined by selecting a template.

[0030] In the joint position column 42, the three-dimensional positions of the respective joints (rotation axes) in the reference posture (for example, the initial posture) of the robot with a predetermined reference point O (refer to the robot display area 24) as the origin are input. In the joint position column 42, the default value set in the template may be input. In this case, the user may change the joint position column 42 from the default value, for example, by direct input as needed. Note that in the illustration displayed in the robot display area 24, the position of the joint may be changeable by an operation such as drag and drop, and accordingly, the input in the joint position column 42 may be changed. That is, the joint position column 42 may be input in the form of changing the template.

[0031] In the reduction gear column 44, information for specifying the reduction gear to be incorporated into each joint is input, such as the model number, frame number, or specification information of the reduction gear. The specification information of the reduction gear includes, for example, the reduction ratio and the required torque. When the reduction gear is a gear motor, the specification information of the reduction gear also includes, for example, the inertia moment of the motor and the maximum generated torque. In the joint position column 42, multiple pieces of information, for example, multiple pieces of specification information, may be input for one joint. For example, in the joint position column 42, both the reduction ratio and the required torque may be input for one joint. Note that when the reduction gear does not include a motor, the inertia moment and the maximum generated torque of the motor may be in a form selected from a template similar to that of the reduction gear or in a form that can be specified individually by the user.

[0032] In the operating condition column 32, the operating conditions of the robot are input. For example, the operating conditions include the start point and the end point where the reference point P of the tool attached to the tip of the robot arm moves, the stop time at each point, the presence or absence of the workpiece during operation, the speed and acceleration at which the reference point P moves. Also, for example, the operating condition is a three-dimensional target path along which the reference point P moves. The operating conditions may be input in a predetermined format for each type. The control method and control parameters of the motor when analyzing the behavior may be in a form adjustable by the user. Conditions for sequentially performing multiple operations may be given. Since it is desirable in the life calculation that a series of operations be input as one cycle, restrictions may be imposed so that the start point and the end point match when accepting user input.

[0033] When the analysis button 34 is selected, each information item in FIG. 3 is transmitted from the user terminal 200 to the reduction gear selection support device 100, and the analysis described below is executed in the reduction gear selection support device 100.

[0034] When the life prediction button 35 is selected, each information item in FIG. 3 is transmitted from the user terminal 200 to the reduction gear selection support device 100, and the life prediction described below is executed in the reduction gear selection support device 100.

[0035] Return to FIG. 2. The first reception unit 121 receives the specification information of the robot from the user via the user terminal 200. Specifically, the first reception unit 121 receives, from the user terminal 200, information items regarding the specifications of the robot on the selection support screen 20 in FIG. 3, specifically, the mass characteristics of the workpiece, the mass characteristics of the links, the number of joints, and the joint positions of each joint.

[0036] The second reception unit 122 receives, from the user via the user terminal 200, the designation of the speed reducer to be incorporated into each joint of the robot. Specifically, the second reception unit 122 receives the input in the speed reducer column 44 of the selection support screen 20 in FIG. 3 from the user terminal 200.

[0037] The third reception unit 123 receives the operating conditions of the robot from the user via the user terminal 200. Specifically, the third reception unit 123 receives the input in the operating conditions column 32 of the selection support screen 20 in FIG. 3 from the user terminal 200.

[0038] The speed reducer specifying unit 126 specifies the speed reducer based on the designation of the speed reducer received by the second reception unit 122. Specifically, the speed reducer specifying unit 126 specifies, from the speed reducer information storage unit 141, the speed reducer ID of the speed reducer that matches the designation of the speed reducer received by the second reception unit 122 and the characteristic information of the speed reducer. Note that a plurality of speed reducers may be specified. For example, when the information for designating the speed reducer is the specification information of the speed reducer, there may be a plurality of speed reducers that match, that is, satisfy, the specification information. In this case, the speed reducer specifying unit 126 may specify the plurality of speed reducers.

[0039] The analysis unit 127 analyzes, by simulation, the behavior when the robot of the specifications received by the first reception unit 121 operates with the reduction gear specified by the reduction gear specifying unit 126 based on the specification received by the second reception unit 122 incorporated in the joints under the operating conditions received by the third reception unit 123. The analysis unit 127 executes this analysis, for example, when the analysis button 34 in FIG. 3 is selected. The analysis unit 127 may perform the analysis using known or future available analysis techniques. In this analysis, the analysis unit 127 uses the characteristic information stored in the reduction gear information storage unit 141 as the characteristic information of the reduction gear incorporated in each joint.

[0040] When the reduction gear specifying unit 126 specifies a plurality of reduction gears for a certain joint, the analysis unit 127 may sequentially incorporate the plurality of reduction gears and analyze the behavior in each case.

[0041] The analysis result providing unit 129 provides the analysis result by the analysis unit 127 to the user. The analysis result is, for example, the deviation from the command value regarding the position of the reference point P of the tool attached to the tip of the robot arm, the deviation from the command value regarding the rotation angle of each joint (rotation axis), and the comparison between the load applied to the reduction gear and the allowable load included in the characteristic information of the reduction gear. The analysis result providing unit 129 transmits, for example, an analysis result screen showing the analysis result to the user terminal 200 and causes it to be displayed on the display of the user terminal 200.

[0042] FIG. 4 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 moving the reference point P of the tool along the target trajectory. In FIG. 4, the horizontal axis is time and the vertical axis is the position of the reference point P of the tool. The solid line graph is the analysis result and the dashed line graph is the command value.

[0043] FIG. 5 is a diagram showing another example of the analysis result provided to the user. In FIG. 5, the horizontal axis is time and the vertical axis is the load applied to the joint, that is, the reduction gear. The solid line graph is the analysis result and the dashed line is the allowable load of the reduction gear.

[0044] By checking the analysis results in FIGS. 4 and 5, the user can immediately understand the behavior of the robot when a specified speed reducer is incorporated.

[0045] FIG. 6 is a diagram showing still another example of the analysis results provided to the user. The analysis results of this example are, similar to FIG. 4, the error from the command value when moving the reference point P of the tool along the target trajectory. This example shows the analysis results when the speed reducer specifying unit 126 specifies candidates for a plurality of speed reducers for a certain joint and the analysis unit 127 analyzes the behavior in each case. Here, the solid line and dashed-dotted line graphs are the analysis results, and the dashed line graph is the command value. By presenting the analysis results for each of the plurality of candidates, the user can select a more appropriate speed reducer.

[0046] Returning to FIG. 2. The life prediction unit 130 incorporates the speed reducer specified by the speed reducer specifying unit 126 based on the specification received by the first reception unit 121 into the joints of the robot specified by the second reception unit 122, and predicts the life of the speed reducer when the robot is operated under the operating conditions received by the third reception unit 123. For example, when the life prediction button 35 in FIG. 3 is selected, this life prediction is executed. The life prediction unit 130 may predict the life of the speed reducer using known or future available prediction techniques. The predicted life is expressed as the time until failure when the operating conditions specified by the user are repeated. When the robot has a plurality of joints, the life prediction unit 130 may predict the life of the candidates for the speed reducers of each joint.

[0047] For example, the life prediction unit 130 may predict the life using a known or future applicable life calculation formula. For example, the life calculation formula may include the rated life [h], rated rotation speed [rpm], and rated torque [Nm] of the speed reducer as parameters, and may include the average rotation speed [rpm] and average load torque [Nm] of the speed reducer as variables. In this case, the life prediction unit 130 may substitute the average rotation speed and average load torque obtained by analysis using the characteristic information stored in the speed reducer information storage unit 141 into the life calculation formula. Known or future applicable analysis techniques are used for this analysis. This analysis may be executed by the life prediction unit 130 or may be executed by the analysis unit 127.

[0048] When the speed reducer specifying unit 126 specifies a plurality of speed reducers for a certain joint, the life prediction unit 130 may sequentially incorporate the plurality of speed reducers and predict their respective lives.

[0049] The predicted life providing unit 131 provides the user with the prediction result of the life of the speed reducer predicted by the life prediction unit 130. For example, the predicted life providing unit 131 transmits a life prediction result screen showing the prediction result of the life to the user terminal 200 and causes it to be displayed on the display of the user terminal 200.

[0050] The speed reducer proposing unit 132 determines whether the life of the speed reducer predicted by the life prediction unit 130 satisfies a predetermined life condition. When the predicted life does not satisfy the predetermined life condition, the speed reducer proposing unit 132 proposes to the user a speed reducer different from the said speed reducer. For example, the speed reducer proposing unit 132 transmits a proposal screen for proposing a different speed reducer to the user terminal 200 and causes it to be displayed on the display of the user terminal 200.

[0051] The predetermined lifetime condition may be that the predicted lifetime meets the predetermined lifetime requirement. Specifically, the predetermined lifetime condition may be that the predicted lifetime (in hours) is equal to or greater than the generally required lifetime length (for example, 20,000 hours). Alternatively, the predetermined lifetime condition may be that the total number of operating cycles (such as 1 million cycles, etc.) obtained by regarding a series of operating conditions input by the user as one cycle is equal to or greater than a certain value. Or it may be equal to or greater than the total number of operating cycles specified by the input from the user.

[0052] The predetermined lifetime condition may be that the predicted lifetime is equal to or greater than the required lifetime specified by the user. The required lifetime may be in hours or the total number of rotations.

[0053] Another reduction gear is not particularly limited, but it may be a reduction gear with a higher load-bearing capacity, typically a larger reduction gear, than the reduction gear specified by the user, that is, the reduction gear determined not to meet the predetermined lifetime condition. In this case, another reduction gear may be all reduction gears with a higher load-bearing capacity than the reduction gear specified by the user among all the reduction gears stored in the reduction gear information storage unit 141.

[0054] Alternatively, another reduction gear may be a reduction gear with a higher load-bearing capacity than the reduction gear specified by the user and the reduction gear with the closest load-bearing capacity to the reduction gear specified by the user among the plurality of reduction gears stored in the reduction gear information storage unit 141. That is, another reduction gear may be a reduction gear with a size one larger than the reduction gear specified by the user among the plurality of reduction gears stored in the reduction gear information storage unit 141.

[0055] The reduction gear proposal unit 132 provides the user with the type identification information of another reduction gear proposed by the reduction gear proposal unit 132 for a reduction gear that does not meet the predetermined lifetime condition.

[0056] FIG. 7 is a diagram showing an example of a remaining life prediction result screen provided to the user. The remaining life prediction result screen in this example includes the joint ID of each joint, the remaining life condition required for the speed reducer of each joint, the predicted remaining life of the speed reducer of each joint specified by the user, and the type identification information of another speed reducer proposed when the remaining life condition is not satisfied. In this example, the remaining life prediction result screen also serves as a proposed screen for another speed reducer.

[0057] By checking the remaining life prediction result screen in FIG. 7, the user can immediately understand the remaining life of the speed reducer specified by the user, whether the remaining life meets the remaining life condition, and another speed reducer proposed when the remaining life condition is not satisfied.

[0058] The above is the configuration of the speed reducer selection support system 10. Next, its operation will be described. The speed reducer selection support device 100 provides the selection support screen 20 to the user terminal 200 in response to a request. The user inputs the robot specification information, the specification of the speed reducer to be incorporated into the robot, and the operation conditions of the robot into the selection support screen 20 via the user terminal 200. When the remaining life prediction button 35 on the selection support screen 20 is selected, the user terminal 200 transmits each information item on the selection support screen 20 to the speed reducer selection support device 100. The first reception unit 121, the second reception unit 122, and the third reception unit 123 of the speed reducer selection support device 100 receive the robot specification information, the specification of the speed reducer to be incorporated into the robot, and the operation conditions of the robot, respectively. The analysis unit 127 predicts the remaining life of the speed reducer when the speed reducer specified based on the specification received by the second reception unit 122 is incorporated into the joint of the robot specified by the first reception unit 121 and the robot is operated under the operation conditions received by the third reception unit 123. At this time, the remaining life prediction unit 130 performs an analysis using, for example, the characteristic information stored in the speed reducer information storage unit 141, substitutes the average rotation speed and the average load torque obtained by the analysis into the remaining life calculation formula, and calculates the remaining life of the speed reducer.

[0059] According to this embodiment, the reduction gear selection support device 100 predicts the life of the reduction gear based on the specification information of the robot received from the user, the designation of the reduction gear incorporated in the joints of the robot, the operating conditions of the robot, and the characteristic information of the reduction gear, and provides the prediction result to the user. Therefore, according to this embodiment, the burden on the user regarding the prediction of the life of the reduction gear and thus the selection of the reduction gear can be reduced.

[0060] Also, according to this embodiment, when there are a plurality of reduction gears that match the designation of the reduction gear received from the user, the reduction gear selection support device 100 sequentially incorporates the plurality of reduction gears into the joints of the robot, predicts the life in each case, and provides the prediction results to the user. By presenting the prediction results of the life when each of the plurality of candidates is incorporated, the user can select a more appropriate reduction gear.

[0061] Also, according to this embodiment, the reduction gear selection support device 100 analyzes the behavior of the operation of the robot based on the specification information of the robot received from the user, the designation of the reduction gear, the operating conditions of the robot, and the characteristic information of the reduction gear, and provides the analysis result to the user. Here, the reduction gear selection support device 100 stores, as the characteristic information of the reduction gear, the characteristic information that changes according to the change in the situation of the reduction gear, and executes an analysis considering the change in the situation of the reduction gear. Therefore, according to this embodiment, it is possible to execute an analysis with high accuracy while reducing the burden on the user, and appropriately select a reduction gear.

[0062] (Second Embodiment) In the first embodiment, the specification of the robot, the designation of the reduction gear to be incorporated into the robot, and the operating conditions of the robot are received from the user, and the life of the reduction gear when the robot with the reduction gear incorporated into the joint is operated under the operating conditions is predicted and provided to the user. In the second embodiment, the specification of the robot and the operating conditions of the robot are received from the user, and a reduction gear suitable for operating the robot under the operating conditions is proposed. Hereinafter, the description will focus on the differences from the first embodiment.

[0063] FIG. 8 is a block diagram showing the functions and configuration of the reduction gear selection support device 100 according to the second embodiment. The data processing unit 120 of the reduction gear selection support device 100 according to the second embodiment includes a first reception unit 121, a third reception unit 123, a screen providing unit 125, and a reduction gear proposal unit 132.

[0064] FIG. 9 is a diagram showing an example of the selection support screen 20 provided by the screen providing unit 125 in FIG. 8. The selection support screen 20 includes a template selection button 22, a robot display area 24, a work information column 26, an arm information area 28, a joint information area 30, an operation condition column 32, a behavior column 33, and a proposal button 56.

[0065] In the joint information area 30, in this embodiment, it further includes a required life column 46. In the required life column 46, the required life of the reduction gear incorporated in each joint is input.

[0066] In the behavior column 33, the behavior of the robot to be realized when the robot is operated under the operation conditions input in the operation condition column 32 is input. For example, when the operation conditions include the start point and the end point where the reference point P of the tool attached to the tip of the robot arm moves, the speed and acceleration at which the reference point P moves, the behavior to be realized may be that the load applied to the reduction gear is below the specified load, or the deviation from the command for the second position which is the arrival position is within a predetermined value. Also, for example, when the operation condition is a three-dimensional target path, the behavior to be realized may be that the deviation from the command is within a predetermined value. Note that the behavior column 33 may be left uninput.

[0067] When the proposal button 56 is selected, each information item in FIG. 9 is transmitted from the user terminal 200 to the reduction gear selection support device 100, and the proposal described later is executed in the reduction gear selection support device 100.

[0068] Return to Fig. 8. The third reception unit 123 of the present embodiment further receives the required life of the speed reduction devices incorporated in each joint of the robot. Specifically, the third reception unit 123 further receives the input in the required life column 46 of the selection support screen 20 in Fig. 9.

[0069] The life prediction unit 130 sequentially incorporates each of the plurality of speed reduction devices stored in the speed reduction device information storage unit 141 into the robot of the specification received by the first reception unit 121, and predicts the life of each of the plurality of speed reduction devices when the robot is operated under the operating conditions received by the third reception unit 123.

[0070] The speed reduction device proposal unit 132 proposes one or more speed reduction devices suitable for operating the robot under the operating conditions received by the third reception unit 123 based on the life prediction results by the life prediction unit 130.

[0071] For example, the speed reduction device proposal unit 132 may propose, as candidates, one or more speed reduction devices whose predicted life is equal to or longer than the required life. If there is one speed reduction device whose predicted life is equal to or longer than the required life, the speed reduction device proposal unit 132 may propose the one speed reduction device as a candidate, and if there are a plurality of speed reduction devices whose predicted life is equal to or longer than the required life, the speed reduction device proposal unit 132 may propose the plurality of speed reduction devices as candidates.

[0072] If the required life is not input, the speed reduction device proposal unit 132 may propose, as a candidate, the speed reduction device with the longest predicted life.

[0073] Also, the third reception unit 123 may further receive the behavior that the robot is desired to achieve. Specifically, when the behavior that the robot is desired to achieve is input in the behavior column 33 of the selection support screen 20 in Fig. 9, the third reception unit 123 may receive the input.

[0074] In this case, the speed reducer proposal unit 132 may sequentially incorporate each of the plurality of speed reducers stored in the speed reducer information storage unit 141 into the robot with the specifications received by the first reception unit 121, and analyze the respective behaviors when the robot is operated under the operating conditions received by the third reception unit 123. The speed reducer proposal unit 132 may propose, as candidates, speed reducers whose predicted life is equal to or longer than the required life and that satisfy the desired behavior.

[0075] Next, the operation will be described. The speed reducer selection support device 100 provides the selection support screen 20 to the user terminal 200 in response to a request. The user inputs, via the user terminal 200, the robot specification information, the operating conditions of the robot, and the required life of the speed reducer, into the selection support screen 20. When the proposal button 56 on the selection support screen 20 is selected, the user terminal 200 transmits each information item on the selection support screen 20 to the speed reducer selection support device 100. The first reception unit 121 of the speed reducer selection support device 100 receives the robot specification information. The third reception unit 123 receives the operating conditions of the robot and the required life of the speed reducer. The life prediction unit 130 sequentially incorporates each of the plurality of speed reducers stored in the speed reducer information storage unit 141 into the robot with the specifications received by the first reception unit 121, and predicts the life of each of the plurality of speed reducers when the robot is operated under the operating conditions received by the third reception unit 123. The speed reducer proposal unit 132 proposes candidates for the speed reducer based on the life prediction results by the life prediction unit 130.

[0076] According to the present embodiment, the speed reducer selection support device 100 sequentially incorporates each of the plurality of speed reducers into the robot with the specifications received from the user, predicts the life of each of the plurality of speed reducers when the robot is operated under the operating conditions received from the user, and proposes candidates for the speed reducer based on the prediction results. Therefore, according to the present embodiment, it is possible to select a more appropriate speed reducer while reducing the burden on the user.

[0077] The deceleration device selection support device 100 proposes a deceleration device whose predicted life is equal to or greater than the required life received from the user as a candidate. According to the present embodiment, a more appropriate deceleration device can be selected.

[0078] As described above, the present invention has been described based on the embodiments. These embodiments are examples, and it is understood by those skilled in the art that various modifications are possible for each of these components and combinations of each processing process, and such modifications are also within the scope of the present invention. Hereinafter, such modifications will be described.

[0079] (First Modification Example) In the above-described embodiment, the case where the life prediction unit 130 predicts the life of the entire deceleration device has been described. However, the life prediction unit 130 may predict the life of each of a plurality of parts of the deceleration device.

[0080] The life prediction unit 130 may predict the life of each of the plurality of parts using known or future available prediction techniques. The life prediction means may be different for each of the plurality of parts. For example, the life prediction unit 130 may predict the life of each of the plurality of parts using a known or future available life calculation formula for each of the plurality of parts. The plurality of parts may be, for example, main bearings such as cross roller bearings, eccentric bearings, and tooth surfaces of gears.

[0081] The predicted life providing unit 131 may provide the user with the predicted life of each of the plurality of parts of the deceleration device. Alternatively, the predicted life providing unit 131 may provide the user with the predicted life of the part having the shortest predicted life among the plurality of parts of the deceleration device. That is, the predicted life providing unit 131 may provide the user with the predicted life of the part having the shortest predicted life among the plurality of parts of the deceleration device as the predicted life of the deceleration device.

[0082] The deceleration device proposal unit 132 determines whether the life of the part with the shortest predicted life among the plurality of parts predicted by the life prediction unit 130 satisfies a predetermined life condition. If the shortest predicted life does not satisfy the predetermined life condition, a deceleration device different from the deceleration device may be proposed to the user.

[0083] (Second Modification Example) The third reception unit 123 may further receive the ambient temperature around the deceleration device as an operating condition. For example, the third reception unit 123 may receive the ambient temperature from the user via the user terminal 200. Also, at an appropriate position, for example, a temperature sensor is attached to the deceleration device, and the third reception unit 123 may receive the ambient temperature from the temperature sensor. The life prediction unit 130 may predict the life of the deceleration device in consideration of the ambient temperature received by the third reception unit 123. For example, when the life prediction unit 130 predicts the life using a life calculation formula, the life calculation formula may include the ambient temperature [°C] as a variable. According to this modification example, the life of the deceleration device can be predicted with higher accuracy.

[0084] (Third Modification Example) Although not particularly mentioned in the embodiment, the life prediction unit 130 may predict the life of the lubricant enclosed in the deceleration device, in other words, the lubricant replacement cycle. That is, the life prediction unit 130 incorporates the deceleration device specified by the deceleration device specifying unit 126 based on the designation received by the second reception unit 122 into the joints of the robot with the specifications received by the first reception unit 121, and the life of the lubricant enclosed in the deceleration device when the robot is operated under the operating conditions received by the third reception unit 123 may be predicted. The life prediction unit 130 may predict the life of the lubricant using a known or future available technology.

[0085] In the embodiment and the modification examples, the deceleration device selection support device 100 has been mainly described as a device. However, the present invention can also be regarded as a deceleration device selection support method having each step executed by the deceleration device selection support device 100, or as an invention of a program for causing the deceleration device selection support device 100 to execute each step, or as an invention of a storage medium storing the program.

Description of Symbols

[0086] 10 Speed reduction device selection support system, 100 Speed reduction device selection support device, 121 First reception unit, 122 Second reception unit, 123 Third reception unit, 127 Analysis unit, 129 Analysis result providing unit, 130 Life prediction unit, 131 Predicted life providing unit, 132 Speed reduction device proposal unit, 141 Speed reduction device information storage unit.

Claims

1. A storage unit that stores characteristic information of a speed reduction device in association with information capable of specifying 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 incorporated into each joint of the robot; A third reception unit that receives operating conditions of the robot; A life prediction unit that predicts the life of the speed reduction device when the robot with the designated speed reduction device incorporated into each joint is operated under the designated operating conditions; A predicted life providing unit that provides the prediction result by the life prediction unit to a user; A speed reduction device selection support device comprising the above.

2. The characteristic information is information that changes according to a change in the situation of the speed reduction device, An analysis unit that analyzes the behavior of the robot with the designated speed reduction device incorporated into each joint; An analysis result providing unit that provides the analysis result by the analysis unit to a user; The speed reduction device selection support device according to Claim 1, comprising the above.

3. The life prediction unit predicts the lives of a plurality of parts of the speed reduction device. The speed reduction device selection support device according to Claim 1.

4. The third reception unit receives the environmental temperature as an operating condition of the robot. The speed reduction device selection support device according to Claim 1.

5. The speed reduction device selection support device according to Claim 1, comprising a speed reduction device proposal unit that proposes to the user a speed reduction device different from the designated speed reduction device when the predicted life does not satisfy a predetermined condition.

6. A storage unit that stores characteristic information of a speed reduction device in association with information capable of specifying the type of the speed reduction device; A first reception unit that receives specification information of a robot; A third reception unit that receives operating conditions of the robot; A life prediction unit that predicts the lives of a plurality of speed reduction devices when operated under the designated operating conditions; A speed reduction device proposal unit that proposes one or more speed reduction devices to the user based on the life prediction result by the life prediction unit; A speed reduction device selection support device comprising the above.

7. The third reception unit receives a required life, The speed reduction device proposal unit proposes a speed reduction device whose predicted life is equal to or longer than the required life. The speed reduction device selection support device according to Claim 6.

Images