Support device

Abstract

To provide a technique which supports selection of a speed reducer.SOLUTION: A support device comprises: a storage part 140 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; and a second reception part 122 which receives a specification of the speed reducer incorporated in each joint of the robot. The storage part 140 stores the characteristic information at the normal state of the speed reducer, and the characteristic information at the abnormal state of the speed reducer. The support device further includes a robot state information creation part 133 which creates robot state information that indicates the robot state when the robot is operated while the specified speed reducer is incorporated into each joint for both of a case where the speed reducer is in the normal state and a case where the speed reducer is in the abnormal state.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a machine learning device having a machine learning function, and a failure prediction system including the machine learning device for predicting a failure of a robot. Learning is performed using a state detection sensor of an industrial machine or the surrounding environment, internal data of control software for controlling the industrial machine, sensor data, or data calculated from the internal data.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Learning data is required for learning of the above-described machine learning device. In particular, for supervised learning, learning data with labels, that is, teacher data, is required. Specifically, teacher data in which a label indicating the presence or absence of a failure or a label of a failure part is given to a robot state variable indicating the state of the robot is required. However, since a long time is required until the robot fails, it is difficult to collect a sufficient amount of teacher data required for learning.

[0005] Such a problem can occur not only in a system for predicting a failure, that is, a system for diagnosing whether or not a failure is likely to occur, but also in a system for diagnosing whether or not a failure has occurred.

[0006] The present invention has been made in view of such circumstances, and an object thereof is to provide a technique for assisting in creating teacher data required for learning of a machine learning device for diagnosing a failure of a robot.

Means for Solving the Problem

[0007] In order to solve the above problems, a support device according to an aspect of the present invention includes a storage unit that stores characteristic information of a speed reducer in association with information capable of specifying the type of the speed reducer, a first reception unit that receives specification information of a robot, and a second reception unit that receives a designation of a speed reducer to be incorporated into each joint of the robot. The storage unit stores characteristic information of the speed reducer in a normal state and characteristic information of the speed reducer in an abnormal state, and further includes a robot state information creation unit that creates robot state information indicating the state of the robot when the designated speed reducer is incorporated into each joint and the robot is operated, for each of the cases where the speed reducer is normal and abnormal.

[0008] Note that 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.

Advantages of the Invention

[0009] According to the present invention, it is possible to provide a technique for assisting in creating teacher data necessary for learning of a machine learning device for diagnosing faults in a robot.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode 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 redundant explanations are omitted as appropriate. Also, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. In addition, some of the members that are not important for explaining the embodiment in each drawing are omitted from the display.

[0012] (First Embodiment) FIG. 1 is a schematic diagram showing the configuration of a support system 10 according to the first embodiment. The support system 10 is a system for supporting a user regarding a speed reduction device. The support system 10 includes a support device 100 and a user terminal 200. The support device 100 and the user terminal 200 are connected via a network such as the Internet.

[0013] The 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 entrusted by the speed reduction device manufacturer 102 manages.

[0014] In this embodiment, the support device 100 is constituted by a single device (housing), but there is no limitation on the physical number of housings of the support device 100, and it may be realized by the cooperation of a plurality of devices.

[0015] The support device 100 realizes a "selection support function" and a "teacher data creation function". The selection support function is a function that supports the selection of a speed reducer incorporated in the joints of a robot. The teacher data creation function creates teacher data necessary for the learning of a machine learning device for diagnosing a robot in which the selected speed reducer is incorporated. Here, the "fault diagnosis" includes at least one of a diagnosis of whether a fault has occurred and a diagnosis of whether there is a high possibility of a fault occurring (i.e., fault prediction).

[0016] 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 reducer to be incorporated in the joints of a robot. That is, the user 202 is a user who selects a speed reducer to be incorporated in the joints of a robot or uses the selected speed reducer incorporated in the joints of a robot.

[0017] FIG. 2 is a block diagram showing the functions and configuration of the 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 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.

[0018] The 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.

[0019] 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 remaining life prediction unit 130, a predicted remaining life providing unit 131, a speed reduction device proposal unit 132, a robot state information creating unit 133, and a robot state information providing unit 134.

[0020] The storage unit 140 includes a speed reduction device information storage unit 141, a material information storage unit 142, and a robot state information storage unit (teacher data storage unit) 143.

[0021] The components of the data processing unit 120 and the storage unit 140 show only the components that are focused on in this embodiment.

[0022] <Selection support function> The selection support function will be described. The selection support function is mainly realized by the speed reduction device information storage unit 141, the first reception unit 121, the second reception unit 122, the third reception unit 123, the screen providing unit 125, the speed reduction device specifying unit 126, the analysis unit 127, the analysis result providing unit 129, the remaining life prediction unit 130, the predicted remaining life providing unit 131, and the speed reduction device proposal unit 132.

[0023] The speed reduction device information storage unit 141 stores, for each of a plurality of speed reduction devices, a speed reduction device ID for uniquely identifying the speed reduction device, information capable of specifying the type of the speed reduction device (hereinafter also referred to as type specifying information), and characteristic information of the speed reduction device in association with each other. The type specifying information includes the model, frame number, reduction ratio, etc. of the speed reduction device.

[0024] When the speed reduction device is a speed reducer, the characteristic information includes the characteristic information of the speed reducer. When the speed reduction device is a gear motor, the characteristic information includes the characteristic information of both the speed reducer and the motor that make up the gear motor. The characteristic information includes friction, angular transmission error, etc. The characteristic information is not particularly limited, but is defined to change according to changes in the situation of the speed reduction device (such as 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.

[0025] 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 device being manufactured.

[0026] The screen providing unit 125 transmits a selection support screen, which is a screen for supporting the selection of the 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.

[0027] FIG. 3 is a diagram showing an example of the selection support screen 20 provided by the screen providing unit 125. 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.

[0028] 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. A schematic diagram of the robot of the selected template is displayed in the robot display area 24.

[0029] The mass characteristics of the work are input into the work information column 26. The mass characteristics are, for example, weight, center of gravity position, moment of inertia, etc.

[0030] 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.

[0031] 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.

[0032] 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, default values 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.

[0033] In the speed reducer column 44, information for specifying the speed reducer to be incorporated in each joint, for example, the model, frame number, or specification information of the speed reducer is input. The specification information of the speed reducer includes, for example, the reduction ratio and the required torque. When the speed reducer is a gear motor, the specification information of the speed reducer includes, for example, the inertia moment of the motor and the maximum generated torque. In the joint position column 42, a plurality of information, for example, a plurality 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 speed reducer does not include a motor, the inertia moment and the maximum generated torque of the motor may be in a form selected from the template like the speed reducer or in a form that can be specified individually by the user.

[0034] In the operation condition column 32, the operation conditions of the robot are input. For example, 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 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 operation condition is a three-dimensional target path along which the reference point P moves. The operation conditions may be input in a predetermined format for each type thereof. 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 a plurality of 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.

[0035] When the analysis button 34 is selected, each information item in FIG. 3 is transmitted from the user terminal 200 to the support device 100, and the analysis described later is executed in the support device 100.

[0036] When the life prediction button 35 is selected, each information item in FIG. 3 is transmitted from the user terminal 200 to the support device 100, and the life prediction described later is executed in the support device 100.

[0037] 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, the 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.

[0038] The second reception unit 122 receives the designation of the reduction gear to be incorporated into each joint of the robot from the user via the user terminal 200. Specifically, the second reception unit 122 receives the input in the reduction gear column 44 of the selection support screen 20 in FIG. 3 from the user terminal 200.

[0039] 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 condition column 32 of the selection support screen 20 in FIG. 3 from the user terminal 200.

[0040] The reduction gear specifying unit 126 specifies a reduction gear based on the specification of the reduction gear received by the second reception unit 122. Specifically, the reduction gear specifying unit 126 specifies the reduction gear ID of the reduction gear that matches the specification of the reduction gear received by the second reception unit 122 and the characteristic information of the reduction gear from the reduction gear information storage unit 141. Note that a plurality of reduction gears may be specified. For example, when the information for specifying the reduction gear is the specification information of the reduction gear, there may be a plurality of reduction gears that match, that is, satisfy the specification information. In this case, the reduction gear specifying unit 126 may specify the plurality of reduction gears.

[0041] The analysis unit 127 incorporates the reduction gear specified by the reduction gear specifying unit 126 based on the specification received by the second reception unit 122 into the robot with the specification received by the first reception unit 121, and analyzes by simulation the behavior when the robot is operated 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 into each joint.

[0042] 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.

[0043] 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 speed reducer and the allowable load included in the characteristic information of the speed reducer. 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.

[0044] 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 represents time, and the vertical axis represents 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.

[0045] FIG. 5 is a diagram showing another example of the analysis result provided to the user. In FIG. 5, the horizontal axis represents time, and the vertical axis represents the load applied to the joint, that is, the speed reducer. The solid line graph is the analysis result, and the dashed line is the allowable load of the speed reducer.

[0046] 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.

[0047] FIG. 6 is a diagram showing yet another example of the analysis result provided to the user. The analysis result in this example is, 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 result when the speed reducer specifying unit 126 specifies a plurality of speed reducer candidates for a certain joint and the analysis unit 127 analyzes the behavior in each case. Here, the solid line and the one-dot chain 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.

[0048] Return 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.

[0049] For example, the life prediction unit 130 may predict the life using a known or future available 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 available 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.

[0050] 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.

[0051] 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. The predicted life providing unit 131, for example, 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.

[0052] The deceleration device proposal unit 132 determines whether the predicted life of the deceleration device predicted by the life prediction unit 130 meets a predetermined life condition. When the predicted life does not meet the predetermined life condition, the deceleration device proposal unit 132 proposes to the user a deceleration device different from the said deceleration device. For example, the deceleration device proposal unit 132 transmits to the user terminal 200 a proposal screen for proposing a different deceleration device and causes it to be displayed on the display of the user terminal 200.

[0053] The predetermined life condition may be that the predicted life meets a predetermined life requirement. Specifically, the predetermined life condition may be that the predicted life (time) is equal to or greater than a generally required life length (for example, 20,000 hours). Alternatively, the predetermined life condition may be that the total number of operating cycles (for example, 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 number. Or it may be equal to or greater than the total number of operating cycles specified by the input from the user.

[0054] The predetermined life condition may be that the predicted life is equal to or greater than the required life specified by the user. The required life may be in terms of time or the total number of revolutions.

[0055] The different deceleration device is not particularly limited, but may be a deceleration device with a greater load-bearing capacity, typically a larger deceleration device, than the deceleration device specified by the user, that is, the deceleration device determined not to meet the predetermined life condition. In this case, the different deceleration device may be all deceleration devices stored in the deceleration device information storage unit 141 that have a greater load-bearing capacity than the deceleration device specified by the user.

[0056] Alternatively, another speed reducer may be a speed reducer that has a higher load capacity than the speed reducer specified by the user among the plurality of speed reducers stored in the speed reducer information storage unit 141 and that has the closest load capacity to the speed reducer specified by the user. That is, another speed reducer may be a speed reducer with a size one larger than the speed reducer specified by the user among the plurality of speed reducers stored in the speed reducer information storage unit 141.

[0057] The speed reducer proposal unit 132 provides the user with the type identification information of another speed reducer proposed by the speed reducer proposal unit 132 for a speed reducer that does not satisfy the predetermined life condition.

[0058] FIG. 7 is a diagram showing an example of a life prediction result screen provided to the user. The life prediction result screen in this example includes the joint ID of each joint, the life condition required for the speed reducer of each joint, the predicted life of the speed reducer of each joint specified by the user, and the type identification information of another speed reducer proposed when the life condition is not satisfied. In this example, the life prediction result screen also serves as a proposal screen for another speed reducer.

[0059] By checking the life prediction result screen in FIG. 7, the user can immediately understand the life of the speed reducer specified by the user, whether the life satisfies the life condition, and another speed reducer proposed when the life condition is not satisfied.

[0060] The above is the configuration regarding the selection support function. Next, the operation regarding the selection support function will be described. The support device 100 provides the selection support screen 20 to the user terminal 200 in response to a request. The user inputs the specification information of the robot, the designation of the speed reducer to be incorporated into the robot, and the operating conditions of the robot via the user terminal 200 to the selection support screen 20.

[0061] When the analysis button 34 on the selection support screen 20 is selected, the user terminal 200 transmits each information item on the selection support screen 20 to the support device 100. The first reception unit 121, the second reception unit 122, and the third reception unit 123 of the support device 100 respectively receive the specification information of the robot, the designation of the reduction gear to be incorporated into the robot, and the operating conditions of the robot. The analysis unit 127 incorporates the reduction gear specified 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 analyzes the behavior of the robot when the robot is operated under the operating conditions received by the third reception unit 123. At this time, the analysis unit 127 analyzes using the characteristic information stored in the reduction gear information storage unit 141, that is, the characteristic information that changes according to changes in situations such as temperature and rotation speed, as the characteristic information of the reduction gear incorporated into each joint. The analysis result providing unit 129 provides the analysis result by the analysis unit 127 to the user.

[0062] When the 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 support device 100. The first reception unit 121, the second reception unit 122, and the third reception unit 123 of the support device 100 respectively receive the specification information of the robot, the designation of the reduction gear to be incorporated into the robot, and the operating conditions of the robot. The life prediction unit 130 incorporates the reduction gear specified 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 predicts the life of the reduction gear when the robot is operated under the operating conditions received by the third reception unit 123. At this time, the life prediction unit 130 performs an analysis using, for example, the characteristic information stored in the reduction gear information storage unit 141, substitutes the average rotation speed and the average load torque obtained by the analysis into the life calculation formula, and calculates the life of the reduction gear. The predicted life providing unit 131 provides the prediction result of the life of the reduction gear predicted by the life prediction unit 130 to the user. The reduction gear proposal unit 132 proposes to the user a reduction gear different from the said reduction gear when the life of the reduction gear predicted by the life prediction unit 130 does not satisfy a predetermined life condition.

[0063] The above is the operation regarding the selection support function. Next, the effects regarding the selection support function will be described.

[0064] According to the present embodiment, the support device 100 predicts the life of the speed reducer based on the specification information of the robot received from the user, the designation of the speed reducer incorporated in the joints of the robot, the operating conditions of the robot, and the characteristic information of the speed reducer stored, and provides the prediction result to the user. Therefore, according to the present embodiment, the burden on the user regarding the life prediction of the speed reducer and thus the selection of the speed reducer can be reduced.

[0065] Also, according to the present embodiment, when there are a plurality of speed reducers that match the designation of the speed reducer from the user, the support device 100 sequentially incorporates the plurality of speed reducers 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 speed reducer.

[0066] Also, according to the present embodiment, the 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 speed reducer, the operating conditions of the robot, and the characteristic information of the speed reducer stored, and provides the analysis result to the user. Here, the support device 100 stores, as the characteristic information of the speed reducer, the characteristic information that changes according to the change in the situation of the speed reducer, and executes an analysis considering the change in the situation of the speed reducer. Therefore, according to the present embodiment, it is possible to execute an analysis with high accuracy while reducing the burden on the user, and appropriately select a speed reducer.

[0067] Also, according to the present embodiment, when there are a plurality of speed reducers that match the designation of the speed reducer from the user, the support device 100 sequentially incorporates the plurality of speed reducers into the joints of the robot, analyzes the behavior in each case, and provides the analysis results to the user. By presenting the analysis results when each of the plurality of candidates is incorporated, the user can select a more appropriate speed reducer.

[0068] Also, according to the present embodiment, the support device 100 receives the operating conditions of the robot from the user and analyzes the behavior of the robot when it is operated under those operating conditions. By analyzing the behavior of the robot when it is operated under the actual operating conditions, more appropriate selection becomes possible.

[0069] Also, according to the present embodiment, the support device 100 receives the specification information of the robot input in the form of changing a pre-prepared robot template. In other words, the user can input the specification information of the robot in the form of changing a pre-prepared robot template. This reduces the burden on the user.

[0070] <Teacher data creation function> Returning to FIG. 2, the teacher data creation function will be described. The teacher data creation function is mainly realized by the material information storage unit 142, the robot state information storage unit 143, the first reception unit 121, the second reception unit 122, the third reception unit 123, the screen providing unit 125, the reduction gear device specifying unit 126, the robot state information creation unit 133, and the robot state information providing unit 134.

[0071] FIG. 8 is a diagram showing an example of the data structure of the material information storage unit 142.

[0072] The material information storage unit 142 stores information for creating robot state information. The material information storage unit 142 stores the reduction gear device ID, the data ID, the characteristic information of the reduction gear device, and the state information of the reduction gear device in association with each other. That is, the reduction gear device information storage unit 141 stores a data set of the reduction gear device ID, the data ID, the characteristic information, and the state information for each of the plurality of reduction gear devices.

[0073] The type identification information includes the model, frame number, reduction ratio, etc. of the reduction gear device.

[0074] 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 rigidity, friction, angular transmission error, and the like.

[0075] The state information indicates the state of the speed reduction device. Normal indicates that the speed reduction device is normal, that is, it is the characteristic information in the normal state of the speed reduction device. Abnormal indicates that the speed reduction device is abnormal, that is, it is the characteristic information in the abnormal state of the speed reduction device.

[0076] The material information storage unit 142 may store information about all speed reduction devices manufactured by the speed reduction device manufacturer 102. Further, in addition to the information about the speed reduction device being manufactured, the speed reduction device information storage unit 141 may store information about the speed reduction devices that have been manufactured in the past (that is, the manufacturing has been completed).

[0077] The material information storage unit 142 has n a pieces, n b pieces, n c pieces, n d pieces, n e pieces, n f pieces, n g pieces, ··· of data sets stored for each of the speed reduction devices whose speed reduction device IDs are speed reduction device A, speed reduction device B, speed reduction device C, speed reduction device D, speed reduction device E, speed reduction device F, speed reduction device G, ···. Note that n a and n b and n c and n d and n e and n f and n g are any integers of 2 or more.

[0078] The material information storage unit 142 stores both the data set with normal state information and the data set with abnormal state information for each of the plurality of speed reduction devices. That is, the material information storage unit 142 stores both the characteristic information in the normal state of the speed reduction device and the characteristic information in the abnormal state of the speed reduction device for each of the plurality of speed reduction devices.

[0079] The material information storage unit 142 preferably stores a plurality of, more preferably a large number of, data sets for each of the plurality of speed reducers, where the state of the speed reducer is normal and the characteristic information is different from each other. Further, the speed reducer information storage unit 141 preferably stores a plurality of, more preferably a large number of, data sets for each of the plurality of speed reducers, where the state of the speed reducer is abnormal and the characteristic information is different from each other. Note that the characteristic information being different from each other means that at least one of rigidity, friction, and angular transmission error is different from each other.

[0080] FIG. 9 is a diagram showing an example of the data structure of the robot state information storage unit 143.

[0081] The robot state information storage unit 143 stores in association the robot state information indicating the state of the robot when the robot is operated and a label indicating whether an abnormality has occurred in the robot in that state. That is, the robot state information storage unit 143 stores teacher data in which a label indicating whether an abnormality has occurred in the robot is attached to the robot state information.

[0082] In this example, the robot state information includes the tool position, the motor current, and the vibration. The tool position is the position of the reference point P of the tool attached to the tip of the arm of the robot (see FIG. 10 described later). The motor current is the motor current of the motor that drives the speed reducer. The motor is the motor connected to the speed reducer when the speed reducer is a reduction gear, and the motor that constitutes the gear motor when the speed reducer is a gear motor. The vibration is the vibration at a predetermined position of the robot.

[0083] Returning to FIG. 2, the screen providing unit 125 transmits a teacher data creation screen, which is a screen for creating teacher data, to the user terminal 200 in response to a request and causes it to be displayed on the display of the user terminal 200.

[0084] FIG. 10 is a diagram showing an example of a teacher data creation screen 60 provided by the screen providing unit 125. The teacher data creation screen 60 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, and a teacher data creation button 62.

[0085] The template selection button 22, the robot display area 24, the work information column 26, the arm information area 28, the joint information area 30, and the operation condition column 32 are each configured in the same manner as those in FIG. 3. The user selects a template corresponding to the robot incorporating or having incorporated the selected speed reducer from the list of templates displayed by selecting the template selection button 22. Further, in the speed reducer column 44 of the joint information area 30, information specifying the speed reducer to be incorporated or incorporated into each joint is input.

[0086] When the teacher data creation button 62 is selected, each information item in FIG. 10 is transmitted from the user terminal 200 to the support device 100, and the creation of teacher data described later is executed in the support device 100.

[0087] Returning to FIG. 2, as described with respect to the selection support function, the first reception unit 121 receives the specification information of the robot from the user via the user terminal 200. In the teacher data creation function, the first reception unit 121 receives the information items regarding the specifications of the robot on the teacher data creation screen 60 in FIG. 10 from the user terminal 200.

[0088] As described with respect to the selection support function, the second reception unit 122 receives the designation of the speed reducer to be incorporated into each joint of the robot from the user via the user terminal 200. In the teacher data creation function, the second reception unit 122 receives the input in the speed reducer column 44 of the teacher data creation screen 60 in FIG. 10 from the user terminal 200.

[0089] As described with respect to the selection support function, the third reception unit 123 receives the operating conditions of the robot from the user via the user terminal 200. In the teacher data creation function, the third reception unit 123 receives the input in the operating condition column 32 of the teacher data creation screen 60 in FIG. 10 from the user terminal 200.

[0090] As described with respect to the selection support function, the reduction gear identification unit 126 identifies the reduction gear based on the designation of the reduction gear received by the second reception unit 122.

[0091] The robot state information creation unit 133 incorporates the reduction gear identified by the reduction gear identification unit 126 based on the designation received by the second reception unit 122 into the robot of the specifications received by the first reception unit 121, and creates robot state information indicating the state of the robot when the robot is operated under the operating conditions received by the third reception unit 123. For example, when the teacher data creation button 62 in FIG. 10 is selected, the robot state information creation unit 133 executes this creation.

[0092] The robot state information creation unit 133 may create robot state information when the reduction gear is incorporated into the robot and the robot is operated under the operating conditions by analysis through simulation. In this case, the robot state information creation unit 133 may perform the analysis using known or future available analysis techniques.

[0093] In this creation, the robot state information creation unit 133 uses the characteristic information stored in the material information storage unit 142 as the characteristic information of the reduction gear for each joint. The robot state information creation unit 133 creates the robot state information for each combination while changing the combination of the characteristic information of the reduction gear for each joint. The robot state information creation unit 133 creates the robot state information when normal and abnormal reduction gears are used for each joint.

[0094] For example, when the robot has joints 1 to 6 and reduction gears A to F are incorporated into each of them, the robot state information creation unit 133 sets the reduction gear A of joint 1 to n aCharacteristic information of the joints, and n pieces of characteristic information of the reduction gear B of joint 2 b Characteristic information of the joints, and n pieces of characteristic information of the reduction gear C of joint 3 c Characteristic information of the joints, and n pieces of characteristic information of the reduction gear D of joint 4 d Characteristic information of the joints, and n pieces of characteristic information of the reduction gear E of joint 5 e Characteristic information of the joints, and n pieces of characteristic information of the reduction gear F of joint 6 f All possible combinations of the characteristic information (n a ×n b ×n c ×n d ×n e ×n f ) pieces of robot state information may be created.

[0095] The robot state information creation unit 133 stores the created robot state information in the robot state information storage unit 143. In particular, the robot state information creation unit 133 stores the robot state information in the robot state information storage unit 143 in association with a label indicating whether an abnormality has occurred in the robot when the robot is in that state.

[0096] When all the reduction gears of the respective joints used for creating the robot state information are normal, the robot state information creation unit 133 sets the created robot state information as normal robot state information, that is, the robot state information when the robot is normal. In this case, the robot state information creation unit 133 stores the robot state information in the robot state information storage unit 143 in association with a normal label.

[0097] When at least one of the reduction gears of the respective joints used for creating the robot state information is abnormal, the robot state information creation unit 133 sets the created robot state information as abnormal robot state information, that is, the robot state information when the robot (specifically, at least one reduction gear incorporated in the robot) is abnormal. In this case, the robot state information creation unit 133 stores the robot state information in the robot state information storage unit 143 in association with an abnormal label.

[0098] Returning to FIG. 2, the robot state information providing unit 134 provides the user with the robot state information associated with the label stored in the robot state information storage unit (teacher data storage unit) 143, that is, the teacher data. For example, the robot state information providing unit 134 transmits the teacher data to the user terminal 200.

[0099] The above is the configuration related to the teacher data creation function. Next, the operation related to the teacher data creation function will be described. The support device 100 provides the teacher data creation screen 60 to the user terminal 200 in response to a request. The user inputs the robot specification information, the designation of the speed reduction device incorporated in or to be incorporated into the robot, and the operation conditions of the robot, via the user terminal 200, to the teacher data creation screen 60.

[0100] When the teacher data creation button 62 on the teacher data creation screen 60 is selected, the user terminal 200 transmits each information item on the teacher data creation screen 60 to the support device 100. The first reception unit 121, the second reception unit 122, and the third reception unit 123 of the support device 100 receive the robot specification information, the designation of the speed reduction device incorporated in or to be incorporated into the robot, and the operation conditions of the robot, respectively. The robot state information creation unit 133 incorporates the speed reduction device specified based on the designation received by the second reception unit 122 into the joints of the robot of the specification received by the first reception unit 121, and creates robot state information indicating the state of the robot when the robot is operated under the operation conditions received by the third reception unit 123. At this time, the robot state information creation unit 133 uses the characteristic information stored in the material information storage unit 142 as the characteristic information of the speed reduction device incorporated into each joint. The robot state information creation unit 133 stores the created robot state information in the robot state information storage unit 143 in association with a label indicating whether an abnormality has occurred in the robot when the robot is in that state. The robot state information providing unit 134 provides the user with the robot state information associated with the label, that is, the teacher data.

[0101] The above is the operation related to the teacher data creation function. Next, the effect related to the teacher data creation function will be described.

[0102] According to this embodiment, the support device 100 creates the state information of the robot based on the specification information of the robot received from the user, the designation of the speed reducer, the operating conditions of the robot, and the characteristic information of the speed reducer stored therein. The support device 100 sets the robot state information when the speed reducer is normal as normal robot state information, and sets the robot state information when the speed reducer is abnormal as abnormal robot state information. The support device 100 provides these to the user terminal 200 as teacher data. Thereby, the burden on the user for creating teacher data for machine learning of the robot can be reduced.

[0103] (Second Embodiment) In the first embodiment, the specification of the robot, the designation of the speed reducer to be incorporated into the robot, and the operating conditions of the robot are received from the user, and the life of the speed reducer when the robot incorporating the speed reducer 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 speed reducer suitable for operating the robot under the operating conditions is proposed. Hereinafter, the description will focus on the differences from the first embodiment.

[0104] FIG. 11 is a block diagram showing the functions and configuration of the support device 100 according to the second embodiment. The data processing unit 120 of the support device 100 according to the second embodiment includes a first reception unit 121, a third reception unit 123, a screen providing unit 125, a speed reducer specifying unit 126, a speed reducer proposing unit 132, a robot state information creating unit 133, and a robot state information providing unit 134.

[0105] The support device 100 realizes a "selection support function" and a "teacher data creation function". The teacher data creation function is realized in the same manner as in the first embodiment. Hereinafter, the selection support function will be described focusing on the differences from the selection support function of the first embodiment.

[0106] The selection support function is mainly realized by the reduction gear device information storage unit 141, the first reception unit 121, the third reception unit 123, the screen providing unit 125, and the reduction gear device proposal unit 132.

[0107] FIG. 12 is a diagram showing an example of the selection support screen 20 provided by the screen providing unit 125 of FIG. 11. 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.

[0108] In the present embodiment, the joint information area 30 further includes a required life column 46. In the required life column 46, the required life of the reduction gear device incorporated in each joint is input.

[0109] In the behavior column 33, input the behavior of the robot that you want to achieve when operating the robot under the operation conditions input in the operation condition column 32. 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 that you want to achieve may be that the load applied to the reduction gear device is equal to or less than the specified load, or the deviation from the command for the second position that is the arrival position is equal to or less than a predetermined value. Also, for example, when the operation condition is a three-dimensional target path, the behavior that you want to achieve may be that the deviation from the command is equal to or less than a predetermined value. Note that the behavior column 33 may be left blank.

[0110] When the proposal button 56 is selected, each information item in FIG. 12 is transmitted from the user terminal 200 to the support device 100, and the proposal described later is executed in the support device 100.

[0111] Returning to FIG. 11. The third reception unit 123 of the present embodiment further receives the required life of the reduction gear device 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. 12.

[0112] 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 of 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.

[0113] Based on the life prediction result by the life prediction unit 130, the speed reducer proposal unit 132 proposes one or more speed reducers suitable for operating the robot under the operating conditions received by the third reception unit 123.

[0114] For example, the speed reducer proposal unit 132 may propose, as candidates, one or more speed reducers whose predicted life is equal to or longer than the required life. If there is one speed reducer whose predicted life is equal to or longer than the required life, the speed reducer proposal unit 132 may propose the one speed reducer as a candidate, and if there are a plurality of speed reducers whose predicted life is equal to or longer than the required life, the speed reducer proposal unit 132 may propose the plurality of speed reducers as candidates.

[0115] If the required life is not input, the speed reducer proposal unit 132 may propose, as a candidate, the speed reducer with the longest predicted life.

[0116] In addition, 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. 12, the third reception unit 123 may receive the input.

[0117] 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 of the specifications received by the first reception unit 121, and analyze each behavior 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 behavior to be achieved.

[0118] The above is the configuration related to the selection support function. Next, the operation related to the selection support function will be described. The support device 100 provides the selection support screen 20 to the user terminal 200 in response to a request. The user inputs the robot's specification information, the operating conditions of the robot, and the required life of the reduction gear via the user terminal 200 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 support device 100. The first reception unit 121 of the support device 100 receives the robot's specification information. The third reception unit 123 receives the operating conditions of the robot and the required life of the reduction gear. The life prediction unit 130 sequentially incorporates each of the plurality of reduction gears stored in the reduction gear 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 reduction gears when the robot is operated under the operating conditions received by the third reception unit 123. The reduction gear proposal unit 132 proposes candidates for the reduction gear based on the life prediction results by the life prediction unit 130.

[0119] According to the present embodiment, the support device 100 sequentially incorporates each of the plurality of reduction gears into the robot with the specifications received from the user, predicts the life of each of the plurality of reduction gears when the robot is operated under the operating conditions received from the user, and proposes candidates for the reduction gear based on the prediction results. Therefore, according to the present embodiment, it is possible to select a more appropriate reduction gear while reducing the burden on the user.

[0120] The support device 100 proposes, as candidates, reduction gears whose predicted life is equal to or greater than the required life received from the user. According to the present embodiment, it is possible to select a more appropriate reduction gear.

[0121] The present invention has been described based on the embodiments. It should be understood by those skilled in the art that these embodiments are illustrative, and various modifications are possible in the combination of each component and each processing process, and such modifications are also within the scope of the present invention. Hereinafter, such modifications will be described.

[0122] (First Modification Example) In the above-described embodiment, the case where the life prediction unit 130 predicts the life of the entire speed reduction device has been described. However, the life prediction unit 130 may predict the life of each of a plurality of parts of the speed reduction device.

[0123] The life prediction unit 130 may predict the life of each of the plurality of parts using known or future applicable 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 known or future applicable life calculation formulas 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.

[0124] The predicted life providing unit 131 may provide the user with the predicted life of each of the plurality of parts of the speed reduction 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 speed reduction 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 speed reduction device as the predicted life of the speed reduction device.

[0125] The speed reduction device proposing unit 132 determines whether the life of the part having the shortest predicted life among the plurality of parts predicted by the life prediction unit 130 satisfies a predetermined life condition. When the shortest predicted life does not satisfy the predetermined life condition, the speed reduction device proposing unit 132 may propose to the user a speed reduction device different from the said speed reduction device.

[0126] (Second Modification Example) The third reception unit 123 may further receive the ambient temperature around the speed reducer 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, a temperature sensor may be attached at an appropriate position, for example, to the speed reducer, 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 speed reducer 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 speed reducer can be predicted with higher accuracy.

[0127] (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 speed reducer, in other words, the lubricant replacement cycle. That is, 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 and the designation received by the second reception unit 122 into the joints of the robot specified by the second reception unit 122, and may predict the life of the lubricant enclosed in the speed reducer when the robot is operated under the operating conditions received by the third reception unit 123. The life prediction unit 130 may predict the life of the lubricant using known or future available technologies.

[0128] (Fourth Modification Example) In the embodiment, the robot state information creation unit 133 stores the robot state information in the robot state information storage unit 143 in association with a label indicating whether an abnormality has occurred in the robot, but this is not the limit. The robot state information creation unit 133 may associate the robot state information with a label indicating whether each speed reducer of each joint is normal or abnormal.

[0129] (Fifth Modification Example) Unlike the embodiments, the status information in the material information storage unit 142 may include a warning status in addition to normal and abnormal statuses. The warning status indicates that there is a high possibility of a failure occurring in the speed reducer. In this case, when at least one of the speed reducers of each joint used to create the robot status information in the robot status information creation unit 133 is in the warning status, the created robot status information is set as the robot status information in the warning status, that is, the robot status information when the robot (specifically, at least one speed reducer incorporated in the robot) is in the warning status. In this case, the robot status information creation unit 133 stores the robot status information in the robot status information storage unit 143 in association with the label of the warning status. Also, for example, the state of a new product may be set to "0", the state of a completely failed product may be set to "1", and the intermediate states may be labeled in increments of 0.1. In this case, a predetermined range (for example, 0.5 to 0.7) may be set as the warning status, and a state above that (for example, 0.8 or more) may be set as the failure status.

[0130] In the embodiments and the modification examples, the support device 100 has been mainly described as a device. However, the present invention can also be regarded as a speed reducer selection support method having each step executed by the support device 100, or as an invention of a program for causing the support device 100 to execute each step, or as an invention of a storage medium storing the program.

Description of Reference Numerals

[0131] 10 Support system, 100 Support device, 121 First reception unit, 122 Second reception unit, 123 Third reception unit, 127 Analysis unit, 129 Analysis result providing unit, 133 Robot status information creation unit, 140 Storage unit.

Claims

1. A storage unit that stores characteristic information of the speed reduction device in association with information capable of specifying the type of the speed reduction device; A first reception unit that receives the specification information of the robot; A second reception unit that receives the designation of the speed reduction device to be incorporated into each joint of the robot; Comprising: The storage unit stores characteristic information in a normal state of the speed reduction device and characteristic information in an abnormal state of the speed reduction device; An assistance device further comprising a robot state information creation unit that creates robot state information indicating the state of the robot when the designated speed reduction device is incorporated into each joint and the robot is operated, for each of the cases where the speed reduction device is normal and abnormal.

2. The characteristic information of the speed reduction device is information that changes according to the change in the situation of the speed reduction device, An analysis unit that analyzes the behavior of the robot in which the designated speed reduction device is incorporated into each joint; A result providing unit that provides the analysis result to the user; The assistance device according to claim 1, comprising:

3. The robot state information creation unit sets the robot state information when the speed reduction device is normal as normal robot state information, and the robot state information when the speed reduction device is abnormal as abnormal robot state information. The assistance device according to claim 1.

4. The robot state information creation unit creates, as the robot state information, the motor current of the motor that drives the speed reduction device of each joint. The assistance device according to claim 1.

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