JP6844189B2 - Design proposal generation device, design proposal generation program and its method - Google Patents

Description

The present invention relates to a design proposal generation device, a design proposal generation program, and a method thereof.

Various methods are known to assist a worker who designs a mechanism of a product by using a computer (see, for example, Patent Documents 1 to 3). In addition, there is known a design support system that supports the design of a karakuri mechanism in which the doll at the top of the box operates by manually turning the handle attached to the spindle. Specifically, we know how to generate a mechanism that realizes the movement selectively input by the user by defining the relationship between the movement of the karakuri mechanism and the parts that realize the movement such as gears, cranks, and cams. (See, for example, Non-Patent Document 1). Further, there is known a method of storing several mechanisms for realizing a plane circular motion by combining a gear and a link mechanism as a library and using the mechanisms stored in the library to realize a desired movement (). For example, see Non-Patent Document 2).

Japanese Unexamined Patent Publication No. 9-10231 Japanese Unexamined Patent Publication No. 2009-50632 Special Table 2014-512891

L. Zhu et al., "Motion-Guided Mechanical Toy Modeling" November, 2012 S Coros al., "Computational Design of Mechanical Characters" November, 2013 Niloy J al., "ILLUSTRATING HOW MECHANICAL ASSEMBLIES WORK", ACM SIGGRAPH 2010 "November, 2013 MacQueen, J. B., "Some Methods for classification and Analysis of Multivariate Observations" Proceedings of 5th Berkeley Symposium on Mathematical Statistics and Probability, University of California Press, pp. 281-297, 2013

However, in the method of generating a mechanism for realizing the movement selectively input by the user, the movement that can be selected by the user is limited, so that the movement desired by the user may not be selected. Further, in the method of realizing the desired movement by using the mechanism stored in the library, the usable mechanism is limited to the mechanism stored in the library, so that the mechanism desired by the user may not be selected.

In one embodiment, it is an object of the present invention to provide a design proposal generation device capable of selecting an appropriate mechanical element for a movement desired by a user.

In one aspect, the design proposal generation device includes a storage unit, a user locus data acquisition unit, a cluster search unit, a design proposal generation unit, and a design proposal output unit. The storage unit stores the registered locus data indicating the locus of the action point and the mechanical element that realizes the locus of the action point according to the rotation of the spindle in association with the cluster indicating the division of the locus of the action point. The user locus data acquisition unit acquires user locus data indicating a user locus, which is a locus input by the user. The cluster search unit searches for a cluster corresponding to the division of the user locus. The design proposal generation unit optimizes the dimensions of the mechanical elements associated with the searched cluster so that the locus of the action point associated with the searched cluster resembles the user locus, and generates a design proposal. The design proposal output unit outputs the design proposal.

In one embodiment, the appropriate mechanical element can be selected for the movement desired by the user.

It is a block diagram of the design plan generation apparatus which concerns on embodiment. It is a figure which shows the design drawing of a mechanical element, (a) shows the 1st example of a mechanical element, (b) shows the 2nd example of a mechanical element, (c) shows the 3rd example of a mechanical element. (D) shows a fourth example of the mechanical element, (e) shows a fifth example of the mechanical element, and (f) shows a sixth example of the mechanical element. It is a figure which shows the relationship between a component and a component model, (a) shows the 3rd example of the mechanism element shown in FIG. 2 (c), (b) is the mechanism corresponding to the mechanism element shown in (a). Shows the element model. It is a figure which shows an example of the kinematics simulation, (a) shows the 3rd example of the mechanical element shown in FIG. 2 (c), (b) is the mechanical element model corresponding to the mechanical element shown in FIG. 4 (a). Is shown. It is a flowchart of the design plan registration process by the design plan generation apparatus shown in FIG. It is a flowchart of the design plan generation process by the design plan generation apparatus shown in FIG. It is a figure which shows an example of the user locus data acquired by the user locus data acquisition unit shown in FIG. 1 and the housing information acquired by the housing information acquisition unit shown in FIG. It is a figure which shows an example of the process of S207 shown in FIG. It is a figure for demonstrating the process of S211 shown in FIG. It is a figure which shows the operation of an example of the design plan generated by the design plan generation apparatus shown in FIG. 1, (a) shows the 1st state, (b) shows the 2nd state next to the 1st state. (C) shows the third state following the second state. (D) shows the fourth state next to the third state, (e) shows the fifth state next to the fourth state, and (f) shows the sixth state next to the fifth state.

Hereinafter, the design proposal generation device, the design proposal generation program, and the method thereof will be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to those embodiments, but extends to the equivalent of the invention described in the claims.

(Outline of the design proposal generation device according to the embodiment)
The design proposal generation device according to the embodiment realizes the locus of the action point associated with the cluster that divides the locus by optimizing the dimensions of the mechanical elements associated with the cluster so as to resemble the locus input by the user. By doing so, the optimum mechanical element is selected for the trajectory desired by the user.

(Configuration and function of design proposal generation device according to the embodiment)
FIG. 1 is a block diagram of a design proposal generation device according to an embodiment.

The design proposal generation device 1 has a communication unit 10, a storage unit 11, an input unit 12, an output unit 13, and a processing unit 20, and is an appropriate mechanism from user locus data indicating a locus input by the user. Generate a design proposal with elements. In one example, the design proposal generator 1 is a personal computer.

The communication unit 10 communicates with a server or the like (not shown) via the Internet according to the HTTP (Hypertext Transfer Protocol) protocol. Then, the communication unit 10 supplies the data received from a server or the like (not shown) to the processing unit 20. Further, the communication unit 10 transmits the data supplied from the processing unit 20 to a server or the like (not shown).

The storage unit 11 includes, for example, at least one of a semiconductor device, a magnetic tape device, a magnetic disk device, or an optical disk device. The storage unit 11 stores an operating system program, a driver program, an application program, data, and the like used for processing in the processing unit 20. For example, the storage unit 11 registers a design plan for causing the processing unit 20 to execute a design plan registration process for generating and registering a design plan including a mechanical element acquired from a design drawing as an application program. Remember the registration program. Further, the storage unit 11 causes the processing unit 20 to execute a design proposal generation process for generating a design proposal having an appropriate mechanical element from the user locus data indicating the locus input by the user as an application program. Memorize the generator. The design proposal registration program and the design proposal generation program may be installed in the storage unit 11 from a computer-readable portable recording medium such as a CD-ROM or a DVD-ROM using a known setup program or the like.

Further, the storage unit 11 stores data or the like used in the design plan registration process and the design plan generation process as data. For example, the storage unit 11 has a mechanism element model database 111 including a design drawing of each of the plurality of mechanism elements and a plurality of mechanism element models in which each of the plurality of mechanism elements is modeled. In one example, the design drawing data is three-dimensional CAD (Computer-Aided Design) data.

FIG. 2 is a diagram showing a design drawing of a mechanical element. 2 (a) shows a first example of a mechanical element, FIG. 2 (b) shows a second example of a mechanical element, FIG. 2 (c) shows a third example of a mechanical element, and FIG. 2 (d) shows. 2 shows a fourth example of the mechanical element, FIG. 2 (e) shows a fifth example of the mechanical element, and FIG. 2 (f) shows a sixth example of the mechanical element.

The first example shown in FIG. 2 (a) is an elliptical cam type mechanical element, and the second example shown in FIG. 2 (b) is a snail cam type mechanical element. The third example shown in c) is a crank link (Crank + Link) type mechanical element. The fourth example shown in FIG. 2 (d) is a quick return type mechanical element, and the fifth example shown in FIG. 2 (e) is a horizontal link type mechanical element. FIG. The sixth example shown in (f) is a plurality of Gear Units type mechanical elements.

FIG. 3 is a diagram showing the relationship between the component and the component model, FIG. 3 (a) shows a third example of the mechanical element shown in FIG. 2 (c), and FIG. 3 (b) shows FIG. 3 (a). The mechanical element model corresponding to the mechanical element shown in) is shown.

The mechanical element 100 includes a handle 101, a handle arm 102, a spindle 103, a crank arm 104, a link 105, a rod 106, and a pin 107. The handle 101, the handle arm 102, the spindle 103, and the crank arm 104 form a crank. As the handle 101 rotates on a plane orthogonal to the extending direction of the spindle 103, the point of action 108 located at the end of the rod connected to the crank arm 104 via the link 105 rotates.

The mechanical element model 110 includes a phase θ, a crank movable range R, a link position J ₁ , a pin position J _2, and a rod length L. The crank movable range R, the link position J ₁ , the pin position J _2, and the rod length L are parameters used in the optimization process executed when the design proposal is generated.

Further, the storage unit 11 is designed to include locus data indicating the locus of the point of action, a type of the mechanical element in which the mechanical elements are classified based on the shape, a cluster showing the classification of the locus of the point of action, and cluster information. It has a draft database 112. Each of the locus data, the type of the mechanism element, the cluster, and the frequency of occurrence contained in the design proposal database 112 is associated with the design drawing of the mechanism element and the mechanism element model included in the mechanism element model database 111.

The locus data is acquired by executing a kinematics simulation using a kinematics simulator for each of the mechanical element models corresponding to the mechanical elements. The kinematics simulator is, for example, general-purpose kinematics analysis software, general-purpose arm robot motion planning software, or the like. General-purpose kinematics analysis software is, for example, Adams manufactured by MSC Software of the United States and RecurDyn manufactured by Function Bay. Further, general-purpose arm robot motion planning software is, for example, MoveIt! And OpenRAVE.

FIG. 4 is a diagram showing an example of a kinematics simulation, FIG. 4 (a) shows a third example of the mechanical element shown in FIG. 2 (c), and FIG. 4 (b) shows the mechanism shown in FIG. 4 (a). The mechanism element model corresponding to the element is shown.

The coordinates Pw of the point of action indicated by the arrow A in FIG. 4 (b) are

Indicated by. Here, O is the coordinates of the origin, R is the crank movable range, θ is the phase of the handle 101, and θ ₂ is the phase of the link 105.

The type of the mechanical element indicates the classification of the mechanical element based on the shape. The types of the mechanical elements include the types corresponding to the respective shapes of the components shown in FIGS. 2 (a) and 2 (f). The elliptical cam shown in FIG. 2A differs in shape due to, for example, a difference in the ratio of the major axis to the minor axis of the ellipse, but the components and functions include various similar components. The type of the mechanical element is different in shape due to the difference in the ratio of the major axis to the minor axis of the ellipse, but the composition and function of the components include a group of similar components.

The cluster shows the division of the locus of the point of action such as the locus of linear motion in the horizontal direction, the locus of linear motion in the vertical direction, and the locus of rotational motion. For example, in both the elliptical cam shown in FIG. 2A and the snail cam shown in FIG. 2B, the locus of the point of action indicated by the arrow A is the locus of linear motion in the vertical direction, so that the elliptical cam and the snail cam Is divided into the same cluster.

The cluster information includes the frequency of occurrence of mechanical elements. The frequency of occurrence of mechanical elements indicates the number of occurrences of each mechanical element type with respect to the number of occurrences of all mechanical elements associated with the same cluster. In one example, the number of occurrences is the number of mechanical elements stored in the storage unit 11. When there are only two types of components divided into clusters that form the locus of linear motion in the vertical direction, the elliptical cam and the snail cam, and the elliptical cam and the snail cam appear 4 times and 6 times, respectively, the elliptical cam The frequency of appearance of the type is 0.4 (= 4 / (4 + 6)).

Further, the storage unit 11 of the action points acquired by simulating a plurality of mechanical element models with a kinematics simulator may temporarily store data temporarily used in processing such as input processing.

The input unit 12 may be any device as long as data can be input, such as a touch panel and key buttons. The operator can input characters, numbers, symbols, etc. using the input unit 12. When the input unit 12 is operated by the operator, the input unit 12 generates a signal corresponding to the operation. Then, the generated signal is supplied to the processing unit 20 as an instruction of the operator.

The output unit 13 may be any device as long as it can display an image, a frame, or the like, and is, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. The output unit 13 displays a video corresponding to the video data supplied from the processing unit 20, a frame corresponding to the moving image data, and the like. Further, the output unit 13 may be an output device that prints an image, a frame, characters, or the like on a display medium such as paper.

The processing unit 20 includes one or more processors and peripheral circuits thereof. The processing unit 20 comprehensively controls the overall operation of the design proposal generation device 1, and is, for example, a CPU. The processing unit 20 executes processing based on a program (driver program, operating system program, application program, etc.) stored in the storage unit 11. Further, the processing unit 20 can execute a plurality of programs (application programs and the like) in parallel.

The processing unit 20 includes a design drawing acquisition unit 21, a mechanism element model acquisition unit 22, a design drawing normalization unit 23, a mechanism element model registration processing unit 24, a design proposal registration processing unit 25, and a clustering unit 26. It has an appearance frequency calculation unit 27 and a cluster information update unit 28. Further, the processing unit 20 includes a user locus data acquisition unit 31, a housing information acquisition unit 32, an input data processing unit 33, a cluster search unit 34, a design proposal generation unit 35, and a design proposal output unit 36. Have. The mechanism element model registration processing unit 24 includes a model normalization unit 241, a mechanism element type determination unit 242, a mechanism element type registration determination unit 243, and a model registration unit 244. The design proposal registration processing unit 25 has a locus data acquisition unit 251 and a design proposal registration 252. The input data processing unit 33 includes a data resampling unit 331 and a mechanism arrangement determining unit 332. The cluster search unit 34 has a cluster selection unit 341 and an appearance frequency acquisition unit 342, and searches for a cluster corresponding to the division of the user locus, which is the locus input by the user. The design proposal generation unit 35 includes a mechanism element type selection unit 351, a gear mechanism optimization unit 352, an initial design proposal generation unit 353, an individual design proposal generation unit 354, and a gear mechanism rearrangement unit 355 evaluation value calculation unit 356. And a design proposal registration unit 357 and a design proposal registration determination unit 358. The design proposal generation unit 35 generates a design proposal by optimizing the dimensions of the mechanical elements associated with the searched cluster so that the locus of the action point associated with the searched cluster is similar to the user locus. To do. Each of these units is a functional module realized by a program executed by the processor included in the processing unit 20. Alternatively, each of these parts may be implemented as firmware in the design proposal generation device 1.

(Operation of the design proposal generation device according to the embodiment)
FIG. 5 is a flowchart of the design plan registration process by the design plan generation device 1. The design proposal registration process shown in FIG. 5 is executed mainly by the processing unit 20 in cooperation with each element of the design proposal generation device 1 based on the program stored in the storage unit 11 in advance.

First, the design drawing acquisition unit 21 acquires the design drawing data indicating the design drawing of the mechanical element (S101) and stores it in the storage unit 11. The design drawing acquisition unit 21 may acquire the design drawing data from an external device such as a server (not shown) via the communication unit 10.

Next, the mechanism element model acquisition unit 22 acquires the mechanism element model data indicating the mechanism element model in which the mechanism element is modeled (S102), and stores it in the storage unit 11. The mechanism element model acquisition unit 22 may acquire the mechanism element model data from an external device such as a server (not shown) via the communication unit 10.

Next, the design drawing normalization unit 23 scales the design drawing so that the size of the design drawing corresponding to the design drawing data acquired by the design drawing acquisition unit 21 matches the predetermined reference drawing size (S103).

Next, the model normalization unit 241 expands or contracts the mechanism element so that the size of the mechanism element model corresponding to the mechanism element model data acquired by the mechanism element model acquisition unit 22 matches the predetermined reference element size (S104). ).

Next, the mechanism element type determination unit 242 determines the type of the mechanism element associated with the mechanism element model normalized by the model normalization unit 241 (S105). In one example, the mechanism element type determination unit 242 displays a character string indicating the type of the mechanism element on the output unit 13 including an input box that can be input via the input unit 12, and indicates that the character string is input to the input box. Determine the string as the type of the mechanism element.

Next, the mechanism element type registration determination unit 243 determines whether or not the type of the mechanism element determined by the mechanism element type determination unit 242 has been registered in the design proposal database 112 (S106). In one example, the mechanism element type registration determination unit 243 creates a graph diagram showing the connections between the mechanism parts forming the mechanism element by the method described in Non-Patent Document 3, and the created graph diagram is a registered mechanism. When the structure is the same as the element type, it is determined that the mechanism element type is registered. When the mechanism element type registration determination unit 243 determines that the mechanism element type determined by the mechanism element type determination unit 242 is not registered in the design proposal database 112 (S106-YES), the mechanism element type registration determination unit 243 designs the determined mechanism element type. Register in the draft database 112 (S107).

Next, the model registration unit 244 uses the design drawing data indicating the design drawing normalized by the design drawing normalization unit 23 and the mechanism element model data indicating the mechanism element model normalized by the model normalization unit 241. Register in the database 111 (S108).

Next, the locus data acquisition unit 251 acquires registered locus data indicating the locus of the point of action by executing a kinematic simulation using a kinematics simulator for the mechanism element model normalized by the model normalization unit 241. (S109).

Next, the design proposal registration 252 uses the design drawing data normalized by the design drawing normalization unit 23, the mechanical element type determined by the mechanism element type determination unit 242, and the registration trajectory data acquired by the trajectory data acquisition unit 251. Register in the database 112 (S110).

Next, the clustering unit 26 clusters the locus indicated by the locus data acquired by the locus data acquisition unit 251 and determines which of the clusters the locus indicated by the locus data acquired by the locus data acquisition unit 251 is classified. (S111). In one example, the clustering unit 26 uses the K-means method described in Non-Patent Document 4 to determine which of the clusters the locus indicated by the locus data acquired by the locus data acquisition unit 251 is classified. To determine.

Next, the appearance frequency calculation unit 27 is a registered mechanism based on the number of appearances of all the mechanism elements associated with the cluster divided by the clustering unit 26 and the number of appearances of the type of the mechanism element registered by the design proposal registration 252. The frequency of occurrence of each element type is calculated (S112).

Then, the cluster information update unit 28 updates the cluster information including the appearance frequency (S113).

FIG. 6 is a flowchart of the design plan generation process by the design plan generation device 1. The design plan generation process shown in FIG. 6 is executed mainly by the processing unit 20 in cooperation with each element of the design plan generation device 1 based on the program stored in the storage unit 11 in advance.

First, the user locus data acquisition unit 31 acquires user locus data indicating the locus and relative speed of the action point input by the user (S201). Next, the housing information acquisition unit 32 acquires related information related to the housing (S202). The housing information includes the dimensions and shape of the housing, the position and shape of the spindle including the handle, the shape of the doll arranged at the point of action, and the like.

FIG. 7 is a diagram showing an example of the user locus data acquired by the user locus data acquisition unit 31 and the housing information acquired by the housing information acquisition unit 32.

The user locus data includes the first locus 201 of the rectangular rotational motion, the second locus 202 of the linear motion in the horizontal direction, and the third locus 203 of the linear motion in the vertical direction. Further, the user locus data includes the relative velocity "1.0" of the first locus 201, the relative velocity "0.5" of the second locus 202, and the relative velocity "0.8" of the third locus 203. The housing information includes housing dimension information, housing shape information, spindle position information indicating the position of the spindle 211, spindle shape information indicating the position of the handle 212, and shape information of the doll arranged at the point of action. When the shape of the housing 210 is a rectangular parallelepiped, the housing dimension information includes the width, depth and height of the housing 210, and the housing shape information indicates that the housing 210 is a rectangular parallelepiped. The shape information is arranged at the shape of the first doll 221 arranged at the action point of the first locus 201, the shape of the second doll 222 arranged at the action point of the second locus 202, and the action point of the third locus 403. Includes the shape of the third doll 223.

Next, the data resampling unit 331 resamples each of the single or plurality of user locus data acquired by the user locus data acquisition unit 31 (S203). By resampling the user locus data, the user locus data acquisition unit 31 matches the number of data points of the user locus data acquired by the user locus data acquisition unit 31 with the number of data points of the registered locus data registered in the design proposal database 112. Let me.

Next, the mechanism arrangement determination unit 332 calculates the number and position of other axes that rotate according to the rotation of the spindle from the positional relationship between the spindle of the housing and the locus corresponding to the user locus data, and avoids mutual interference. The arrangement area in which the mechanism element is arranged is calculated in (S204).

Next, the cluster selection unit 341 searches for a cluster corresponding to the locus division corresponding to each of the single or a plurality of user locus data acquired by the user locus data acquisition unit 31 (S205). In one example, the cluster selection unit 341 registers in the design proposal database 112 the locus indicated by the locus data resampled by the data resampling unit 331 by the K-means method described in Non-Patent Document 4. Search for which of the clusters is divided.

Next, the appearance frequency acquisition unit 342 acquires the appearance frequency of each of the types of the mechanism elements included in the single or a plurality of clusters searched by the cluster selection unit 341 from the design proposal database 112 (S206).

Next, the mechanism element type selection unit 351 probabilistically selects the type of the mechanism element based on the frequency of occurrence of the type of the mechanism element included in the searched singular or plurality of clusters (S207).

FIG. 8 is a diagram showing an example of the processing of S207. FIG. 8 shows an example of a process of selecting the type of the mechanical element of the second locus 202 of the linear motion in the horizontal direction.

In the example shown in FIG. 8, the type of the mechanical element includes four types, a first type to a fourth type. The first mold rotates counterclockwise (A) according to the counterclockwise rotation of the spindle 211, and moves the point of action horizontally in the first direction (+). The second mold rotates in the counterclockwise direction (A) according to the counterclockwise rotation of the spindle 211, and moves the point of action horizontally in the second direction (−) opposite to the first direction. The third mold rotates clockwise (B) according to the counterclockwise rotation of the spindle 211, and moves the point of action horizontally in the first direction (+). The fourth mold rotates clockwise (B) according to the counterclockwise rotation of the spindle 211, and moves the point of action horizontally in the second direction (−).

In the example shown in FIG. 8, the frequency of appearance of the first type is approximately 28% shown in region 301, and the frequency of appearance of the second type is approximately 30% indicated in region 302. The frequency of appearance of the third type is approximately 20% indicated by region 303, and the frequency of appearance of the fourth type is approximately 22% indicated by region 304.

The mechanism element type selection unit 351 considers the appearance frequency information as the probability mass function f (x), generates a random number based on the probability mass function f (x), and selects the type of the mechanism element. In the example shown in FIG. 8, the probability mass function f ₁ (x) of the first type corresponds to the region 301, the probability mass function f ₂ (x) of the second type corresponds to the region 302, and the third type. The probability mass function f ₃ (x) of the type corresponds to the region 303, and the probability mass function f ₄ (x) of the fourth type corresponds to the region 304. In the example shown in FIG. 8, the first type is selected with a probability of approximately 28%, the second type is selected with a probability of approximately 30%, and the third type is selected with a probability of approximately 20%. Type 4 is selected with a probability of approximately 22%.

The gear mechanism optimization unit 352 then generates a gear mechanism in which the gear pitch and the number of teeth are optimized so that the rotation of the main shaft is transmitted to other shafts in a desired rotation direction and rotation speed (S208). The gear mechanism optimization unit 352 generates a gear mechanism according to the relative speed corresponding to the user locus data acquired by the user locus data acquisition unit 31. In the example shown in FIG. 7, the gear mechanism optimizing unit 352 has a relative speed of the first locus 201 of "1.0", a relative speed of the second locus 202 of "0.5", and a third locus. The gear mechanism is generated so that the relative speed of 203 is "0.8". The gear mechanism optimization unit 352 may move the position of another shaft that rotates according to the rotation of the main shaft, depending on the shape of the generated gear mechanism.

Next, the initial design proposal generation unit 353 arranges the dimensions of the mechanism elements having the highest similarity among the types of the mechanism elements selected by the mechanism element type selection unit 351 within the arrangement area calculated by the mechanism arrangement determination unit 332. The initial design proposal is generated by modifying it as much as possible (S209). The initial design proposal generation unit 353 uses the gear mechanism generated by the gear mechanism optimization unit 352 when generating the initial design proposal.

Next, the individual design proposal generation unit 354 changes the dimensions of the initial design proposal so that the similarity between the locus of the action point realized by the initial design proposal and the locus of the action point corresponding to the user locus data is minimized. To generate a design proposal (S210). The dimensions of the initial design proposal are changed by changing the parameters of the mechanism element model corresponding to the initial design proposal stored in the mechanism element model database 111. In one example, the individual design proposal generation unit 354 determines whether or not the similarity is the minimum.

Is used to determine the degree of similarity d (i, j) between the locus of action points realized by the initial design proposal and the locus of action points corresponding to the user locus data. Equation (2) is _{based on the total value of each of the six similar functions of the first similar function f 0} to the sixth similar function f ₅ weighted by the weighting coefficients w _{0 to w 5} , and the similarity between the two trajectories. Indicates that the degree is determined.

The first similar function f ₀ is

Indicated by. Here, X _{i represents n time-series discrete data {x i (0)} , ... x _{i (n-1)} } indicating the loci of the points of action corresponding to the user locus data, and X _j is the initial _{N time-series discrete data {x j (0)} , _{... x j (n-1)} } showing the loci of the points of action realized by the design proposal are shown. Further, R (X _i ) indicates the number of dimensions of the locus of the action point corresponding to the user locus data, and R (X _j ) indicates the number of dimensions of the locus of the action point corresponding to the user locus data. _{The first similar function f 0} represented by the equation (3) shows the difference in dimension between the locus of the action point corresponding to the user locus data and the locus of the action point realized by the initial design proposal.

The second similar function f ₁ is

Indicated by. Here, σ _i indicates the variance of _{n time-series discrete data {x i (0)} , ... x _{i (n-1)} } indicating the loci of the points of action corresponding to the user locus data, _{and σ j.} Shows the variance of _{n time-series discrete data {x j (0)} , _{... x j (n-1)} } showing the loci of the points of action realized by the initial design proposal. In addition, max (σ _i , σ _j ) indicates the larger value of σ _i and σ _{j, and min (σ i} , σ _j ) indicates the smaller value of _{σ i} and σ _j. Shown. _{The second similar function f 1} represented by the equation (4) shows the difference in magnitude between the locus of the action point corresponding to the user locus data and the locus of the action point realized by the initial design proposal.

The third similar function f ₂ is

Indicated by. Here, / X _i indicates the average value of _{n time-series discrete data {x i (0)} , ... x _{i (n-1)} } indicating the loci of the action points corresponding to the user locus data. X _j indicates the average value of _{n time-series discrete data {x j (0)} , _{... x j (n-1)} } showing the loci of the points of action realized by the initial design proposal. _{The third similar function f 2} represented by the equation (5) shows the difference in the position of the center of gravity of the locus between the locus of the action point corresponding to the user locus data and the action point realized by the initial design proposal.

The fourth similar function f ₃ is

Indicated by. Here, b _i ^h is the h-th main vector of _{n time-series discrete data {x i (0)} , ... x _{i (n-1)} } indicating the locus of the action points corresponding to the user locus data. Is shown. Further, b _i ^h time of n indicating the trajectory of the point of action is achieved by the initial design plan series discrete data h th main vector of _{{x j (0),.} .. X j (n-1)} Is shown. Fourth similarity function f ₃ of the formula (6) shows a working point corresponding to the user the trajectory data, the difference in orientation of the locus of the point which is realized by the initial design plan.

The fifth similar function f ₄ is

Indicated by. Here, min (h ∈ [0, n-1]) indicates the minimum value taken by the equation in Σ when the number h is changed in the range of 0 ≦ h ≦ n-1. Fifth similarity function f ₄ of the formula (7) shows a working point corresponding to the user the trajectory data, the difference in shape of the locus of the locus of the point which is realized by the initial design plan.

The sixth similar function f ₅ is

Indicated by. Sixth similarity function f ₅ of the formula (8), a working point corresponding to the user the trajectory data, the difference in shape of consideration trajectory the phase between the locus of the point which is realized by the initial design proposal Shown.

Next, the individual design plan generation unit 354 determines whether or not the design plan corresponding to the locus corresponding to all the user locus data acquired by the user locus data acquisition unit 31 has been generated (S211). The processing of S209 to S211 continues until it is determined that the individual design proposal generation unit 354 has generated the design proposal corresponding to the locus corresponding to all the user locus data acquired by the user locus data acquisition unit 31 (S211-YES). Repeated. In the example shown in FIG. 7, the processes of S209 to S211 are repeated until it is determined that the individual design proposal generation unit 354 has generated the design proposals corresponding to all of the first locus 201 to the third locus 203.

When it is determined that the individual design proposal generation unit 354 has generated the design proposal corresponding to all the trajectories (S211-YES), the gear mechanism rearrangement unit 355 does not interfere with each of the arranged mechanical elements and of the shaft. The gear mechanism is rearranged so that the total length is the shortest (S212).

FIG. 9 is a diagram for explaining the process of S211.

The pre-modification design proposal 400 has a first mechanism element 410, a second mechanism element 420, a third mechanism element 430, a first gear 441, and a second gear 442. The first mechanism element 410 has a first shaft 411, which is a main shaft connected to the handle 401, a first drive unit 412, and a first doll 413 arranged at an action point. The first shaft 411 rotates according to the rotation of the handle 401, and the first drive unit 412 realizes an operation having a desired locus on the first doll 413 arranged at the action point according to the rotation of the first shaft 411. Let me.

The second mechanism element 420 has a second shaft 421 connected to the first shaft 411 via a first gear 441, a second drive unit 422, and a second doll 423 arranged at an action point. The second shaft 421 extends from one side surface of the pre-modification design proposal 400 housing to the other side surface. The pre-modification design plan 400 rotates according to the rotation of the first shaft 411 extending from one side surface to the other side surface, and the second drive unit 422 is arranged at the point of action according to the rotation of the second shaft 421. The second doll 423 to be made realizes an operation having a desired locus.

The third mechanical element 430 has a third shaft 431 connected to the first shaft 411 via a second gear 442, a third drive unit 432, and a third doll 433 arranged at the point of action. The third shaft 431 extends from one side surface of the pre-modification design proposal 400 housing to the other side surface. The third axis 431 rotates according to the rotation of the first axis 411, and the third drive unit 432 has an operation having a desired locus on the third doll 433 arranged at the action point according to the rotation of the third axis 431. To realize.

The first gear 441 and the second gear 442 are arranged in contact with the side wall of the pre-modification design proposal 400. The first gear 441 is fitted to the first shaft 411 and the second shaft 421, and rotates the second shaft 421 in accordance with the rotation of the first shaft 411. The second gear 442 is fitted to the first shaft 411 and the third shaft 431, and rotates the third shaft 431 in accordance with the rotation of the first shaft 411.

The modified design proposal 500 has a first mechanism element 510, a second mechanism element 520, a third mechanism element 530, a first gear 541, and a second gear 542. The first mechanism element 510 includes a first shaft 511, a first drive unit 512, and a first doll 513. Since the configurations and functions of the first shaft 511, the first drive unit 512, and the first doll 513 are the same as the configurations and functions of the first axis 411, the first drive unit 412, and the first doll 413, detailed description thereof is omitted here. To do.

The second mechanism element 520 has a second shaft 521, a second drive unit 522, and a second doll 523. The second shaft 521 is different from the second shaft 421 in that an unnecessary portion between the second drive unit 522 and the side wall is removed. The configurations and functions of the second shaft 521, the second drive unit 522, and the second doll 523 other than the shape of the shaft of the second shaft 521 are the same as the configurations and functions of the second shaft 421, the second drive unit 422, and the second doll 423. Since they are the same, detailed description thereof will be omitted here.

The third mechanism element 530 has a third shaft 531, a third drive unit 532, and a third doll 533. The third shaft 531 is different from the third shaft 431 in that an unnecessary portion between the third drive unit 532 and the side wall is removed. The configurations and functions of the third shaft 531 and the third drive unit 532 and the third doll 533 other than the shape of the shaft of the third shaft 531 are the same as the configurations and functions of the third shaft 431, the third drive unit 432, and the third doll 433. Since they are the same, detailed description thereof will be omitted here.

The positions of the first gear 541 and the second gear 542 are different from those of the first gear 441 and the second gear 442. Since the first gear 541 and the second gear 542 are the same as the first gear 441 and the second gear 442 except for the arrangement position, detailed description thereof will be omitted.

Next, the evaluation value calculation unit 356 calculates the evaluation value of the design proposal in which the gear mechanism is rearranged by the gear mechanism rearrangement unit 355 (S213). In one example, the total value of the degree of similarity between the locus of the action point corresponding to the plurality of user locus data and the locus of the action point realized by the design proposal is calculated as the evaluation value of the design proposal. The evaluation value calculation unit 356 may calculate the evaluation value using the similarity d (i, j) calculated using the equation (2). In the example shown in FIG. 9, the similarity of the first mechanism element 510, the similarity of the locus of the first mechanism element 510, the similarity of the locus of the first mechanism element 510 of the second mechanism element 520, and the similarity of the locus of the third mechanism element 530. The total value of the similarity of the trajectories is calculated as the evaluation value of the design proposal.

Next, the design proposal registration unit 357 stores the design proposal in which the gear mechanism is rearranged in the storage unit 11 in association with the evaluation value calculated by the evaluation value calculation unit 356. Register in the design proposal registration list (S214).

Next, the design proposal registration determination unit 358 determines whether or not the number of design proposals registered in the design proposal registration list has reached the maximum number (S215). When the design proposal registration determination unit 358 determines that the number of design proposals registered in the design proposal registration list has reached the maximum number (S215-YES), the design proposal with the lowest associated evaluation value is selected. Delete from the design proposal registration list (S216).

Next, the individual design proposal generation unit 354 increments the number of design proposal generations stored in the storage unit 11 (S217). Next, the individual design proposal generation unit 354 determines whether or not the number of design proposal generations stored in the storage unit 11 has reached the maximum value (S218). When it is determined by the individual design proposal generation unit 354 that the number of design proposal generations has not reached the maximum value (S218-NO), the process returns to S207. The processes of S207 to S218 are repeated until it is determined by the individual design proposal generation unit 354 that the number of design proposal generations has reached the maximum value (S218-YES).

When the individual design proposal generation unit 354 determines that the number of design proposal generations has reached the maximum value (S218-YES), the design proposal output unit 36 outputs the design proposal registered in the design proposal registration list (S218-YES). S219).

FIG. 10 is a diagram showing the operation of an example of the design plan generated by the design plan generation device 1. FIG. 10 (a) shows the first state, FIG. 10 (b) shows the second state next to the first state, and FIG. 10 (c) shows the third state next to the second state. FIG. 10 (d) shows the fourth state next to the third state, FIG. 10 (e) shows the fifth state next to the fourth state, and FIG. 10 (f) shows the sixth state next to the fifth state. Indicates the state.

Table 1 shows the relationship between the dolls arranged at the points of action and the mechanical elements that drive the dolls in FIG. The mechanical element that corresponds to the rabbit doll is the crank that rotates clockwise, and the mechanical element that corresponds to the duck doll is the horizontal link that rotates clockwise, to the pig doll. The corresponding mechanical element is an elliptical cam that rotates clockwise.

(Operation and effect of the design proposal generator according to the embodiment)
The design proposal generation device 1 realizes the locus of the action point associated with the cluster that divides the locus by optimizing the dimensions of the mechanical elements associated with the cluster so as to resemble the locus input by the user. It is possible to select the most suitable mechanical element for the trajectory desired by the user.

Further, the design proposal generation device 1 can select a plausible mechanical element used in a similar design proposal by probabilistically selecting the type of the mechanical element based on the frequency of appearance.

Further, the design proposal generation device 1 rearranges at least one of the gears and shafts of the mechanical elements so that the loci of the points of action realized by the design proposal do not interfere with each other, so that a plurality of components are operating during operation. It is possible to prevent them from interfering with each other.

Further, when the number of design proposals registered in the design proposal registration list reaches a predetermined number, the design proposal generation device 1 evaluates by deleting the design proposal having the lowest evaluation value from the design proposal registration list. It is possible to generate multiple design proposals with relatively high values.

(Modification example of the design proposal generation device according to the embodiment)
In the design plan generation device 1, the initial design plan generation unit 353 selects the mechanical element having the highest degree of similarity among the mechanical element types selected by the structure element type selection unit 351 to generate the initial design plan. However, in the design proposal generation device according to the embodiment, the initial design proposal may be generated by using the mechanical elements selected by other methods.

For example, in the design proposal generation device according to the embodiment, the initial design proposal may be selected based on the probability mass function of the component associated with the same cluster as the user locus input by the user. The design proposal generation device according to the embodiment generates the probability mass function F (i) based on the similarity d (X, i) between the user locus X input by the user and the component D associated with the cluster.

Prescribe. Here, i ∈ Y for the number Y of the mechanism elements associated with the same cluster. At this time,

The relationship holds. The design proposal generation device according to the embodiment can select components having a high degree of similarity at a high angle rate by probabilistically selecting an initial design proposal using the stochastic mass function F (i).

1 Design proposal generation device 31 User trajectory data acquisition unit 32 Housing information acquisition unit 33 Input data processing unit 34 Cluster search unit 35 Design proposal generation unit 36 Design proposal output unit

Claims (8)

A storage unit that stores registered locus data indicating the locus of the action point and a mechanical element that realizes the locus of the action point according to the rotation of the spindle in association with a cluster indicating the division of the locus of the action point.
A user locus data acquisition unit that acquires user locus data indicating a user locus, which is a locus input by the user, and a user locus data acquisition unit.
A cluster search unit that searches for clusters corresponding to the user locus classification, and a cluster search unit.
A design proposal is generated by changing the dimensions of the mechanical elements associated with the searched cluster so that the locus of the action point associated with the searched cluster and the user locus are minimized. Design proposal generation unit and
Design proposal generator with. The similarity is specified based on the difference between the time-series discrete data showing the locus of the action point associated with the searched cluster and the time-series discrete data showing the locus of the action point corresponding to the user locus data. The design proposal generation device according to claim 1. The storage unit is included in each type of a plurality of mechanical elements in which a plurality of mechanical elements are classified based on a shape, and in each type of the mechanical element with respect to the number of occurrences of all the mechanical elements associated with the same cluster. Further memorize the appearance frequency indicating the number of appearances of the mechanical element,
The design proposal generation unit
Regarded as a type probability mass function the appearance frequency of the mechanical elements, the mechanism element type selection unit for selecting the type of the mechanical elements based on the probability mass function,
An initial design proposal is generated from a mechanical element selected based on a probability mass function of the user locus and a component associated with the same cluster from among the mechanical elements included in the selected mechanical element type. Design proposal generation department and
An individual design plan generation unit that generates a design plan by changing the dimensions of the initial design plan so that the locus of the action point realized by the initial design plan and the user locus are minimized.
The design proposal generation device according to claim 1 or 2. The design proposal generation device according to claim 3, wherein the mechanism element type selection unit generates a random number based on the probability mass function to select the type of the mechanism element. The user locus data acquisition unit acquires a plurality of the user locus data,
The design proposal generation unit further includes a gear mechanism rearrangement unit that rearranges at least one of the gears and shafts of the mechanical elements so that the loci of the points of action realized by the design proposal do not interfere with each other. The design proposal generator according to 3 or 4. The design proposal generation unit
Evaluation value calculation for calculating the total value of the degree of similarity between the plurality of user loci and the locus of action points realized by the design proposal generated by the individual design proposal generation unit as the evaluation value of the design proposal. Department and
A design proposal registration unit that registers the design proposal in the design proposal registration list in association with the evaluation value,
When it is determined that the number of design proposals registered in the design proposal registration list has reached the maximum number, the design proposal registration determination unit that deletes the design proposal having the lowest evaluation value from the design proposal registration list. ,
The design proposal generation device according to claim 5 , further comprising. It is a design proposal generation method executed by a computer.
The computer
Acquires user locus data indicating the user locus, which is the locus input by the user, and obtains the user locus data.
The registered locus data indicating the locus of the action point and the mechanical element that realizes the locus of the action point according to the rotation of the spindle are stored in the storage unit that is stored in association with the cluster indicating the division of the locus of the action point. Search for the cluster corresponding to the division of the user locus,
A design proposal is generated by changing the dimensions of the mechanical elements associated with the searched cluster so that the locus of the action point associated with the searched cluster and the user locus are minimized. And
Outputting the design draft design proposal generation process. Acquires user locus data indicating the user locus, which is the locus input by the user, and obtains the user locus data.
The registered locus data indicating the locus of the action point and the mechanical element that realizes the locus of the action point according to the rotation of the spindle are stored in the storage unit that is stored in association with the cluster indicating the division of the locus of the action point. Search for the cluster corresponding to the division of the user locus,
A design proposal is generated by changing the dimensions of the mechanical elements associated with the searched cluster so that the locus of the action point associated with the searched cluster and the user locus are minimized. And
Output the design proposal,
A design proposal generation program that causes a computer to execute processing.

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