Reduction gear selection assistance device

Abstract

According to a first invention, there is provided a reduction gear selection assistance device comprising: a storage unit that stores characteristic information pertaining to a reduction gear in association with information with which the type of the reduction gear can be identified; a first reception unit that receives specification information pertaining to a robot; a second reception unit that receives designation of a reduction gear to be incorporated in each joint of the robot; a third reception unit that receives an operation condition for the robot; a service life prediction unit that predicts the service life of the reduction gear when the robot having the specified reduction gear incorporated in each joint is operated under the designated operation condition; and a predicted service life provision unit that provides a prediction result obtained by the service life prediction unit to a user. According to a second invention, there is provided a reduction gear selection assistance device comprising: a storage unit that stores characteristic information pertaining to a reduction gear in association with information with which the type of the reduction gear can be identified; a first reception unit that receives specification information pertaining to a robot; a third reception unit that receives an operation condition for the robot; a service life prediction unit that predicts, for a plurality of reduction gears, the service life when the plurality of reduction gears are operated under a designated operation condition; and a reduction gear proposal unit that proposes one or more reduction gears to a user on the basis of the prediction result for the service life obtained by the service life prediction unit.

Description

Reducer selection support device

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

[0002] BACKGROUND ART Robots having reduction gears built into a plurality of joints are known. For example, Patent Document 1 discloses a robot having eccentric oscillating type reduction gears built into the joints.

[0003] Japanese Patent Application Laid-Open No. 2006-263878

[0004] When designing a robot, the reduction gear to be incorporated into each joint must be selected, but this selection process is extremely time-consuming.

[0005] The present invention has been made in view of the above circumstances, and aims to provide a technique for assisting in the selection of a reduction gear transmission.

[0006] In order to solve the above problem, a reduction gear selection support device of one embodiment of the present invention includes a memory unit that stores characteristic information of the reduction gear in association with information that can identify the type of reduction gear, the characteristic information changing in response to changes in the situation of the reduction gear; a first reception unit that receives specification information of the robot; a second reception unit that receives designation of reduction gears to be incorporated into each joint of the robot; a third reception unit that receives operating conditions of the robot; a life prediction unit that predicts the life of the reduction gear when a robot having the designated reduction gear incorporated into each joint is operated under designated operating conditions; and a predicted life provision unit that provides a user with the prediction results from the life prediction unit.

[0007] Another aspect of the present invention is a reduction gear selection support device that includes: a storage unit that stores characteristic information of the reduction gear in association with information that can identify a type of the reduction gear, the characteristic information changing in response to a change in the state of the reduction gear; a first reception unit that receives specification information of a robot; a third reception unit that receives operating conditions of the robot; a lifespan prediction unit that predicts the lifespan of multiple reduction gears when operated under specified operating conditions; and a reduction gear proposal unit that proposes one or more reduction gears to a user based on the lifespan prediction result by the lifespan prediction unit.

[0008] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, devices, systems, etc., are also valid aspects of the present invention.

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

[0010] FIG. 8 is a schematic diagram showing the configuration of a reduction gear selection support system according to a first embodiment. FIG. 9 is a block diagram showing the functions and configuration of the reduction gear selection support device of FIG. 1. FIG. 10 is a diagram showing an example of a selection support screen provided by the screen providing unit of FIG. 2. FIG. 11 is a diagram showing an example of an analysis result provided to a user. FIG. 12 is a diagram showing another example of an analysis result provided to a user. FIG. 13 is a diagram showing yet another example of an analysis result provided to a user. FIG. 14 is a diagram showing an example of a prediction result screen provided to a user. FIG. 15 is a block diagram showing the functions and configuration of a reduction gear selection support device according to a second embodiment. FIG. 16 is a diagram showing an example of a selection support screen provided by the screen providing unit of FIG.

[0011] Hereinafter, identical or equivalent components, parts, and steps shown in each drawing will be assigned the same reference numerals, and redundant explanations will be omitted where appropriate. Furthermore, the dimensions of the parts in each drawing will be enlarged or reduced as appropriate to facilitate understanding. Furthermore, some parts that are not important for explaining the embodiments will be omitted from the drawings.

[0012] First, the background to the invention will be explained. When designing a robot, a reduction gear to be incorporated into each joint is selected. In selecting a reduction gear, the lifespan of the reduction gear candidate is predicted when the robot, with the reduction gear candidate incorporated into the joint, is operated under specified operating conditions. The lifespan can be predicted, for example, using a lifespan calculation formula provided in a catalog. However, this requires calculating the load applied to the reduction gear when the robot is operated under the specified operating conditions, and then extracting values ​​to input into the lifespan calculation formula from the calculated values, which places a heavy burden on the user. Based on this knowledge, the present invention has been made to assist in the selection of a reduction gear.

[0013] (First Embodiment) Before describing the first embodiment in detail, an overview will be provided. The first embodiment relates to a technology for supporting the selection of a reduction gear to be incorporated into a joint of a robot. A reduction gear selection support device according to the first embodiment provides a selection support screen to a user terminal. The user terminal accepts inputs to the selection support screen from a user. The inputs to the selection support screen include specification information for a robot under design, a designation of a reduction gear (model number or specifications) to be incorporated into the joint of the robot, and the operating conditions of the robot. The reduction gear selection support device accepts these inputs. The reduction gear selection support device predicts the lifespan of a reduction gear when a robot having the accepted specifications and incorporating the specified reduction gear into its joint is operated under the accepted operating conditions. The reduction gear selection support device provides the predicted lifespan result to the user terminal. The user can use this prediction result as a reference when selecting a reduction gear.

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

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

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

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

[0018] Figure 2 is a block diagram showing the functions and configuration of the reduction gear selection support device 100. Each block shown here can be realized in hardware terms by elements or mechanical devices such as a computer's central processing unit (CPU), and in software terms by a computer program, etc., but the functional blocks shown here are realized by the cooperation of these elements. Therefore, those skilled in the art who have read this specification will understand that these functional blocks can be realized in various ways by combining hardware and software. The same applies to the block diagram of Figure 8.

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

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

[0021] If the reduction gear device is a reducer, the characteristic information includes characteristic information of the reducer. If the reduction gear device is a gear motor, the characteristic information includes characteristic information of both the 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 condition of the reduction gear device (e.g., temperature, rotation speed, etc.). In other words, friction is defined as a function with at least temperature and rotation speed as variables. Similarly, angular transmission error is defined as a function with at least the reducer rotation angle as a variable.

[0022] The reduction gear information storage unit 141 may store characteristic information of all reduction gears manufactured by the reduction gear manufacturer 102. Furthermore, the reduction gear information storage unit 141 may store characteristic information of reduction gears that have been manufactured in the past (i.e., production of which has been discontinued), in addition to characteristic information of reduction gears that are currently being manufactured.

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

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

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

[0026] When the template selection button 22 is selected, a list of pre-prepared templates (not shown) is displayed. The user selects a template corresponding to the robot they wish to configure from the displayed list of templates. A schematic diagram of the robot of the selected template is displayed in the robot display area 24.

[0027] The mass characteristics of the workpiece are input in the workpiece information field 26. The mass characteristics include, for example, the weight, the position of the center of gravity, and the moment of inertia.

[0028] The arm information area 28 includes a link ID field 36 and a link mass properties field 38. The link ID field 36 displays an ID that identifies a link. The number of links in the robot is determined by selecting a template. The link mass properties field 38 is used to input the mass properties of the link.

[0029] The joint information area 30 includes a joint ID field 40, a joint position field 42, and a reduction gear field 44. The joint ID field 40 displays an ID that identifies a joint (axis of rotation). The number of joints in the robot is determined by selecting a template.

[0030] The three-dimensional position of each joint (axis of rotation) in the robot's reference posture (e.g., initial posture), with a predetermined reference point O (see the robot display area 24) as the origin, is input into the joint position field 42. Default values ​​set in the template may be input into the joint position field 42. In this case, the user can change the default values ​​in the joint position field 42, for example, by direct input, as necessary. Note that the positions of the joints in the illustration displayed in the robot display area 24 may be changeable by operations such as drag and drop, and the input in the joint position field 42 may be changed accordingly. In other words, the joint position field 42 may be input by changing the template.

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

[0032] The operating conditions of the robot are input in the operating conditions field 32. For example, the operating conditions include the start and end points of the movement of a reference point P of a tool attached to the tip of the robot's arm, the stop time at each point, the presence or absence of a workpiece during operation, and the speed and acceleration of the movement of the reference point P. Another example of an operating condition is a three-dimensional target path along which the reference point P moves. The operating conditions may be input in a format predetermined for each type. The motor control method and control parameters used in analyzing behavior may be user-adjustable. Conditions for sequentially performing multiple operations may also be provided. Since it is desirable for a series of operations to be input as a single cycle in lifespan calculations, restrictions may be imposed so that the start and end points coincide when accepting user input.

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

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

[0035] Returning to Fig. 2, the first reception unit 121 receives robot specification information from a user via the user terminal 200. In detail, the first reception unit 121 receives, from the user terminal 200, information items related to the robot specifications on the selection support screen 20 in Fig. 3, specifically, the mass properties of the workpiece, the mass properties of the links, the number of joints, and the joint positions of each joint.

[0036] The second reception unit 122 receives designation of a reduction gear to be incorporated into each joint of the robot from the user via the user terminal 200. In detail, the second reception unit 122 receives input from the user terminal 200 into the reduction gear field 44 on the selection support screen 20 in FIG.

[0037] The third reception unit 123 receives the robot's operating conditions from the user via the user terminal 200. In detail, the third reception unit 123 receives input from the user terminal 200 into the operating conditions field 32 of the selection support screen 20 in FIG.

[0038] The reduction gear identification unit 126 identifies a reduction gear based on the designation of a reduction gear received by the second reception unit 122. Specifically, the reduction gear identification unit 126 identifies, from the reduction gear information storage unit 141, the reduction gear ID of a reduction gear that matches the designation of a reduction gear received by the second reception unit 122, and the characteristic information of that reduction gear. It is possible that multiple reduction gears are identified. For example, if the information specifying a reduction gear is specification information of a reduction gear, there may be multiple reduction gears that match the specification information, i.e., that satisfy the specification information. In this case, the reduction gear identification unit 126 may identify the multiple reduction gears.

[0039] The analysis unit 127 performs a simulation to analyze the behavior of a robot having specifications accepted by the first acceptance unit 121 when the reduction gears identified by the reduction gear identification unit 126 based on the specifications accepted by the second acceptance unit 122 are incorporated into the joints of the robot and the robot is operated under the operating conditions accepted by the third acceptance unit 123. The analysis unit 127 performs this analysis when, for example, 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 characteristic information stored in the reduction gear information storage unit 141 as characteristic information of the reduction gears incorporated into each joint.

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

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

[0042] Fig. 4 is a diagram showing an example of the analysis results provided to the user. The analysis results in this example are the error from the command value when the reference point P of the tool is moved 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 represents the analysis results, and the dashed line graph represents the command value.

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

[0044] By checking the analysis results in Figures 4 and 5, the user can see at a glance how the robot will behave when the specified reduction gear is installed.

[0045] FIG. 6 is a diagram showing yet another example of analysis results provided to the user. Similar to FIG. 4, the analysis results in this example are errors from command values ​​when the reference point P of the tool is moved along the target trajectory. This example shows the analysis results when the reduction gear identification unit 126 identifies multiple reduction gear candidates for a certain joint and the analysis unit 127 analyzes the behavior in each case. Here, the solid and dashed-dotted line graphs represent the analysis results, and the dashed line graphs represent the command values. By presenting the analysis results for each of the multiple candidates, the user can select a more appropriate reduction gear.

[0046] Returning to FIG. 2 , the life prediction unit 130 predicts the life of the reduction gear identified by the reduction gear identification unit 126 based on the specifications accepted by the second acceptance unit 122 when the reduction gear is incorporated into a joint of a robot having specifications accepted by the first acceptance unit 121 and the robot is operated under the operating conditions accepted by the third acceptance unit 123. For example, this life prediction is performed when the life prediction button 35 in FIG. 3 is selected. The life prediction unit 130 may predict the life of the reduction gear using a publicly known or future available prediction technology. The predicted life is expressed as the time until failure when the operating conditions specified by the user are repeatedly performed. When the robot has multiple joints, the life prediction unit 130 may predict the life of candidate reduction gears for each joint.

[0047] 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 reduction gear device as parameters, and the average rotational speed [rpm] and average load torque [Nm] of the reduction gear device 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 reduction gear device information storage unit 141 into the life calculation formula. This analysis may be performed by the life prediction unit 130 or by the analysis unit 127.

[0048] When the reduction gear specifying unit 126 specifies a plurality of reduction gears for a certain joint, the life expectancy predicting unit 130 may sequentially incorporate the plurality of reduction gears and predict the life expectancy of each of them.

[0049] The predicted lifespan providing unit 131 provides the user with the predicted result of the lifespan of the reduction gear predicted by the lifespan predicting unit 130. For example, the predicted lifespan providing unit 131 transmits a lifespan prediction result screen showing the predicted result of the lifespan to the user terminal 200, and displays it on the display of the user terminal 200.

[0050] The reduction gear proposal unit 132 determines whether the life of the reduction gear predicted by the life prediction unit 130 satisfies a predetermined life condition. If the predicted life does not satisfy the predetermined life condition, the reduction gear proposal unit 132 proposes a reduction gear other than the reduction gear to the user. For example, the reduction gear proposal unit 132 transmits a proposal screen proposing a different reduction gear to the user terminal 200 and displays it on the display of the user terminal 200.

[0051] 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 (e.g., 20,000 hours). Alternatively, the predetermined life condition may be equal to or greater than a total number of operating cycles (e.g., 1 million cycles) where a series of operating conditions input by the user is considered as one cycle. Alternatively, the predetermined life condition may be equal to or greater than a total number of operating cycles specified by input by the user.

[0052] The predetermined life condition may be that the predicted life is equal to or greater than a required life specified by the user, which may be expressed in terms of time or the total number of rotations.

[0053] The other reduction gear is not particularly limited, but may be a reduction gear having a higher load capacity than the reduction gear specified by the user, i.e., the reduction gear determined not to satisfy the predetermined life condition, typically a larger reduction gear. In this case, the other reduction gear may be all reduction gears stored in the reduction gear information storage unit 141 that have a higher load capacity than the reduction gear specified by the user.

[0054] Alternatively, the other reduction gear may be a reduction gear that has a larger load capacity than the reduction gear specified by the user and that has a load capacity closest to that of the reduction gear specified by the user, among the multiple reduction gears stored in the reduction gear information storage unit 141. In other words, the other reduction gear may be a reduction gear that is one size larger than the reduction gear specified by the user, among the multiple reduction gears stored in the reduction gear information storage unit 141.

[0055] For a reduction gear that does not satisfy a predetermined life condition, the reduction gear proposal unit 132 provides the user with type identification information of another reduction gear proposed by the reduction gear proposal unit 132 .

[0056] 7 is a diagram showing an example of a lifespan prediction result screen provided to the user. The lifespan prediction result screen in this example includes the joint ID of each joint, the lifespan conditions required of the reduction gear of each joint, the predicted lifespan of the reduction gear of each joint specified by the user, and type-specific information of another reduction gear that is proposed if the lifespan conditions are not met. In this example, the lifespan prediction result screen also serves as a proposal screen for another reduction gear.

[0057] By checking the life prediction result screen of Figure 7, the user can see at a glance the life of the reduction gear device specified by the user, whether that life meets the life conditions, and what other reduction gear devices will be suggested if the life conditions are not met.

[0058] The configuration of the reduction gear selection support system 10 has been described above. Next, its operation will be described. The reduction gear selection support device 100 provides a selection support screen 20 to the user terminal 200 in response to a request. The user inputs robot specification information, a designation of a reduction gear to be incorporated into the robot, and the robot's operating conditions to the selection support screen 20 via the user terminal 200. When a lifespan 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 reduction gear selection support device 100. The first reception unit 121, the second reception unit 122, and the third reception unit 123 of the reduction gear selection support device 100 each accept the robot specification information, a designation of a reduction gear to be incorporated into the robot, and the robot's operating conditions. The analysis unit 127 predicts the lifespan of the reduction gear when a reduction gear identified based on the designation accepted by the second reception unit 122 is incorporated into a joint of a robot having specifications accepted by the first reception unit 121, and the robot is operated under the operating conditions accepted by the third reception unit 123. At this time, the life prediction unit 130 performs an analysis using, for example, characteristic information stored in the reduction gear information storage unit 141, and substitutes the average rotation speed and average load torque obtained by the analysis into a life calculation formula to calculate the life of the reduction gear.

[0059] According to this embodiment, reduction gear selection support device 100 predicts the life of a reduction gear based on robot specification information received from a user, designation of a reduction gear to be incorporated into the robot's joints, operating conditions of the robot, and characteristic information of the reduction gear, and provides the prediction result to the user. Therefore, according to this embodiment, it is possible to reduce the burden on the user associated with predicting the life of a reduction gear and, ultimately, with selecting a reduction gear.

[0060] Furthermore, according to this embodiment, when there are multiple reduction gears that match the reduction gear designation from the user, reduction gear selection support device 100 sequentially incorporates the multiple reduction gears into the joints of the robot, predicts the lifespan for each case, and provides these prediction results to the user. By being presented with the predicted lifespan for each of the multiple candidates, the user can select a more appropriate reduction gear.

[0061] Furthermore, according to this embodiment, reduction gear selection support device 100 analyzes the behavior of the robot's operation based on the robot specification information, reduction gear designation, robot operating conditions, and reduction gear characteristic information received from the user, and provides the user with the analysis results. Here, reduction gear selection support device 100 stores characteristic information that changes in response to changes in the situation of the reduction gear as the characteristic information of the reduction gear, and performs an analysis that takes into account the changes in the situation of the reduction gear. Therefore, according to this embodiment, it is possible to perform a highly accurate analysis and appropriately select a reduction gear while reducing the burden on the user.

[0062] (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 lifespan of the reduction gear when the robot with the reduction gear incorporated into the joint is operated under those 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 those operating conditions is proposed. The following mainly describes the differences from the first embodiment.

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

[0064] Fig. 9 is a diagram showing an example of the selection support screen 20 provided by the screen providing unit 125 of Fig. 8. The selection support screen 20 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, a behavior field 33, and a suggestion button 56.

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

[0066] In the behavior column 33, the robot behavior that is desired to be realized when the robot is operated under the operating conditions entered in the operating condition column 32 is entered. For example, if the operating conditions include the start and end points of movement of a reference point P of a tool attached to the tip of the robot's arm, and the speed and acceleration at which the reference point P moves, the behavior that is desired to be realized may be that the load applied to the reduction gear is equal to or less than a specified load, or that the deviation from the command for the second position, which is the destination position, is equal to or less than a predetermined value. Also, for example, if the operating condition is a three-dimensional target path, the behavior that is desired to be realized 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.

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

[0068] Returning to Fig. 8, the third reception unit 123 of this embodiment further receives the required lifespan of the reduction gear device to be incorporated into each joint of the robot. More specifically, the third reception unit 123 further receives input into the required lifespan field 46 of the selection support screen 20 of Fig. 9.

[0069] The life prediction unit 130 sequentially incorporates each of the multiple reduction gears stored in the reduction gear information storage unit 141 into a robot with specifications accepted by the first reception unit 121, and predicts the life of each of the multiple reduction gears when the robot is operated under the operating conditions accepted by the third reception unit 123.

[0070] The reduction gear suggestion unit 132 proposes one or more reduction gears suitable for operating the robot under the operating conditions accepted by the third acceptance unit 123 based on the lifespan prediction result by the lifespan prediction unit 130 .

[0071] For example, the reduction gear proposal unit 132 may propose one or more reduction gears whose predicted lifespans are equal to or greater than the required lifespan as candidates. If there is one reduction gear whose predicted lifespans are equal to or greater than the required lifespan, the reduction gear proposal unit 132 may propose that one reduction gear as a candidate, and if there are multiple reduction gears whose predicted lifespans are equal to or greater than the required lifespan, the reduction gear proposal unit 132 may propose those multiple reduction gears as candidates.

[0072] If the required lifespan is not input, the reduction gear suggestion unit 132 may suggest the reduction gear with the longest predicted lifespan as a candidate.

[0073] The third reception unit 123 may further receive a behavior that the user wants the robot to achieve. Specifically, when a behavior that the user wants the robot to achieve is input into the behavior field 33 on the selection support screen 20 of FIG. 9 , the third reception unit 123 may receive the input.

[0074] In this case, the reduction gear proposal unit 132 may sequentially incorporate each of the multiple reduction gears stored in the reduction gear information storage unit 141 into a robot whose specifications have been accepted by the first acceptance unit 121, and analyze the behavior of each reduction gear when the robot is operated under the operating conditions accepted by the third acceptance unit 123. The reduction gear proposal unit 132 may propose, as candidates, reduction gears whose predicted lifespan is equal to or greater than the required lifespan and which satisfy the desired behavior.

[0075] Next, the operation will be described. The reduction gear selection support device 100 provides the selection support screen 20 to the user terminal 200 in response to a request. The user inputs robot specification information, operating conditions of the robot, and the required lifespan of the reduction gear into the selection support screen 20 via the user terminal 200. 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 reduction gear selection support device 100. The first reception unit 121 of the reduction gear selection support device 100 receives the robot specification information. The third reception unit 123 receives the operating conditions of the robot and the required lifespan of the reduction gear. The lifespan prediction unit 130 sequentially incorporates each of the multiple reduction gears stored in the reduction gear information storage unit 141 into a robot having the specifications received by the first reception unit 121, and predicts the lifespan of each of the multiple reduction gears when the robot is operated under the operating conditions received by the third reception unit 123. The reduction gear proposing unit 132 proposes candidates for reduction gears based on the results of the life prediction by the life prediction unit 130 .

[0076] According to this embodiment, reduction gear selection support device 100 sequentially incorporates each of a plurality of reduction gears into a robot having specifications received from a user, predicts the lifespan of each of the plurality of reduction gears when the robot is operated under the operating conditions received from the user, and proposes candidate reduction gears based on the prediction results. Therefore, according to this embodiment, it is possible to select a more appropriate reduction gear while reducing the burden on the user.

[0077] The reduction gear selection support device 100 proposes as candidates reduction gears whose predicted lifespans are equal to or longer than the required lifespan accepted by the user. According to this embodiment, a more appropriate reduction gear can be selected.

[0078] The present invention has been described above based on an embodiment. This embodiment is merely an example, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each treatment process, and that such modifications are also within the scope of the present invention. These modifications will be described below.

[0079] (First Modification) In the above embodiment, the case where the life prediction unit 130 predicts the life of the entire reduction gear device has been described, but the life prediction unit 130 may also predict the life of each of multiple parts of the reduction gear device.

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

[0081] The predicted lifespan providing unit 131 may provide the user with the predicted lifespan of each of the multiple parts of the reduction gear. Alternatively, the predicted lifespan providing unit 131 may provide the user with the predicted lifespan of the part with the shortest predicted lifespan of the multiple parts of the reduction gear. In other words, the predicted lifespan providing unit 131 may provide the user with the predicted lifespan of the part with the shortest predicted lifespan of the multiple parts of the reduction gear as the predicted lifespan of the reduction gear.

[0082] The reduction gear suggestion unit 132 determines whether the life of the part with the shortest predicted life among the multiple parts predicted by the life prediction unit 130 satisfies a specified life condition, and if the shortest predicted life does not satisfy the specified life condition, it may suggest to the user a reduction gear other than the reduction gear in question.

[0083] (Second Modification) The third reception unit 123 may further receive the environmental temperature around the reduction gear as an operating condition. For example, the third reception unit 123 may receive the environmental temperature from the user via the user terminal 200. Alternatively, a temperature sensor may be attached to an appropriate position, for example, on the reduction gear, and the third reception unit 123 may receive the environmental temperature from the temperature sensor. The life expectancy prediction unit 130 may predict the life expectancy of the reduction gear by taking into account the environmental temperature received by the third reception unit 123. For example, when the life expectancy prediction unit 130 predicts the life expectancy using a life expectancy calculation formula, the life expectancy calculation formula may include the environmental temperature [°C] as a variable. According to this modification, the life expectancy of the reduction gear can be predicted with higher accuracy.

[0084] (Third Modification) Although not specifically mentioned in the embodiment, the life prediction unit 130 may predict the life of the lubricant sealed in the reduction gear, in other words, the replacement cycle of the lubricant. That is, the life prediction unit 130 may predict the life of the lubricant sealed in the reduction gear when a reduction gear identified by the reduction gear identification unit 126 based on the specifications accepted by the second acceptance unit 122 is incorporated into a joint of a robot having specifications accepted by the first acceptance unit 121, and the robot is operated under operating conditions accepted by the third acceptance unit 123. The life prediction unit 130 may predict the life of the lubricant using known or future available technology.

[0085] In the embodiments and variant examples, the reduction gear selection support device 100 has been described primarily as a device, but the present invention can also be seen as a reduction gear selection support method having each step executed by the reduction gear selection support device 100, as an invention of a program for causing the reduction gear selection support device 100 to execute each of the steps, or as an invention of a storage medium on which the program is stored.

[0086] The present invention can be used in a reduction gear selection support device.

[0087] 10 Reduction gear selection support system, 100 Reduction gear selection support device, 121 First reception unit, 122 Second reception unit, 123 Third reception unit, 127 Analysis unit, 129 Analysis result providing unit, 130 Life prediction unit, 131 Predicted life providing unit, 132 Reduction gear proposal unit, 141 Reduction gear information storage unit.

Claims

1. A reduction gear selection support device comprising: a memory unit that stores characteristic information of the reduction gear in association with information that can identify the type of reduction gear; a first reception unit that receives specification information of a robot; a second reception unit that receives designation of a reduction gear to be incorporated into each joint of the robot; a third reception unit that receives operating conditions of the robot; a life prediction unit that predicts the life of the reduction gear when the robot, with the designated reduction gear incorporated into each joint, is operated under designated operating conditions; and a predicted life provision unit that provides a user with the prediction results by the life prediction unit.

2. The reduction gear selection support device of claim 1, wherein the characteristic information is information that changes according to changes in the condition of the reduction gear, and the device is equipped with an analysis unit that analyzes the behavior of the robot in which a specified reduction gear is incorporated into each joint, and an analysis result providing unit that provides a user with the analysis results by the analysis unit.

3. A reduction gear selection support device according to claim 1, wherein the life prediction unit predicts the life of a plurality of portions of the reduction gear.

4. A reduction gear selection support device as described in claim 1, wherein the third reception unit receives an environmental temperature as an operating condition of the robot.

5. A reduction gear selection support device as described in claim 1, further comprising a reduction gear suggestion section that suggests to the user a reduction gear other than the specified reduction gear if the predicted life does not satisfy a predetermined condition.

6. A reduction gear selection support device comprising: a memory unit that stores characteristic information of the reduction gear in association with information capable of identifying the type of reduction gear; a first reception unit that receives specification information of a robot; a third reception unit that receives operating conditions of the robot; a life prediction unit that predicts the life span of multiple reduction gears when operated under specified operating conditions; and a reduction gear proposal unit that proposes one or more reduction gears to a user based on the life span prediction results by the life prediction unit.

7. A reduction gear selection support device as described in claim 6, wherein the third reception unit receives a required lifespan, and the reduction gear proposal unit proposes a reduction gear whose predicted lifespan is equal to or longer than the required lifespan.

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