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 varied according to situation change of the 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; an analysis part 127 which analyzes behavior of the robot where the specified speed reducer is incorporated into each joint thereof; and a result presentation part which presents the analysis result to a user. The analysis part 127 analyzes the behavior of the robot including temperature change of a specific portion of the robot.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Robots in which speed reducers are incorporated in a plurality of joint portions are known. For example, Patent Document 1 discloses a robot in which an eccentric swing type speed reducer 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 speed reducer 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 circumstances, and an object thereof is to provide a technique for assisting the selection of a speed reducer.

Means for Solving the Problems

[0006] 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, which is information capable of specifying the type of the speed reducer and which changes in accordance with a change in the situation of the speed reducer, in association with the information capable of specifying the type of the speed reducer; a first reception unit that receives specification information of a robot; a second reception unit that receives a designation of a speed reducer to be incorporated in each joint of the robot; an analysis unit that analyzes the behavior of a robot in which the designated speed reducer is incorporated in each joint; and a result providing unit that provides the analysis result to a user. The analysis unit analyzes the behavior of the robot including a temperature change of a specific part of the robot.

[0007] Another aspect of the present invention is also a support device. This device includes a storage unit that stores characteristic information of the speed reduction device, which is information corresponding to the type of the speed reduction device and changes according to the change in the situation of the speed reduction device; a first reception unit that receives the specification information of the robot; a third reception unit that receives the operating conditions of the robot; an analysis unit that analyzes the temperature change of a specific part of the robot when operating under the specified operating conditions; and a speed reduction device proposal unit that proposes one or more speed reduction devices to the user based on the analysis result.

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

Effects of the Invention

[0009] According to the present invention, a technique for supporting the selection of a speed reduction device 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

Figure 10

Figure 11

Figure 12

Figure 13

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

[0012] (First Embodiment) FIG. 1 is a schematic diagram showing the configuration of the support system 10 according to the first embodiment. The support system 10 is a system for supporting a user regarding a reduction gear. 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 the reduction gear manufacturer 102. The reduction gear manufacturer 102 is a company that manufactures reduction gears. The reduction gear is a reduction gear or a gear motor (a device in which a reduction gear and a motor are connected). Here, "managed by the reduction gear manufacturer 102" includes not only the case where the reduction gear manufacturer 102 directly manages but also the case where a company entrusted by the reduction gear manufacturer 102 manages.

[0014] In the present 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 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 for supporting the selection of a speed reduction device incorporated in a joint of a robot. The teacher data creation function creates teacher data necessary for learning of a machine learning device for fault diagnosis of a robot in which the selected speed reduction device is incorporated. Here, the "fault diagnosis" includes at least one of diagnosis of whether a fault has occurred and diagnosis of whether there is a high possibility of occurrence of a fault (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 reduction device to be incorporated in a joint of a robot. That is, the user 202 is a user who selects a speed reduction device to be incorporated in a joint of a robot or incorporates the selected speed reduction device in a joint of a robot and uses it.

[0017] FIG. 2 is a block diagram showing the functions and configuration of the support device 100. Each block shown here can be realized by elements and mechanical devices including a computer CPU (central processing unit) in terms of hardware, and can be realized by a computer program or the like in terms of software. 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. 9.

[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 proposing 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 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 proposing unit 132.

[0023] 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 specifying information), characteristic information of the speed reduction device, and heat capacity information of the speed reduction device, for each of a plurality of speed reduction devices. 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 heat capacity information is information that can identify the heat capacity. Therefore, the heat capacity information may include the heat capacity itself. Also, the heat capacity information may include specific heat and mass. This is because the heat capacity is the product of specific heat and mass. The heat capacity information may include density and volume instead of mass. That is, the heat capacity information may include specific heat, density, and volume. The heat capacity information may include the material instead of specific heat and density. That is, the heat capacity information may include the material and volume.

[0026] When the speed reduction device is a speed reducer, the heat capacity information of the speed reduction device includes the heat capacity information of the speed reducer. The heat capacity information of the speed reducer includes the heat capacity information of the housing of the speed reducer and the heat capacity information of the components within the housing. When the speed reduction device is a gear motor, the heat capacity information of the speed reduction device includes the heat capacity information of both the speed reducer and the motor that make up the gear motor. The heat capacity information of the motor includes the heat capacity information of the housing of the motor and the heat capacity information of the components within the housing.

[0027] The speed reduction device information storage unit 141 may store information on all speed reduction devices manufactured by the speed reduction device manufacturer 102. Also, in addition to the information on the speed reduction devices being manufactured, the speed reduction device information storage unit 141 may store information on speed reduction devices that have been manufactured in the past (that is, the manufacturing has been completed).

[0028] The screen providing unit 125 transmits a selection support screen, which is a screen for assisting in the selection of a speed reducer, to the user terminal 200 in response to a request and causes it to be displayed on the display of the user terminal 200.

[0029] 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 workpiece 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.

[0030] 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.

[0031] The mass characteristics of the workpiece are input into the workpiece information column 26. The mass characteristics are, for example, weight, center of gravity position, moment of inertia, etc.

[0032] The arm information area 28 includes a link ID column 36, a link mass characteristic column 38, and a heat capacity information column 39. An ID for identifying the link is displayed in the link ID column 36. Note that the number of links of the robot is determined by selecting a template. The link mass characteristics are input into the link mass characteristic column 38. The heat capacity information of the link is input into the heat capacity information column 39. The heat capacity information of the link may be the heat capacity itself of the link, or may be the volume and specific heat or material of the link.

[0033] The joint information area 30 includes a joint ID column 40, a joint position column 42, a speed reducer column 44, and a heat capacity information column 45. An ID for identifying the joint (rotation axis) is displayed in the joint ID column 40. Note that the number of joints of the robot is determined by selecting a template.

[0034] In the joint position column 42, the three-dimensional positions of each joint (rotation axis) in the reference posture (e.g., 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 as needed, for example, by direct input. In addition, 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 also be changed. That is, the joint position column 42 may be input in a form that changes the template.

[0035] In the speed reduction device column 44, information for specifying the speed reduction device to be incorporated into each joint is input, for example, the model, frame number, or specification information of the speed reduction device. The specification information of the speed reduction device includes, for example, the reduction ratio and the required torque. When the speed reduction device is a gear motor, the specification information of the speed reduction device also 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. When the speed reduction device does not include a motor, the inertia moment and the maximum generated torque of the motor may be selected from the template in the same form as the speed reduction device or may be specified individually by the user.

[0036] In the heat capacity information column 45, when the speed reduction device is a speed reducer, the heat capacity information of the motor connected to the speed reduction device that is a speed reducer is input. The heat capacity information of the motor includes the heat capacity information of the motor housing and the heat capacity information of the components inside the housing. The heat capacity information column 45 may not be input when the speed reduction device is a gear motor.

[0037] 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. 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 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.

[0038] A plurality of operation conditions may be input in the operation condition column 32. In this case, the plurality of operation conditions may be input in the execution order. Also, for the plurality of operation conditions, the number of times or the time for operating the robot under each operation condition is input.

[0039] 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.

[0040] 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.

[0041] 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 heat capacity information of the links, the number of joints, and the joint positions of each joint. Also, when the speed reducer of any joint is a speed reducer and heat capacity information is input in the heat capacity information column 45 on the selection support screen 20 in FIG. 3, the first reception unit 121 also receives the heat capacity information.

[0042] The second reception unit 122 receives from the user via the user terminal 200 a designation of a speed reducer to be incorporated into each joint of the robot. Specifically, the second reception unit 122 receives an input in the speed reducer column 44 of the selection support screen 20 in FIG. 3 from the user terminal 200.

[0043] The third reception unit 123 receives from the user via the user terminal 200 the operating conditions of the robot. Specifically, the third reception unit 123 receives an input in the operating condition column 32 of the selection support screen 20 in FIG. 3 from the user terminal 200.

[0044] The speed reducer specifying unit 126 specifies a 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.

[0045] The analysis unit 127 analyzes by simulation the behavior when the robot of the specification received by the first reception unit 121 operates with the speed reducer specified by the speed reducer specifying unit 126 based on the designation received by the second reception unit 122 incorporated into 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 speed reducer information storage unit 141 as the characteristic information of the speed reducer incorporated into each joint.

[0046] When the deceleration device specifying unit 126 specifies a plurality of deceleration devices for a certain joint, the analysis unit 127 may sequentially incorporate the plurality of deceleration devices and analyze the behavior in each case.

[0047] 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 deceleration device and the allowable load included in the characteristic information of the deceleration device. The analysis result providing unit 129, for example, transmits 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.

[0048] 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.

[0049] 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 deceleration device. The solid line graph is the analysis result, and the dashed line is the allowable load of the deceleration device.

[0050] By checking the analysis results in FIGS. 4 and 5, the user can immediately understand the behavior of the robot when the specified deceleration device is incorporated.

[0051] FIG. 6 is a diagram showing still another example of the analysis result provided to the user. The analysis result of this example is the error from the command value when the reference point P of the tool is moved along the target trajectory, similar to FIG. 4. This example shows the analysis result when the reduction gear specifying unit 126 specifies candidates for a plurality of reduction gears 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 broken 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 reduction gear.

[0052] The analysis by the analysis unit 127 will be further described. As one of the behaviors of the robot, the analysis unit 127 may analyze the temperature change of a specific part of the robot. Note that the reduction gear generates heat due to friction, and the motor generates heat due to losses (such as iron loss and copper loss), and due to this heat generation, the temperature of each part of the robot rises.

[0053] The analysis unit 127 analyzes the temperature change of a specific part of the robot by performing a first analysis and a second analysis. In the first analysis, the heat generation amounts of the reduction gear and the motor are obtained by analyzing the behavior of the robot during operation. In the second analysis, the temperature change of each member is obtained by calculating the heat transfer.

[0054] In the first analysis, the reduction gear specified by the reduction gear specifying unit 126 based on the specification received by the second reception unit 122 is incorporated into the joint of the robot of the specification received by the first reception unit 121, and the behavior when the robot is operated under the operating conditions received by the third reception unit 123 is analyzed to obtain the frictional torque of the reduction gear, the motor current value, and the rotational speeds of the reduction gear and the motor. Then, in the first analysis, the heat generation amount of the reduction gear is obtained by calculation using the frictional torque and the rotational speed. Also, in the first analysis, the heat generation amount of the motor is obtained by calculation using the motor current and the rotational speed.

[0055] In the second analysis, the temperature of each member is calculated by calculating the heat transfer using the heat generation amount of the heat source, the heat capacity of each member, the heat transfer rate between each member, and the heat transfer rate between each member and the environment. In the second analysis, known or future available calculation formulas may be used. Note that the heat source is a component in the speed reducer and a component in the motor. Each member is a component in the speed reducer, the housing of the speed reducer, a component in the motor, the housing of the motor, and the arm of the robot. The heat capacity of the components in the speed reducer, the heat capacity of the housing of the speed reducer, the heat capacity of the components in the motor, and the heat capacity of the housing of the motor are specified from the speed reduction device information storage unit 141. The heat capacity of the robot arm is received by the first reception unit from the selection support screen 20. The heat transfer rate uses a value determined based on experiments, simulations, or knowledge. As a modification, the heat transfer rate for each speed reduction device may be stored in the speed reduction device information storage unit 141. Also, the heat transfer rate may be input by the user.

[0056] Here, since the friction of the speed reducer changes with temperature, when the temperature of the speed reducer changes, the heat generation amount also changes. Since the winding resistance of the motor coil changes with temperature, when the temperature of the motor changes, the heat generation amount also changes. When the heat generation amounts of the speed reducer and the motor change, it also affects the temperature changes of each member. Therefore, the first analysis and the second analysis are alternately and repeatedly executed. In the first analysis, the heat generation amount is analyzed using the temperature obtained by the second analysis executed immediately before. In the second analysis, the temperature is analyzed using the heat generation amount obtained by the first analysis executed immediately before. That is, a coupled analysis is performed.

[0057] When the third reception unit 123 receives a plurality of consecutive operating conditions, the analysis unit 127 analyzes the continuous temperature change in the plurality of consecutive operating conditions as the behavior. In the present embodiment, since the first analysis is repeatedly executed, even when the operating conditions are changed midway, the heat generation amount under the new operating conditions is analyzed, so the temperature change when the operating conditions are changed midway can be appropriately analyzed.

[0058] The interval between the first analysis and the second analysis is not particularly limited. The second analysis may be executed without delay after the execution of the first analysis. The first analysis and the second analysis may be executed at a predetermined cycle, that is, at regular intervals. Alternatively, the first analysis and the second analysis may be executed in the first cycle during a period when the temperature change is likely to be large, and then in a second cycle that is longer than the first cycle. For example, the period may be from immediately after the start of the operation of the robot until a predetermined time has elapsed. Also, for example, the period may be from immediately after the change of the operating conditions until a predetermined time has elapsed when the operating conditions are changed midway.

[0059] The analysis result providing unit 129 provides the user with the temperature change of a specific part of the robot analyzed by the analysis unit 127. The specific part may be the housing of a speed reducer or a motor, or a component inside the housing of a speed reducer or a motor.

[0060] FIG. 7 is a diagram showing still another example of the analysis result provided to the user. The analysis result of this example is the temperature change of a specific part of the robot, specifically, the housings of the motors and speed reducers incorporated in the robot. In FIG. 7, the horizontal axis represents time and the vertical axis represents temperature. The graph is the analysis result and shows the temperature change. In this example, it shows the temperature changes of the motor housing and the speed reducer housing when the robot is first operated under operating condition 1, then under operating condition 2, and then under operating condition 3. By checking the analysis result in FIG. 7, the user can immediately understand the temperature changes of the motor and speed reducer housings.

[0061] 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.

[0062] 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 rotational speed [rpm], and rated torque [Nm] of the speed reducer as parameters, and may include the average rotational 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 rotational 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.

[0063] 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.

[0064] 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.

[0065] The deceleration device proposal unit 132 determines whether the predicted life of the deceleration device predicted by the life prediction unit 130 satisfies a predetermined life condition. When the predicted life does not satisfy 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.

[0066] The predetermined life condition may be that the predicted life satisfies 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 value. Or it may be equal to or greater than the total number of operating cycles specified by the input from the user.

[0067] 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.

[0068] 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 satisfy 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.

[0069] Alternatively, another reduction gear may be a reduction gear that has a higher load capacity than the reduction gear specified by the user among the plurality of reduction gears stored in the reduction gear information storage unit 141 and that has the closest load capacity to the reduction gear specified by the user. That is, another reduction gear may be a reduction gear having 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.

[0070] 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 satisfy the predetermined life condition.

[0071] FIG. 8 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 reduction gear of each joint, the predicted life of the reduction gear of each joint specified by the user, and the type identification information of another reduction gear proposed when the life condition is not satisfied. In this example, the life prediction result screen also serves as a proposal screen for another reduction gear.

[0072] By checking the life prediction result screen in FIG. 8, the user can immediately understand the life of the reduction gear specified by the user, whether the life satisfies the life condition, and another reduction gear proposed when the life condition is not satisfied.

[0073] 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 specification information of the robot, the designation of the reduction gear to be incorporated into the robot, and the operating conditions of the robot via the user terminal 200 to the selection support screen 20.

[0074] 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 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, respectively. The analysis unit 127 incorporates the reduction gear specified based on the designation received by the second reception unit 122 into the robot of the specification received by the first reception unit 121 at the joints, and analyzes the behavior of the robot when the robot is operated under the operating conditions received by the third reception unit 123. In this analysis, the analysis unit 127 uses, as the characteristic information of the reduction gear incorporated into each joint, 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 rotational speed. The analysis unit 127 analyzes, for example, the behavior of the robot including the temperature change of a specific part of the robot. The analysis result providing unit 129 provides the analysis result by the analysis unit 127 to the user.

[0075] 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 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, respectively. The life prediction unit 130 incorporates the reduction gear specified based on the designation received by the second reception unit 122 into the robot of the specification received by the first reception unit 121 at the joints, 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, for example, an analysis using the characteristic information stored in the reduction gear information storage unit 141, substitutes the average rotational 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.

[0076] The above is the operation regarding the selection support function. Next, the effects of the selection support function will be described.

[0077] According to the present embodiment, the support device 100 analyzes the behavior 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 stored therein, and provides the analysis result to the user. Here, as the characteristic information of the reduction gear, the support device 100 stores the characteristic information that changes according to the change in the situation of the reduction gear, and executes the analysis in consideration of the change in the situation of the reduction gear. Therefore, according to the present embodiment, it is possible to execute highly accurate analysis while reducing the burden on the user, and to appropriately select the reduction gear.

[0078] Further, according to the present embodiment, the support device 100 analyzes the temperature change of a specific part of the robot, for example, a component inside the housing of the reduction gear or the motor, as the behavior of the robot, and presents the analysis result to the user. Here, the reduction gear generates heat when it moves, which may affect the temperature of a specific part of the robot. For example, if the temperature of the motor of the robot exceeds the allowable temperature, there is a risk of an abnormality due to overload in the motor. On the other hand, by analyzing the temperature change of the specific part during the operation of the robot and presenting the analysis result, it is possible to confirm whether the temperature of the specific part during the operation of the robot is below the allowable temperature. Therefore, the user can select a more appropriate reduction gear.

[0079] Further, according to the present embodiment, when there are a plurality of reduction gears that match the designation of the reduction gear from the user, the support device 100 sequentially incorporates the plurality of reduction gears 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 in each case where each of the plurality of candidates is incorporated, the user can select a more appropriate reduction gear.

[0080] Further, 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 the robot is operated under the operating conditions. By analyzing the behavior when the robot is operated under the actual operating conditions, more appropriate selection becomes possible.

[0081] Further, 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. Thereby, the burden on the user is reduced.

[0082] Further, 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 for predicting the life of the speed reducer and thus selecting the speed reducer can be reduced.

[0083] Further, 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.

[0084] <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 speed reducer specifying unit 126, the robot state information creating unit 133, and the robot state information providing unit 134.

[0085] FIG. 9 is a diagram showing an example of the data structure of the material information storage unit 142.

[0086] The material information storage unit 142 stores information for creating robot state information. The material information storage unit 142 stores the deceleration device ID, the data ID, the characteristic information of the deceleration device, and the state information of the deceleration device in association with each other. That is, the deceleration device information storage unit 141 stores a data set of the deceleration device ID, the data ID, the characteristic information, and the state information for each of the plurality of deceleration devices.

[0087] The type identification information includes the model, frame number, reduction ratio, etc. of the deceleration device.

[0088] When the deceleration device is a speed reducer, the characteristic information includes the characteristic information of the speed reducer. When the deceleration device is a gear motor, the characteristic information includes the characteristic information of both the speed reducer and the motor constituting the gear motor. The characteristic information includes rigidity, friction, angular transmission error, etc.

[0089] The state information indicates the state of the deceleration device. Normal indicates that the deceleration device is normal, that is, the characteristic information in the normal state of the deceleration device. Abnormal indicates that the deceleration device is abnormal, that is, the characteristic information in the abnormal state of the deceleration device.

[0090] The material information storage unit 142 may store information regarding all deceleration devices manufactured by the deceleration device manufacturer 102. Further, in addition to the information regarding the deceleration device under manufacture, the deceleration device information storage unit 141 may store information regarding the deceleration devices manufactured in the past (that is, the manufacture has been completed).

[0091] For each of the deceleration devices whose deceleration device ID is deceleration device A, deceleration device B, deceleration device C, deceleration device D, deceleration device E, deceleration device F, deceleration device G, ···, 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, ng stores datasets of... Note that n a n b n c n d n e n f and n g are all integers greater than or equal to 2.

[0092] The material information storage unit 142 stores both a dataset with normal status information and a dataset with abnormal status information for each of the plurality of speed reducers. That is, the material information storage unit 142 stores both the characteristic information of the speed reducer in a normal state and the characteristic information of the speed reducer in an abnormal state for each of the plurality of speed reducers.

[0093] Preferably, the material information storage unit 142 stores a plurality of, more preferably a large number of, datasets with different characteristic information for each of the plurality of speed reducers, where the status of the speed reducer is normal. Also, the speed reducer information storage unit 141 preferably stores a plurality of, more preferably a large number of, datasets with different characteristic information for each of the plurality of speed reducers, where the status of the speed reducer is abnormal. Note that different characteristic information means that at least one of rigidity, friction, and angular transmission error is different from each other.

[0094] FIG. 10 is a diagram showing an example of the data structure of the robot status information storage unit 143.

[0095] The robot status information storage unit 143 stores the robot status information indicating the status of the robot when the robot is operating, and a label indicating whether an abnormality has occurred in the robot when the robot is in that status, in association with each other. That is, the robot status information storage unit 143 stores teacher data with a label indicating whether an abnormality has occurred in the robot attached to the robot status information.

[0096] 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 robot arm (see FIG. 11 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 is 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.

[0097] 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.

[0098] FIG. 11 is a diagram showing an example of the 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 field 26, an arm information area 28, a joint information area 30, an operation condition field 32, and a teacher data creation button 62.

[0099] The template selection button 22, the robot display area 24, the work information field 26, and the operation condition field 32 are each configured in the same manner as those in FIG. 3. Note that the user selects a template corresponding to the speed reducer incorporated or incorporated into the selected robot from the list of templates displayed by selecting the template selection button 22.

[0100] In the present embodiment, the arm information area 28 includes a link ID column 36 and a link mass characteristic column 38. The joint information area 30 includes a joint ID column 40, a joint position column 42, and a speed reducer column 44. Information specifying the speed reducer incorporated or incorporated into each joint is input into the speed reducer column 44.

[0101] When the teacher data creation button 62 is selected, each information item in FIG. 11 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.

[0102] Return to FIG. 2. As described with respect to the selection support function, the first reception unit 121 receives the robot specification information from the user via the user terminal 200. In the teacher data creation function, the first reception unit 121 receives information items regarding the robot specifications on the teacher data creation screen 60 of FIG. 11 from the user terminal 200.

[0103] 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 as described with respect to the selection support function. In the teacher data creation function, the second reception unit 122 receives the input in the reduction gear column 44 of the teacher data creation screen 60 of FIG. 11 from the user terminal 200.

[0104] The third reception unit 123 receives the operation conditions of the robot from the user via the user terminal 200 as described with respect to the selection support function. In the teacher data creation function, the third reception unit 123 receives the input in the operation condition column 32 of the teacher data creation screen 60 of FIG. 11 from the user terminal 200.

[0105] The reduction gear specifying unit 126 specifies the reduction gear based on the designation of the reduction gear received by the second reception unit 122 as described with respect to the selection support function.

[0106] The robot state information creation unit 133 creates robot state information indicating the state of the robot when the robot with the specifications received by the first reception unit 121 incorporates the reduction gear specified by the reduction gear specifying unit 126 based on the designation received by the second reception unit 122 into the joints and operates the robot under the operation conditions received by the third reception unit 123. The robot state information creation unit 133 executes this creation, for example, when the teacher data creation button 62 of FIG. 11 is selected.

[0107] 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.

[0108] 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 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 robot state information when normal and abnormal reduction gears are used for each joint.

[0109] For example, when the robot includes joints 1 to 6 and reduction gears A to F are incorporated into each of them, the robot state information creation unit 133 has n a pieces of characteristic information of the reduction gear A of joint 1, n b pieces of characteristic information of the reduction gear B of joint 2, n c pieces of characteristic information of the reduction gear C of joint 3, n d pieces of characteristic information of the reduction gear D of joint 4, n e pieces of characteristic information of the reduction gear E of joint 5, n f pieces of characteristic information of the reduction gear F of joint 6, and combines them exhaustively (n a ×n b ×n c ×n d ×n e ×n f ) pieces of robot state information may be created.

[0110] 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.

[0111] When all the speed reducers of each joint used to create 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 the normal label.

[0112] When at least one of the speed reducers of each joint used to create 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 speed reducer 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 the abnormal label.

[0113] 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. The robot state information providing unit 134 transmits the teacher data to the user terminal 200, for example.

[0114] The above is the configuration regarding the teacher data creation function. Next, the operation regarding 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 designated speed reducer to be incorporated or incorporated in the robot, and the operation conditions of the robot into the teacher data creation screen 60 via the user terminal 200.

[0115] 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 respectively receive the specification information of the robot, the designation of the reduction gear incorporated in or incorporated into the robot, and the operating conditions of the robot. The robot state information creation unit 133 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 operates the robot under the operating conditions received by the third reception unit 123 to create robot state information indicating the state of the robot. 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 reduction gear incorporated in 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, that is, the teacher data, associated with the label.

[0116] The above is the operation regarding the teacher data creation function. Next, the effects regarding the teacher data creation function will be described.

[0117] According to the present embodiment, the support device 100 creates the state information of the robot based on the specification information of the robot, the designation of the reduction gear, and the operating conditions of the robot received from the user, and the characteristic information of the reduction gear stored. The support device 100 sets the robot state information when the reduction gear is normal as normal robot state information, and the robot state information when the reduction gear 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.

[0118] (Second Embodiment) In the first embodiment, the specifications of the robot, the designation of the reduction gear to be incorporated into the robot, and the operating conditions of the robot were received from the user, and the life of the reduction gear when the robot with the reduction gear incorporated into the joints was operated under the operating conditions was predicted and provided to the user. In the second embodiment, the specifications 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.

[0119] FIG. 12 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 reduction gear specifying unit 126, an analysis unit 127, a life prediction unit 130, a reduction gear proposal unit 132, a robot state information creation unit 133, and a robot state information providing unit 134.

[0120] 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.

[0121] The selection support function is mainly realized by the reduction gear information storage unit 141, the first reception unit 121, the third reception unit 123, the screen providing unit 125, and the reduction gear proposal unit 132.

[0122] FIG. 13 is a diagram showing an example of the selection support screen 20 provided by the screen providing unit 125 in FIG. 12. 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 operating condition column 32, a behavior column 33, and a proposal button 56.

[0123] In this embodiment, the joint information area 30 includes a joint ID column 40, a joint position column 42, a heat capacity information column 45, and a required life column 46. The required life column 46 is for inputting the required life of the speed reducer incorporated in each joint.

[0124] In the behavior column 33, input the behavior of the robot that you want to achieve when operating the robot under the operating conditions input in the operating condition column 32. For example, when the operating conditions include the start and end points where the reference point P of the tool attached to the tip of the robot arm moves, the speed at which the reference point P moves, and the acceleration, the behavior to be achieved may be that the load applied to the speed reducer is below the specified load, or the deviation from the command for the second position that is the arrival position is within a predetermined value. Also, for example, when the operating condition is a three-dimensional target path, the behavior to be achieved may be that the deviation from the command is within a predetermined value. Note that the behavior column 33 may not be input.

[0125] When the proposal button 56 is selected, each information item in FIG. 13 is transmitted from the user terminal 200 to the support device 100, and the proposal described below is executed in the support device 100.

[0126] Return to FIG. 12. The third reception unit 123 of this embodiment further receives the required life of the speed reducer 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. 13.

[0127] 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 specification received by the first reception unit 121, and predicts the life of each of the plurality of speed reducers when operating the robot under the operating conditions received by the third reception unit 123.

[0128] 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.

[0129] For example, the speed reducer proposal unit 132 may propose one or more speed reducers whose predicted life is equal to or longer than the required life as candidates. 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 single speed reducer as a candidate. If there are multiple speed reducers whose predicted life is equal to or longer than the required life, the speed reducer proposal unit 132 may propose the multiple speed reducers as candidates.

[0130] If the required life is not input, the speed reducer proposal unit 132 may propose the speed reducer with the longest predicted life as a candidate.

[0131] 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. 13, the third reception unit 123 may receive the input.

[0132] In this case, the analysis unit 127 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 analyzes each behavior when the robot is operated under the operation conditions received by the third reception unit 123. The speed reducer proposal unit 132 proposes one or more speed reducers whose predicted life is equal to or longer than the required life and that satisfy the behavior to be achieved as candidates.

[0133] Also, when the required life is not input and the behavior that the robot is desired to achieve is input, the life prediction by the life prediction unit 130 may not be executed, and only the behavior analysis by the analysis unit 127 may be executed. In this case, the speed reducer proposal unit 132 proposes one or more speed reducers that satisfy the behavior to be achieved as candidates.

[0134] Similar to the first embodiment, the analysis unit 127 may analyze the temperature change of a specific part of the robot, for example, a component inside the housing of a speed reducer or a motor. That is, the behavior analyzed by the analysis unit 127 may include the temperature change of a specific part of the robot. In this case, based on the analysis result of the temperature change, the speed reducer proposal unit 132 may propose one or more speed reducers to the user. When the life prediction and behavior analysis are executed, 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 and that satisfy a predetermined temperature condition. Also, when only the behavior analysis is executed without the life prediction, the speed reducer proposal unit 132 may propose, as candidates, one or more speed reducers that satisfy a predetermined temperature condition. The predetermined temperature condition may be that the temperature of a specific part of the robot during operation of the robot is equal to or lower than a predetermined allowable temperature.

[0135] If there is no speed reducer that satisfies the temperature condition, the speed reducer proposal unit 132 prompts the user to change the operating conditions. For example, the speed reducer proposal unit 132 transmits, to the user terminal 200, a screen indicating that the operating conditions should be changed because there is no speed reducer that satisfies the temperature condition, and causes the screen to be displayed on the display of the user terminal 200.

[0136] The above is the configuration related to the selection support function. Next, the operation related to the selection support function will be described. Here, the case where the behavior to be realized by the robot is input to the behavior column 33 of the selection support screen 20 will be described.

[0137] The 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 specification information of the robot, 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 support device 100. The first reception unit 121 of the support device 100 receives the specification information of the robot. The third reception unit 123 receives the required life of the speed reducer, the operating conditions of the robot, and the behavior to be realized by the robot. 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 specification 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 analysis unit 127 sequentially incorporates each of the plurality of speed reducers stored in the speed reducer information storage unit 141 into the robot of the specification received by the first reception unit 121, and analyzes each behavior when the robot is operated under the operating conditions received by the third reception unit 123. The analysis unit 127 analyzes, for example, the temperature change of a specific part of the robot as the behavior of the robot. The speed reducer proposal unit 132 proposes candidates for the speed reducer based on the life prediction results and the behavior analysis results.

[0138] According to the present embodiment, the support device 100 sequentially incorporates each of the plurality of speed reducers into the robot of the specification 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.

[0139] The support device 100 proposes, as candidates, speed reducers whose predicted life is equal to or greater than the required life received from the user. According to the present embodiment, a more appropriate speed reducer can be selected.

[0140] Further, according to this embodiment, the support device 100 may further receive the behavior that the robot is desired to achieve. In this case, the support device 100 sequentially incorporates each of the plurality of speed reducers into the robot of the specifications received from the user, and analyzes each behavior when the robot is operated under the operating conditions received from the user. The support device 100 proposes candidates for the speed reducer based on the analysis result of the robot's behavior in addition to or instead of the prediction result. Therefore, according to this embodiment, an appropriate speed reducer can be selected while reducing the burden on the user.

[0141] As the behavior of the robot, the support device 100 analyzes, for example, the temperature change of a specific part of the robot. In this case, the support device 100 can propose candidates for the speed reducer that satisfy the predetermined temperature conditions. Therefore, according to this embodiment, a more appropriate speed reducer can be selected.

[0142] As described above, the present invention has been described based on the embodiments. These embodiments are illustrative, 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.

[0143] (First Modification Example) In the above-described embodiment, the case where the life prediction unit 130 predicts the life of the entire speed reducer has been described. However, the life prediction unit 130 may predict the life of each of a plurality of parts of the speed reducer.

[0144] The life prediction unit 130 may predict the life of each of the plurality of parts using known or future available prediction techniques. The means for predicting the life 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 available 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.

[0145] The predicted life providing unit 131 may provide the user with the predicted life of each of a 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.

[0146] 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.

[0147] (Second Modified Example) The third reception unit 123 may further receive the ambient temperature around the speed reduction 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 speed reduction 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 speed reduction 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 modified example, the life of the speed reduction device can be predicted with higher accuracy.

[0148] (Third Modified Example) Although not particularly mentioned in the embodiments, the life prediction unit 130 may predict the life of the lubricant enclosed in the speed reducer, in other words, the replacement cycle of the lubricant. 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 second reception unit 122 into the robot of the specification received by the first reception unit 121 at the joints, and predicts 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.

[0149] (Fourth Modification Example) In the embodiments, 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 or not 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.

[0150] (Fifth Modification Example) Unlike the embodiments, the state information of the material information storage unit 142 may include a warning state in addition to normal and abnormal states. The warning state indicates a state in which 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 state information is in the warning state, the robot state information creation unit 133 sets the created robot state information as the robot state information in the warning state, that is, the robot state information when the robot (specifically, at least one speed reducer incorporated in the robot) is in the warning state. 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 the label in the warning state. Also, for example, the state of a new product may be set to "0", the state of a complete failure 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 state, and a state above that (for example, 0.8 or more) may be set as the failure state.

[0151] In the embodiments and modification examples, the support device 100 has been mainly described as a device. However, the present invention can also be regarded as a reduction gear selection support method having each step executed by the support device 100, can also be regarded as an invention of a program for causing the support device 100 to execute each of the steps, and can also be regarded as an invention of a storage medium storing the program.

Explanation of Reference Numerals

[0152] 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, 140 Storage unit.

Claims

1. A storage unit that stores characteristic information of the speed reduction device, which is information that can identify the type of the speed reduction device and that changes in accordance with a change in the situation of the speed reduction device, in association with information that can identify 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; 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; Comprising: The analysis unit analyzes the behavior of the robot including the temperature change of a specific part of the robot, and is a support device.

2. The support device according to claim 1, wherein the first reception unit receives, as the specification information of the robot, information that can identify the heat capacity of each member of the robot.

3. Having a third reception unit that receives the operating conditions of the robot, The third reception unit receives a plurality of consecutive operating conditions, The support device according to claim 1, wherein the analysis unit analyzes the continuous temperature change in the plurality of consecutive operating conditions as the behavior.

4. A storage unit that stores characteristic information of the speed reduction device, which is information that can identify the type of the speed reduction device and that changes in accordance with a change in the situation of the speed reduction device, in association with information that can identify the type of the speed reduction device; A first reception unit that receives the specification information of the robot; A third reception unit that receives the operating conditions of the robot; An analysis unit that analyzes the temperature change of a specific part of the robot when the robot is 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 analysis result; A support device comprising:

5. The support device according to claim 4, which prompts a change in the operating conditions when there is no speed reduction device that satisfies the temperature conditions.

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