WO2018138952A1 - ロボットの取引システム及び取引方法 - Google Patents
ロボットの取引システム及び取引方法 Download PDFInfo
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- WO2018138952A1 WO2018138952A1 PCT/JP2017/031450 JP2017031450W WO2018138952A1 WO 2018138952 A1 WO2018138952 A1 WO 2018138952A1 JP 2017031450 W JP2017031450 W JP 2017031450W WO 2018138952 A1 WO2018138952 A1 WO 2018138952A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0601—Electronic shopping [e-shopping]
- G06Q30/0621—Item configuration or customization
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/901—Indexing; Data structures therefor; Storage structures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/903—Querying
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
- G06Q10/0875—Itemisation or classification of parts, supplies or services, e.g. bill of materials
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/10—Office automation; Time management
- G06Q10/103—Workflow collaboration or project management
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0601—Electronic shopping [e-shopping]
- G06Q30/0623—Item investigation
- G06Q30/0625—Directed, with specific intent or strategy
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0601—Electronic shopping [e-shopping]
- G06Q30/0633—Lists, e.g. purchase orders, compilation or processing
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0601—Electronic shopping [e-shopping]
- G06Q30/0641—Shopping interfaces
- G06Q30/0643—Graphical representation of items or shoppers
Definitions
- the present invention relates to a robot transaction system and transaction method for performing robot commercial transactions.
- custom robots for which the customer determines the specifications are as follows: (i) the customer determines the required specifications, and (ii) the basic robot on which the robot manufacturer forms the basis of the custom robot and the basic robot based on the required specifications (Iii)
- the robot manufacturer proposes a robot customized in this way to the customer, (iv) The customer accepts and orders the proposal, and (v) The custom robot is handed over to the customer.
- custom robots are delivered to customers as assembled finished products.
- Patent Documents 1 and 2 disclose this type of technology.
- the merchandise order receiving system of Patent Document 1 describes a merchandise order receiving system in which a pet-type robot is used as a merchandise and the product is electronically traded.
- a virtual robot is displayed on the monitor of the user terminal, the learning function of the virtual robot is advanced by a user operation, the manufacturer receives the advanced learning data, and the learning data is stored. Sell robots to users.
- the robot includes a robot arm, a control device that controls the robot arm, and a teaching terminal device that teaches the robot arm, and the user can select desired software.
- the software function can be downloaded to the teaching terminal device via the Internet.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to enable a customer to easily try a custom robot customized to a customer's required specification and obtain it at a low cost. .
- a robot transaction system includes: A variable specification database in which information about variable specifications among predetermined basic specifications of the basic robot is stored for each basic robot that is the basis of the robot; The selection of the basic robot is received from the customer terminal, the variable specification item of the basic robot selected from the variable specification database is extracted, and the custom specification in which at least one of the variable specification items is changed is determined from the basic specification.
- a custom specification determining unit A parts database storing information about components of the basic robot and parts that can be mounted on the basic robot; From the parts stored in the parts database, a conformity review unit that searches for a combination of parts constituting the robot that realizes the custom specifications; A custom robot presenting unit for outputting and displaying the virtual body of the robot on which the parts searched for the basic robot are mounted on the customer terminal; An order receiving unit that receives an order for the robot from the customer terminal and receives an order for the robot is provided.
- a robot transaction method is a robot transaction method for performing robot transactions by transmitting and receiving electronic data via a network, Encourage customers to select a basic robot that is the basis for the robot,
- the variable specification item of the selected basic robot is extracted from the information group related to the variable specification among the predetermined basic specifications of the basic robot, Determining a custom specification in which at least one of the variable specification items is changed from the basic specification; From a group of information on the basic robot components and parts that can be mounted on the basic robot, search for the components that constitute the robot that realizes the custom specifications, Presenting the virtual body of the robot on which the parts searched for the basic robot are mounted to the customer; Prompt the customer to enter the robot order; The robot is ordered by receiving an order for the robot.
- a robot transaction system is provided.
- Information regarding the variable specifications of the basic robot including at least one variable specification item of the basic robot is stored, wherein the control robot, the arm unit composed of at least one movable unit, and the end effector unit are connected to each other as a basic robot.
- Variable specification database A movable unit database in which information about the movable unit is stored; A component conformity study result database in which information on the combination of the movable units whose variable specifications have been changed is stored; A custom specification determination unit that reads out the variable specification item corresponding to the basic robot from the variable specification database, displays the variable specification item on a customer terminal, and receives a custom specification in which at least one of the variable specification items is changed from the customer terminal; Based on the information stored in the movable unit database and the component conformity examination result database, a conformity examination unit that searches for a combination of the movable units that realize the custom specifications; A robot presenting unit that outputs and displays on the customer terminal a virtual body of a robot that is a continuous body of the control unit, the searched movable unit, and the end effector unit; And an order receiving unit that receives an order from a part or a part of the robot's constituent units from the customer terminal.
- the transaction method of the robot is as follows.
- a control unit, an arm unit composed of at least one movable unit, and a connected body of end effector units are set as a basic robot, and at least one variable specification item is presented to the customer for the basic robot, Receiving a custom specification in which at least one of the variable specification items is changed, and searching for a combination of the movable units that realize the custom specification; Presenting the virtual body of the robot which is a continuous body of the control unit, the searched combination of the movable unit, and the end effector unit to the customer,
- the robot is configured to receive an order from a set of a part or a part of the constituent units of the robot.
- the robot transaction system and method described above even a customer who does not have the robot expertise can place an order for a robot customized to the specifications required by the customer. Further, since the virtual body of the robot is presented to the customer before ordering the robot, the customer can easily try the robot before ordering. In addition, the cost can be reduced as human parts are not involved in the examination and design of parts for robots. Robot manufacturers can provide robots at low cost, and customers can obtain custom robots at low cost.
- FIG. 1 is a diagram showing a network configuration of a robot transaction system according to the first embodiment of the present invention.
- FIG. 2 is a diagram illustrating an example of a detailed configuration of the system management server.
- FIG. 3 is a sequence diagram of the robot transaction method.
- FIG. 4 is a diagram illustrating an example of a basic robot search screen.
- FIG. 5 is a diagram illustrating an example of a basic robot search result screen.
- FIG. 6 is an example of a requirement specification input screen.
- FIG. 7 is an example of a custom robot presentation screen.
- FIG. 8 is a diagram illustrating an example of an assembly part of the robot.
- FIG. 9 is a view showing a robot formed by assembling the assembly parts shown in FIG.
- FIG. 10 is a diagram illustrating an example of a packaging box.
- FIG. 1 is a diagram showing a network configuration of a robot transaction system according to the first embodiment of the present invention.
- FIG. 2 is a diagram illustrating an example of a detailed
- FIG. 11 is a diagram illustrating an example of a robot that is a target of a commercial transaction in the robot transaction system according to the second embodiment of the present invention.
- FIG. 12 is a diagram illustrating another example of a robot that is a target of a commercial transaction in the robot transaction system according to the second embodiment of the present invention.
- FIG. 13 is a diagram showing a network configuration of a robot transaction system according to the second embodiment of the present invention.
- FIG. 14 is a diagram illustrating an example of a detailed configuration of the system management server.
- FIG. 15 is a sequence diagram of a robot transaction method.
- FIG. 16 is a diagram illustrating an example of a basic robot search screen.
- FIG. 17 is a diagram illustrating an example of a basic robot search result screen.
- FIG. 18 is an example of a requirement specification input screen.
- FIG. 19 is an example of a robot presentation screen.
- FIG. 20 is an example of an additional unit presentation screen.
- the robot transaction system is a system for performing electronic commerce of a robot by transmitting and receiving electronic data via a network.
- the robot that is the object of the commercial transaction includes at least one robot arm and a controller that controls the operation of the robot arm, and may further include an end effector that is attached to the hand portion of the robot arm.
- FIG. 1 is a diagram showing a network configuration of a robot transaction system 1 according to the first embodiment of the present invention.
- a robot transaction system 1 shown in FIG. 1 includes a plurality of customer terminals 3, a system operation server 2, and a robot manufacturer terminal 4 connected by a network 10 such as the Internet.
- the customer terminal 3 and the system operation server 2 are connected via a network 10 so that they can communicate with each other.
- the robot manufacturer terminal 4 and the system management server 2 are connected to each other via a network 10 so as to communicate with each other.
- the robot manufacturer terminal 4 and the customer terminal 3 may be connected via the network 10 so that communication is possible.
- FIG. 2 is a diagram illustrating an example of a detailed configuration of the system management server 2.
- the system management server 2 shown in FIG. 2 is connected to the interface 21 that controls transmission and reception of information with the network 10, the processor 22 that is connected to the interface 21, and executes various processes related to robot transactions, and the processor 22. Recording medium reader 24.
- the processor 22 is connected to a storage device in which databases such as a basic robot database 201, a variable specification database 202, a simulation tool database 203, a parts database 204, a parts conformity examination result database 205, and a program database 206 are constructed.
- the processor 22 can read out information stored in these storage devices and store information in these storage devices.
- the basic robot database 201 stores information on various basic robots that are the basis of the robot for each basic robot.
- the information regarding the basic robot includes information such as the identification number of the basic robot and the performance and appearance of the basic robot including the work classification suitable for the basic robot.
- robot work classifications include, for example, outdoor work, indoor work, high place work, special environment work, etc. as major classifications, and small classifications such as transportation of lightweight objects, transportation of heavy objects, reception and guidance, etc. Services are provided, such as fastening using a work tool such as a driver, machining such as cutting, grinding and polishing, and processing using special equipment such as welding and painting.
- the robot work classification is not limited to the above.
- the variable specification database 202 stores information on variable specifications among the predetermined basic specifications of the basic robot for each basic robot.
- information on the corresponding variable specification can be extracted based on the identification number of the basic robot.
- the predetermined basic specifications of the basic robot include a fixed specification and a variable specification. Among them, each item of the variable specification can be set according to the customer's request.
- the variable specification items of the basic robot may include at least one of a motion range, a motion posture, motion vibration characteristics, motion speed, positioning accuracy, trajectory accuracy, generated force, transportable weight, and price.
- the variable specification items of the basic robot may be different for each basic robot.
- the movement range is the movement range of the rotation center of the bending axis of the wrist of the robot arm.
- a maximum operation range and a minimum operation range are defined for each basic robot, and a required specification of the operation range can be set between the maximum operation range and the minimum operation range.
- the operation posture of the variable specification items is the posture of the robot arm when the robot performs work.
- the required specification of the operation range can be selected from items such as supporting the workpiece upward and hanging the workpiece downward.
- the operation vibration characteristic is a vibration frequency of the hand portion when the robot arm moves.
- a plurality of numerical values related to the operational vibration characteristics are defined for each basic robot, and the required specifications of the operational vibration characteristics can be selected from predetermined numerical values.
- the operation speed is the movement speed of the hand portion when the robot arm moves.
- An operating speed range is defined for each basic robot, and the required operating speed specification can be set within a predetermined operating speed range.
- the positioning accuracy is a deviation between the command position and the actual hand position when the hand portion of the robot arm moves to the command position.
- a numerical range related to positioning accuracy is defined for each basic robot, and a required specification of positioning accuracy can be set from a predetermined numerical range.
- the trajectory accuracy is a deviation between the command trajectory and the actual trajectory of the hand portion when the hand portion of the robot arm moves from the reference position to the command position.
- a numerical range related to the trajectory accuracy is defined for each basic robot, and the required specification of the trajectory accuracy can be set from a predetermined numerical range.
- the generated force is the force / moment that can be generated at the hand of the robot arm.
- a numerical range related to the generated force is defined for each basic robot, and a required specification of the generated force can be set from a predetermined numerical range.
- the load capacity among the variable specification items is the maximum weight of the work that can be carried by the robot arm.
- a numerical range relating to the payload is defined for each basic robot, and the required specification of the payload can be set from a predetermined numerical range.
- the price among the variable specification items is the selling price of the robot.
- a plurality of price ranges are defined for each basic robot, and the required price specification can be selected from a plurality of price ranges.
- the parts database 204 stores information on components of the basic robot and information on parts that can be mounted on the basic robot for each part.
- the components of the basic robot include basic components such as a base, a link member, a joint member, a joint driving device, and a controller.
- a robot arm is formed by connecting link members through joint members.
- Each joint of the robot arm is provided with a joint driving device that drives the joint.
- the component database 204 stores information on a plurality of types of link members having different materials and outer shapes.
- each of the plurality of types of link members has a variable length (longitudinal dimension) within a predetermined range.
- Information regarding a plurality of types of joint members having different functions and external shapes is stored in the component database 204.
- the plurality of types of joint members may have different joint connection directions, connection modes, and the like. Further, the attachment position of the joint member to the link member may be variable within a predetermined range.
- Information regarding a plurality of types of actuators and power transmission mechanisms corresponding to the actuators as the joint drive device is stored in the component database 204.
- Information regarding a plurality of types of controllers is stored in the parts database 204. Multiple types of controllers have different performances.
- Information regarding a plurality of types of end effectors such as a paint gun, a welding gun, a suction hand, a placement hand, and a gripping hand are stored in the parts database 204 as parts that can be mounted on the basic robot.
- information on a plurality of types of dressing such as air piping, hydraulic piping, and wiring is stored in the parts database 204.
- the part conformity examination result database 205 stores information on a combination of part information stored in the parts database 204 that satisfies a custom specification described later.
- the information stored in the component conformity review result database 205 may be a database of conformance study work results that have been performed by a person in charge of a robot manufacturer. Further, the information stored in the component conformity review result database 205 may be simulation results of component conformance studies performed under various conditions. Note that the result of the component matching process described later is sequentially added to the component matching review result database 205.
- the program database 206 stores various programs for executing various processes related to robot transactions, such as a basic robot search program, a custom specification determination program, a conformity study program, a custom robot presentation program, and an order receiving program.
- Various processes in the robot transaction system 1 are performed by the processor 22 executing various programs stored in the program database 206 unless otherwise indicated.
- the processor 22 when the processor 22 executes the program stored in the program database 206, the processor 22 functions as a processing unit that performs processing according to the contents of the program.
- the processing may be performed by the recording medium reading device 24 connected to the processor 22 reading the program stored in the recording medium and the processor 22 executing the program.
- some or all of the various programs may be sent to the customer terminal 3 through the network 10 and executed by the customer terminal 3.
- the simulation tool database 203 stores simulation tools such as an operation simulation program, an appearance simulation program, and a cost simulation program. Each simulation program is read from the simulation tool database 203 and executed by the processor 22, so that the processor 22 functions as a simulator.
- the appearance simulation program predicts the appearance of a virtual body of a custom robot that is mounted with parts that have been examined for conformity with the basic robot.
- the predicted appearance of the virtual body of the custom robot may be displayed and output on the customer terminal 3.
- the motion simulation program models a virtual body of a custom robot and predicts the behavior of the model.
- the predicted behavior of the virtual body of the custom robot may be displayed on the customer terminal 3.
- the cost simulation program calculates an expected cost from the price and shipping cost of the parts constituting the virtual body of the custom robot. The calculated predicted cost is displayed and output on the customer terminal 3.
- the robot transaction method according to this embodiment will be described with reference to the sequence diagram of FIG. Unless otherwise indicated, the exchange of information among the customer terminal 3, the system operation server 2, and the robot manufacturer terminal 4 is performed by transmitting and receiving data via the network 10.
- the customer uses the customer terminal 3 to access the system management server 2 and transmits a search request for a basic robot that is the basis of the robot desired to purchase (step S1).
- the system operation server 2 executes a basic robot search program, transmits a basic robot search screen 71 (see FIG. 4) to the customer terminal 3 (step S2), and A display device (such as a monitor) outputs a display (step S3).
- FIG. 4 is a diagram showing an example of the basic robot search screen 71 displayed on the customer terminal 3.
- the customer inputs work classification information of work performed by the robot to be purchased to the customer terminal 3 in accordance with the guidance of the basic robot search screen 71 displayed on the customer terminal 3.
- the customer terminal 3 sends the input work classification information to the system management server 2 (step S4).
- the system management server 2 acquires work classification information, executes a basic robot search program, and performs basic robot search processing based on the acquired work classification information (step S5).
- the system management server 2 searches the basic robot information stored in the basic robot database 201 for a robot that matches the work classification information, that is, a basic robot that can execute the work related to the work classification information. Search for basic robots.
- the system management server 2 searches for one or more basic robots by this search, and transmits basic robot search result screen information including the characteristics and appearance of those basic robots to the customer terminal 3 (step S6).
- the search result screen 72 (see FIG. 5) is output and displayed on the customer terminal 3 (step S7).
- a question answering system based on artificial intelligence technology may be applied when searching for a basic robot. That is, the system operation server 2 repeatedly causes the customer terminal 3 to display and / or output a question so that the customer asks a question in a natural language, and accepts a natural language answer input by the customer to the customer terminal 3.
- the basic robot may be searched according to the customer's request.
- FIG. 5 is a diagram showing an example of the basic robot search result screen 72.
- the basic robot search result screen 72 one or a plurality of basic robots are shown as information including their characteristics and appearance. Further, the basic robot search result screen 72 is provided with an input section for basic robot selection information indicating whether to use the searched basic robot or which of the searched basic robots to use. When the customer does not employ the searched basic robot, the customer returns to the basic robot search screen 71 and repeats the basic robot search process again.
- the customer terminal 3 sends the basic robot selection information input by the customer to the system management server 2 (step S8).
- the system management server 2 that has acquired the basic robot selection information executes a custom specification determination program and performs a custom specification determination process.
- the system management server 2 first extracts variable specification items associated with the basic robot from the basic specification selection information (or work classification information and basic robot selection information) from the variable specification database 202 ( Step S9).
- variable specification items associated with the basic robot items that are not related to the already obtained work classification information may be excluded from the extraction targets.
- the system operation server 2 displays the requested specification input screen information for displaying each item of the extracted variable specification and the input request of the required specification information including at least one of the variable specification items or individually.
- the data is transmitted to the terminal 3 (step S10), and the required specification input screen 73 (see FIG. 6) is output and displayed on the customer terminal 3 (step S11).
- FIG. 6 is an example of the requirement specification input screen 73 displayed on the customer terminal 3.
- the required specification input screen 73 is provided with a variable specification item of the selected basic robot and a required specification information input section for the variable specification item.
- the requirement specification information input unit is, for example, a slider corresponding to the variable range of the variable specification item, and the customer inputs the requirement specification information for each variable specification item by moving the slider on the screen.
- variable specification items include at least one of a motion range, motion posture, motion vibration characteristics, motion speed, positioning accuracy, trajectory accuracy, generated force, portable weight, and price.
- Each variable specification item does not directly derive the components of the robot, such as the length of the link member, motor output, etc .. It is an item that can intuitively understand the work (operation) to be performed.
- the customer terminal 3 sends the input required specification information to the system management server 2 (step S12).
- the system operation server 2 that has acquired the required specification information adopts the required specification information for the variable specification item to which the required specification information is input, and adopts a predetermined standard specification for the remaining variable specification item. Is determined (step S13). That is, the custom specifications of the robot are based on the basic specifications unique to the basic robot, and some or all of the variable specification items of the basic specifications are replaced with the required specifications.
- the system management server 2 may perform calculation based on the work target information and work content information provided by the customer to determine the custom specifications of the robot.
- the work target information is information related to the work target of the robot, and includes, for example, at least one information among the size, number, weight, and outer shape of the work target.
- the work content information is information related to work performed by the robot with respect to the work target, and includes, for example, at least one information of the robot man-hour, the transport distance, the transport location, and the tool used.
- the system management server 2 when determining the custom specifications of the robot, causes the customer terminal 3 to display and / or output a question so as to ask the customer a question, and accepts an answer input by the customer to the customer terminal 3. May be repeated to acquire work target information and work content information, and to determine a custom specification based on the acquired work target information and work content information.
- the system operation server 2 has a load capacity of 2 kilograms, an operation range of 1 meter,
- the required specifications are determined for at least one of the variable specification items such as medium positioning accuracy, medium trajectory accuracy, and the like, and the custom specifications of the robot are determined so that these required specifications are included.
- the rule is analyzed by repeatedly learning in advance from a large number of teacher data, By applying the rules to the data to be processed, the required specifications (or directly customized specifications) can be determined.
- the system operation server 2 that has determined the custom specifications of the robot as described above executes a conformity study program and performs component conformity study processing (step S14).
- the system management server 2 includes the basic robot components from the components stored in the component database 204 with reference to the component compatibility review result database 205 so as to realize the custom specifications in the component compatibility review process. Search for combinations of robot components.
- the system operation server 2 refers to the component conformity examination result database 205 and searches for data corresponding to the custom specification, and if there is corresponding data, determines the combination of the components of the robot based on the data. Further, the system operation server 2 refers to the component conformity examination result database 205, and if there is no data corresponding to the custom specifications, the system operation server 2 learns the data stored in the component conformity examination result database 205 and analyzes the rules. By applying the rules to the custom specifications, data that satisfies the custom specifications is predicted, and the combination of the robot components is determined.
- the system operation server 2 may include a link member material, a link member length, a joint member, and a link member material so as to realize both the requirement specification of the operation range and the requirement specification of the portable weight in the component conformity examination process.
- the system operation server 2 may include a link member material, a joint member, a joint drive device, and a controller so as to realize a special specification for positioning accuracy and a special specification for operation speed in the component conformity examination process. Search for combinations and configurations of parts, including
- the system management server 2 When the system operation server 2 finishes searching for the robot components, it executes the custom robot presentation program and performs custom robot presentation processing.
- the system management server 2 transmits the custom robot presentation screen information to the customer terminal 3 (step S15), and causes the customer terminal 3 to display and output the custom robot presentation screen 74 (see FIG. 7) (step S15).
- the system management server 2 may use the simulation tool stored in the simulation tool database 203 to output and display on the customer terminal 3 the virtual body of the robot on which the parts searched for the basic robot are mounted.
- FIG. 7 is an example of the custom robot presentation screen 74.
- the virtual body of the custom-designed robot customized based on the customer's required specifications as described above is displayed on the custom robot presentation screen 74.
- This virtual body may be displayed as a still image, may be displayed as a moving image for work, or may be displayed so as to move on the screen in accordance with a customer operation.
- the customer can easily try the custom robot customized according to his / her required specifications by visually recognizing the custom robot presentation screen 74 and moving the virtual body of the robot on the screen.
- the custom robot presentation screen 74 (this may be a screen different from the screen on which the virtual body of the robot is displayed), the estimated amount of the robot is displayed. Thus, the customer can know the price of the robot before purchasing the robot.
- the custom robot presentation screen 74 (which may be a screen different from the screen on which the virtual body and estimate of the robot are displayed) is provided with an order input unit for the displayed robot.
- the customer can decide to purchase the robot after trying the virtual body of the robot.
- the order is input to the order input unit, and the order information is sent from the customer terminal 3 to the system management server 2 (step S17).
- the ordering information may include information for specifying a robot presented on the custom robot presentation screen 74, information about a customer such as a destination and a user, and payment information such as a payment method.
- the system management server 2 Upon receipt of the ordering information, the system management server 2 executes the order receiving program and performs robot order receiving processing (step S18). In the order receiving process, the system management server 2 generates delivery list information including a set of assembly parts of the robot that has received the order. Each assembly part is an assembly unit when the customer assembles the robot. The generated delivery list information is sent from the system management server 2 to the robot manufacturer terminal 4.
- the robot maker terminal 4 that has received the delivery list information generates manufacturing schedule information for the assembly parts.
- the assembly parts and their manufacturing schedule information are transmitted to the manufacturing department of the robot manufacturer. Also, the assembly part manufacturing schedule information is sent to the customer terminal 3 together with an address and an access key accessible by the customer terminal 3.
- a web camera 41 (see FIG. 1) is installed at a processing place for assembly parts. Then, the customer terminal 3 displays the image of the assembly part processing site on the screen of the customer terminal 3 by accessing the web camera 41 of the manufacturing department of the robot manufacturer in synchronization with the manufacturing schedule information of the assembly part. Can do. The customer can know the progress and state of the processing by viewing the image of the assembly part processing site displayed on the screen of the customer terminal 3.
- FIG. 8 is a diagram showing an example of an assembly part of the robot
- FIG. 9 is a diagram showing a robot in which the assembly part of FIG. 8 is assembled.
- the controller is omitted.
- the robot 8 shown in FIGS. 8 and 9 includes a base 81, a swivel seat 83 supported so as to be turnable with respect to the base 81, and a first link 86 connected to the swivel seat 83 via a joint member 84.
- the second link 88 connected to the first link 86 via the joint member 87, and the end effector 90 connected to the distal end portion of the second link 88 (that is, the hand portion of the robot arm) via the joint member 89.
- joint drive devices 91 and 92 The base 81 is provided with an interface 82, to which a controller (not shown) is connected via wiring.
- the first link 86 and the second link 88 are formed of square pipes, and the lengths of the links can be easily adjusted by changing the cutting length of the square pipes during manufacturing.
- the joint member 87 that connects the first link 86 and the second link is fixed to the second link 88 by fitting or screwing. Therefore, when the second link 88 is manufactured, by changing the position of the screw hole formed in the second link 88 or the position of the fitting shape portion, the attachment position of the joint member 87 to the second link 88 (that is, the first link 88).
- the connecting position with the link 86 can be easily changed.
- the robot 8 can customize not only the part but also the shape of the part itself according to the customer's required specifications.
- the robot 8 is packed in a packing box 95 as shown in FIG. 10 in an assembled part state, that is, in an unfinished product state. Then, the robot manufacturer sends the assembly kit as a set of assembly parts to the customer.
- the robot operation program may be delivered to the customer as a recording medium storing the program, or may be installed in the controller in advance.
- each assembly part of the robot is configured so that fixing means that is relatively easy to handle, such as screw tightening, fitting, and bonding, may be used in the assembly work of the robot.
- the robot is configured so that it can be easily assembled by the customer himself and delivered to the customer as an assembly kit including a set of assembly parts.
- the robot is handed over to the customer as a DIY (Do It Yourself) robot assembly kit, and can be assembled on the spot without obtaining other parts.
- the robot transaction system 1 of the present embodiment is a robot transaction system that performs robot transactions.
- a variable specification database 202 in which information on variable specifications among predetermined basic specifications of the basic robot is stored for each basic robot that is the basis of the robot; Receives the selection of the basic robot from the customer terminal 3, extracts the variable specification items of the selected basic robot from the variable specification database, and determines the custom specification that determines at least one of the variable specification items from the basic specification
- a component database 204 in which information on components of the basic robot and components that can be mounted on the basic robot is stored;
- a conformity review unit that searches for a combination of parts constituting a robot that realizes a custom specification from the parts stored in the parts database 204;
- the processor 22 of the system management server 2 that executes the custom specification determination program functions as a custom specification determination unit
- the processor 22 of the system management server 2 that executes the compatibility review program functions as a conformance review unit
- the processor 22 of the system management server 2 that executes the custom robot presentation program functions as a custom robot presentation unit
- the processor 22 of the system management server 2 that executes the order reception program functions as an order reception unit.
- at least one functional unit among the variable specification presenting unit, the conformity examining unit, and the custom robot presenting unit is realized by downloading and executing a program corresponding to the customer terminal 3.
- the robot transaction system 1 is based on the premise that electronic data is transmitted and received between the system operation server 2 and the customer terminal 3 via the network 10. It may be realized by processing in one computer.
- the robot transaction method prompts the customer to select a basic robot that is the basis of the robot, receives the selection of the basic robot, and receives a group of information related to the variable specifications among the predetermined basic specifications of the basic robot. Extract the variable specification items of the selected basic robot, determine the custom specifications with at least one of the variable specification items changed from the basic specification, and information on the components of the basic robot and the components that can be mounted on the basic robot From the group, search for the parts that make up the robot that realizes the custom specifications, present the virtual body of the robot with the searched parts to the basic robot to the customer, prompt the customer to input the robot order, and order the robot It is characterized by receiving an order for a robot.
- the robot trading system 1 and the trading method described above since the virtual body of the custom robot customized to the specifications requested by the customer is presented to the customer, the customer can easily try the custom robot.
- the configuration of the robot customized to the specifications required by the customer is determined by transmitting and receiving electronic data via the network 10, the cost is reduced by the absence of human intervention in the robot component conformance study and design. Robot manufacturers can provide robots at low cost, and customers can obtain custom robots at low cost.
- the robot transaction system 1 receives the basic robot database 201 in which information about the basic robot including the work classification suitable for the basic robot is stored, and before receiving the selection of the basic robot from the customer terminal 3.
- the work classification information related to the work performed by the robot is received from the customer terminal 3, and one or a plurality of basic robots that match the work classification are searched from the basic robot database based on the work classification information.
- a basic robot search unit for outputting and displaying the data.
- the processor 22 of the system management server 2 that executes the basic robot search program functions as a basic robot search unit.
- the customer terminal 3 may function as a basic robot search unit by downloading and executing a corresponding program.
- the customer before prompting the customer to select a basic robot, the customer is prompted to input work classification information related to the work classification performed by the robot, and the work information classification information is received. It includes a step of searching for one or a plurality of basic robots that match the work classification from the information group regarding the basic robots including the work classification that matches the basic robot, and presenting the searched basic robot to the customer.
- a basic robot suitable for the work is proposed to the customer from a plurality of basic robots. Therefore, even if the customer does not have knowledge about the robot, the customer can select a basic robot suitable for the work content to be performed by the robot.
- the function part and process which search a basic robot may be abbreviate
- the custom specification determination unit (the processor 22 of the system management server 2 that executes the custom specification determination program) includes at least one of the variable specification item and the variable specification item.
- the request specification information input request is output and displayed on the customer terminal 3, the request specification information is received from the customer terminal 3, and the custom specification is determined based on the received request specification information. According to this, the customer can make a desired variable specification item a required specification.
- the custom specification determining unit receives the work target information related to the work target of the robot and the work content information related to the work performed by the robot on the work target from the customer terminal 3, and based on the work target information and the work content information. Custom specifications may be determined. According to this, even if the customer has no knowledge about the robot, the custom specification determination unit can determine the custom specification of the robot based on the customer's intuitive.
- the order receiving unit receives an order for the robot and generates a delivery list including a set of assembly parts of the robot.
- the robot transaction method further includes a step of receiving an order for the robot and generating a delivery list including a set of robot assembly parts.
- the robot may be shipped to the customer in the state of an assembly kit in which a set of robot assembly parts is packaged.
- assembly products for example, robots
- assembly products with advanced technology are restricted from being exported from the viewpoint of preventing terrorism, and are subject to careful inspection when brought into the country. Some are subject to disassembly investigations.
- disassembly investigations when it is brought into the country in the state of an assembly kit as in this case, the configuration of individual parts is clear at a glance and can pass through customs without being subject to disassembly.
- variable specification items include the motion range, motion posture, motion vibration characteristics, motion speed, positioning accuracy, trajectory accuracy, generated force, portable weight, and price. At least one of them.
- variable specification item is an item that allows the customer to intuitively understand the work (operation) that the robot makes, so that the customer can perform the desired work without knowledge of the robot structure. You can order a robot to perform.
- FIG. 11 shows an example of a robot 108 that is a target of a commercial transaction in the robot transaction system 101 according to the second embodiment of the present invention.
- the robot 108 is a connected body of a control unit 181, at least one movable unit 182 and 183, and an end effector unit 184.
- the movable units 182 and 183 include a rotation unit 182 and a bending unit 183.
- the robot 108 is used together with a base (not shown) that holds the control unit 181 such as a wall hanging base, a ceiling hanging base, a floor placing base, and a clip type base.
- the clip-type base has a clip for attaching the robot 108 to a table or a frame.
- the control unit 181 has a columnar shape and includes a controller and a power supply device (both not shown) for controlling the operation of the robot 108.
- a circular connection interface is provided on one end face of the control unit 181.
- the rotating unit 182 is formed by connecting two stacked short cylinders so as to be rotatable around their center lines as a center of rotation, and has a cylindrical shape as a whole.
- the rotating unit 182 includes a motor, a speed reducer, and a motor driver (all not shown) for rotating the other of the two short cylinders with respect to the other.
- Circular connection interfaces are provided on both end faces of the rotation unit 182.
- the bending unit 183 is formed by connecting two cylindrical links by bending joints.
- the bending unit 183 is formed by connecting two links so as to be rotatable about a rotation axis orthogonal to the longitudinal direction thereof.
- the bending unit 183 includes a motor, a reduction gear, and a motor driver (all not shown) for rotating the other of the two links with respect to the other.
- a circular connection interface is provided on the end face of the bending unit 183 opposite to the joint of each link.
- the end effector unit 184 includes a base portion 841 provided with a circular connection interface and a tool portion 842.
- the base portion 841 includes a motor, a reduction gear, and a motor driver (all not shown) for operating the tool portion 842.
- the end effector unit 184 shown in FIG. 11 is a chuck that grips a workpiece, but the mode of the tool portion 842 of the end effector unit 184 is not limited to this.
- the robot 108 is a customizable robot that can change the configuration unit according to the customer's request.
- the connection interfaces provided in the units 181 to 184 are common or correspond to each other, and the connection interfaces of the units 181 to 184 can be freely connected to each other.
- a control unit 181, another rotation unit 182, a bending unit 183, and an end effector unit 184 can be selectively connected to the rotation unit 182.
- the control unit 181, the rotation unit 182, another bending unit 183, and the end effector unit 184 can be selectively connected to the bending unit 183.
- the robot 108 illustrated in FIG. 11 includes a control unit 181, a first rotating unit 182, a first bending unit 183, a second bending unit 183, a third bending unit 183, a second rotating unit 182, and This is a vertical articulated 5-axis robot in which the units are connected in series in the order of the end effector unit 184.
- the arm portion of the robot 108 that is, the portion constituted by at least one movable unit
- the degree of freedom and the operation range of the robot 108 can be changed.
- the robot 108 ′ illustrated in FIG. 12 includes a control unit 181, a first bending unit 183, a second bending unit 183, a third bending unit 183, and an end effector unit 184 in this order. It is a horizontally articulated three-axis robot that is connected to each other.
- the tool portion 842 of the end effector unit 184 of the robot 108 ′ is a work transfer blade that holds a lightweight work such as a substrate up from below.
- the robot 108 shown in FIG. 11 and the robot 108 ′ shown in FIG. 12 share a control unit 181 and 103 sets of bending units 183.
- a part or all of the constituent units of the robot 108 shown in FIG. 11 can be used to deform into a horizontal articulated type.
- several units for example, the rotation unit 182 can be added to the constituent units of the robot 108 'shown in FIG.
- the robot transaction system 101 performs a commercial transaction of the robot 108 described above.
- the robot 108 can be customized according to the customer's request. However, if the customer does not have the expertise of the robot, how to configure the robot 108 that performs the operation according to the request is appropriate. Difficult to consider without a good guide. Therefore, in the robot trading system 101, even a customer who does not have such specialized knowledge can easily design a custom robot customized to the required specifications, easily test it, and obtain it at low cost. I have to.
- FIG. 13 is a diagram showing a network configuration of the robot transaction system 101 according to the second embodiment of the present invention.
- the robot transaction system 101 includes a customer terminal 103, a system operation server 102, and a robot manufacturer terminal 104 connected by a network 110 such as the Internet.
- a network 110 such as the Internet.
- data can be transmitted and received between the customer terminal 103 and the system operation server 102.
- data can be transmitted and received between the robot manufacturer terminal 104 and the system management server 102 via the network 110.
- data may be transmitted and received between the robot manufacturer terminal 104 and the customer terminal 103 via the network 110.
- FIG. 14 is a diagram illustrating an example of a detailed configuration of the system management server 102.
- the system management server 102 includes a communication interface 121, a processing device 122, and storage devices M1 to M9.
- frames with reference numerals M1 to M9 represent storage devices, and the contents described in the frames represent information stored in the storage devices.
- the processing device 122 is a computer having a calculation unit such as a CPU and a storage unit such as a ROM and a RAM, and the CPU executes a predetermined program stored in advance in the storage unit and the storage devices M7 and M9. Execute various processes related to robot transactions.
- the communication interface 121 controls transmission / reception of information via the network 110 by being controlled by the processing device 122.
- the storage devices M1 to M9 store data and programs used for various processes related to robot transactions.
- the processing device 122 can read information stored in these storage devices M1 to M9 and store information in these storage devices M1 to M9.
- a customer information database in which customer information is stored is constructed.
- the customer information includes a customer ID, a customer name, a customer address, a purchase history, and the like.
- the purchase history includes information regarding the constituent units of the robot owned by the customer.
- the processing device 122 can read the customer information stored in the customer information database based on the customer ID.
- the basic robot information includes vertical articulated basic robot information and horizontal articulated basic robot information.
- the vertical articulated basic robot information includes the identification number of the basic robot and the basic configuration of the robot.
- the horizontal articulated basic robot information includes the identification number of the basic robot and the basic configuration of the robot.
- the basic configuration of the robot includes a configuration in which a control unit 181, a bending unit 183, and an end effector unit 184, which are the minimum configuration of the robot, are connected.
- the basic robot information includes performance information such as work classifications adapted to the basic robot.
- Robot work classifications include, for example, the handling of lightweight objects, provision of services such as reception and guidance, fastening processing using work tools such as drivers, machining such as cutting, grinding and polishing, and special processing such as welding and painting. There are processing using tools.
- work tools such as drivers, machining such as cutting, grinding and polishing, and special processing such as welding and painting. There are processing using tools.
- the robot work classification is not limited to the above.
- a movable unit database in which information related to the rotating unit 182 and the bending unit 183 that are movable units is stored is constructed.
- Each of the rotating unit 182 and the bending unit 183 is basically one type, but a plurality of types such as a high output type with different motor outputs and a long type with different unit lengths may be prepared.
- an end effector unit database in which information related to the end effector unit 184 is stored is constructed.
- a plurality of types having different tool portions 842 such as a painting gun, a welding gun, a suction hand, a placement hand, and a gripping hand are prepared.
- a dressing component database is stored in which information on dressing components (for example, air piping, hydraulic piping, wiring, etc.) corresponding to the end effector unit 184 is stored in association with the type of the end effector unit 184. Yes.
- dressing components for example, air piping, hydraulic piping, wiring, etc.
- These dressing parts can be mounted on a robot.
- variable specification database is built in which information on variable specifications among the specifications of the basic robot is stored for each basic robot.
- the processing device 122 can read out information on the corresponding variable specification from the variable specification database based on the identification number of the basic robot.
- the information regarding the variable specifications includes the variable specification items of the basic robot and the initial values of the respective items.
- the variable specification items of the basic robot include, for example, the number of axes and the operation range. When multiple types of rotating units 182 and / or bending units 183 with different motor outputs are prepared, the variable specification items further include operating vibration characteristics, operating speed, positioning accuracy, trajectory accuracy, and generated force. , At least one of a load weight and a price range.
- the variable specification items of the basic robot may be different for each basic robot.
- the number of axes is the number of joints of the robot, whereby the number of units constituting the robot changes.
- the operation range of the variable specification items is, for example, the operation range of the hand reference point given to the end effector unit 184 from the robot coordinate origin given to the control unit 181.
- the operation posture of the variable specification items is the posture of the end effector unit 184 when the robot performs work.
- the required specification of the operation posture can be selected from items such as supporting the workpiece upward and hanging the workpiece downward.
- the operation vibration characteristic is a vibration frequency of the hand reference point when the robot operates.
- a plurality of numerical values related to the operational vibration characteristics are defined for each basic robot, and the required specifications of the operational vibration characteristics can be selected from predetermined numerical values.
- the operation speed is the movement speed of the hand reference point when the robot operates.
- An operating speed range is defined for each basic robot, and the required operating speed specification can be set within a predetermined operating speed range.
- the positioning accuracy is a deviation between the command position and the actual position of the hand reference point when the hand reference point moves to the command position.
- a numerical range related to positioning accuracy is defined for each basic robot, and a required specification of positioning accuracy can be set from a predetermined numerical range.
- the trajectory accuracy is the deviation between the command trajectory and the actual hand portion trajectory when the hand reference point moves from the reference position to the command position.
- a numerical range related to the trajectory accuracy is defined for each basic robot, and the required specification of the trajectory accuracy can be set from a predetermined numerical range.
- the generated force is the force / moment that can be generated at the hand reference point.
- a numerical range related to the generated force is defined for each basic robot, and a required specification of the generated force can be set from a predetermined numerical range.
- the loadable weight among the variable specification items is the maximum weight of the work that can be carried by the robot.
- a numerical range relating to the payload is defined for each basic robot, and the required specification of the payload can be set from a predetermined numerical range.
- the price range among the variable specification items is the price range of the selling price of the robot.
- a plurality of price ranges are defined for each basic robot, and the required price specification can be selected from a plurality of price ranges.
- the storage device M7 stores simulation tools such as an operation simulation program and a cost simulation program. Each simulation program is read from the storage device M7 and executed by the processing device 122, whereby the processing device 122 functions as a simulator.
- the motion simulation program models the virtual body of the robot and predicts the behavior of the model.
- the predicted behavior of the virtual body of the robot may be displayed on the customer terminal 103.
- the cost simulation program calculates an expected cost from the price and shipping cost of parts constituting the virtual body of the robot. The calculated predicted cost is displayed and output on the customer terminal 103.
- a component conformity examination result database is built that stores information on combinations of movable units that satisfy the custom specifications described later, and combinations of movable units and end effector units.
- the information stored in the component conformity review result database may be a database of conformance study work results that have been performed by a person in charge of a robot manufacturer. Further, the information stored in the component conformity review result database may be simulation results of component conformance studies performed under various conditions. Note that the result of the component matching process described later is sequentially added to the component matching review result database.
- various programs for executing various processes related to robot transactions such as a basic robot search program, a custom specification determination program, a conformity study program, a robot presentation program, an order receiving program, and an additional unit presentation program. Is remembered.
- Various processes in the robot transaction system 101 are performed by the processing apparatus 122 executing various programs stored in the storage device M9 unless otherwise indicated.
- the processing device 122 when the processing device 122 executes a predetermined program, the processing device 122 functions as a processing unit that performs processing according to the contents of the program. Specifically, the processing device 122 executes these programs to thereby execute a basic robot search unit 221, a custom specification determination unit 222, a conformance review unit 223, a robot presentation unit 224, an order receiving unit 225, and an additional unit presentation unit 226. It functions as each functional part. However, some or all of the various programs may be sent to the customer terminal 103 through the network 110 and executed by the customer terminal 103, so that the customer terminal 103 may substitute part of the functions of the processing device 122. .
- the customer uses the customer terminal 103 to access the system management server 102, and transmits a search request for a basic robot that is the basis of the robot that he / she wishes to purchase (step S101).
- the system operation server 102 executes a basic robot search program, transmits a basic robot search screen 171 (see FIG. 16) to the customer terminal 103 (step S102), and A display device (such as a monitor) performs display output (step S103).
- FIG. 16 is a diagram illustrating an example of a basic robot search screen 171 displayed on the customer terminal 103.
- the customer inputs work classification information of work performed by the robot to be purchased to the customer terminal 103 according to the guidance on the basic robot search screen 171 displayed on the customer terminal 103.
- the customer terminal 103 sends the input work classification information to the system management server 102 (step S104).
- the system management server 102 acquires work classification information, executes a basic robot search program, and performs basic robot search processing based on the acquired work classification information (step S105).
- the system operation server 102 searches the basic robot information stored in the basic robot database for basic robots that match the work classification information, that is, basic robots that can execute the work related to the work classification information.
- the system management server 102 searches for one or more basic robots by this search, and transmits basic robot search result screen information including the characteristics and appearance of those basic robots to the customer terminal 103 (step S106).
- the search result screen 172 (see FIG. 17) is output and displayed on the customer terminal 103 (step S107).
- a question answering system based on artificial intelligence technology may be applied when searching for a basic robot. That is, the system operation server 102 causes the customer terminal 103 to display and / or output a question so that the customer asks a question in a natural language, receives a natural language answer input by the customer to the customer terminal 103, and repeats this.
- a basic robot may be searched according to the customer's request.
- FIG. 17 is a diagram illustrating an example of the basic robot search result screen 172.
- the basic robot search result screen 172 shows one or a plurality of basic robots as information including their characteristics and appearance.
- a vertical articulated basic robot formed by connecting a control unit 181, a bending unit 183, and an end effector unit 184, and a control unit 181, a bending unit 183, and an end effector unit 184 are connected.
- a horizontal articulated basic robot is shown.
- the basic robot search result screen is provided with an input unit for basic robot selection information as to whether to use the searched basic robot or which of the searched basic robots to use. If the customer does not employ the searched basic robot, the customer returns to the basic robot search screen 171 and repeats the basic robot search process again.
- the customer terminal 103 sends the basic robot selection information input by the customer to the system management server 102 (step S108).
- the system management server 102 causes the customer terminal 103 to display a plurality of types of basic robots instead of displaying the basic robot search result screen 172 on the customer terminal 103, and allows the customer to perform basic operations. You may make it prompt the input of the selection information of a robot.
- the system operation server 102 that has acquired the basic robot selection information executes a custom specification determination program and performs a custom specification determination process.
- the system management server 102 first extracts, from the variable specification database, variable specification items associated with the basic robot from the basic robot selection information (or work classification information and basic robot selection information) (step). S109). Of the variable specification items associated with the basic robot, items that are not related to the already obtained work classification information may be excluded from the extraction targets.
- the system management server 102 displays request specification input screen information for displaying each item of the extracted variable specification and an input request of request specification information including at least one specification among the variable specification items or individually.
- the data is transmitted to the terminal 103 (step S110), and the required specification input screen 173 (see FIG. 18) is output and displayed on the customer terminal 103 (step S111).
- FIG. 18 is an example of a requirement specification input screen 173 displayed on the customer terminal 103.
- the required specification input screen 173 is provided with variable specification items of the selected basic robot and a required specification information input unit for the variable specification items.
- the requirement specification information input unit is, for example, a slider corresponding to the variable range of the variable specification item, and the customer inputs the requirement specification information for each variable specification item by moving the slider on the screen.
- variable specification items to be presented include at least one of the number of axes and the operation range. If the rotating unit 182 and the bending unit 183 have a plurality of types with different motor outputs, the variable specification items presented are the number of axes, the operating range, the operating posture, the operating vibration characteristics, the operating speed, the positioning accuracy, the trajectory accuracy, It may include at least one of generated force, load capacity, and price. Note that the variable specification items do not directly derive the robot's constituent units such as the length of the link member, motor output, etc .; It is an item that can intuitively understand the work (operation) to be made.
- the customer terminal 103 sends the input required specification information to the system management server 102 (step S112).
- the system operation server 102 that has acquired the required specification information adopts the required specification information for the variable specification item to which the required specification information is input, and adopts a predetermined standard specification for the remaining variable specification item. Is determined (step S113). That is, the custom specifications of the robot are based on the basic specifications unique to the basic robot, and some or all of the variable specification items of the basic specifications are replaced with the required specifications.
- the system operation server 102 that has determined the custom specifications of the robot as described above executes a conformity study program and performs component conformity study processing (step S114).
- the system operation server 102 refers to the part conformity examination result database so as to realize a custom specification in the part conformity examination process, and from among the units stored in the movable unit database and the end effector unit database, Search for a combination of robot configuration units including the configuration unit. Note that the searched robot configuration unit may be exactly the same as the basic robot configuration unit.
- the system management server 102 refers to the component conformity examination result database, searches for data corresponding to the custom specification, and if there is corresponding data, determines the combination of the constituent units of the robot based on the data. Further, the system operation server 102 refers to the component conformity examination result database, and if there is no data corresponding to the custom specification, the system operation server 102 learns the data stored in the component conformity examination result database and analyzes the rule. By applying to the custom specifications, data that satisfies the custom specifications is predicted, and the combination of the robot's constituent units is determined.
- the system management server 102 determines the type of the end effector unit 184, the number of the rotating units 182, the number of the bending units 183, the rotating unit 182 and the bending unit so as to realize the required specification of the operation range in the component conformity examination process. A combination of constituent units including 183 consecutive constituents is searched.
- the system management server 102 When the system operation server 102 finishes searching for the robot constituent units, it executes the robot presentation program to perform the robot presentation process.
- the system management server 102 transmits the robot presentation screen information to the customer terminal 103 (step S115), and causes the customer terminal 103 to display and output the robot presentation screen 174 (see FIG. 19) (step S116).
- the system management server 102 may output and display a virtual body of the robot on which the searched parts are mounted on the basic robot on the customer terminal 103 using a simulation tool.
- FIG. 19 shows an example of the robot presentation screen 174.
- the virtual body of the custom-designed robot customized based on the customer's required specifications as described above is displayed.
- This virtual body may be displayed as a still image, may be displayed as a moving image for work, or may be displayed so as to move on the screen in accordance with a customer operation.
- the customer can easily try the robot customized according to his / her required specifications by visually recognizing the robot presentation screen 174 and moving the virtual body of the robot on the screen.
- the estimated price of the robot is displayed on the robot presentation screen 174 (this may be a screen different from the screen on which the virtual body of the robot is displayed).
- the customer can know the price of the robot before purchasing the robot.
- the robot presentation screen 174 (which may be a screen different from the screen on which the virtual body and estimate of the robot are displayed) is provided with an order input unit for the displayed robot.
- the customer can decide to purchase the robot after trying the virtual body of the robot.
- the order information is sent from the customer terminal 103 to the system management server 102 (step S117).
- This ordering information may include information on the customer such as the destination and customer ID, and payment information such as the payment method, in addition to the robot configuration unit set presented on the robot presentation screen 174.
- the robot constituent unit is an assembly unit when the customer assembles the robot. In this way, the customer can purchase a set of robot configuration units (including an operation program and dressing parts).
- the robot to be purchased this time can be realized by adding some parts to the owned robot and rearranging the units. . Therefore, the customer can purchase the robot in units.
- the customer ID used in the previous robot purchase is input to the customer ID input unit provided on the robot presentation screen 174 and the additional purchase button of the unit is clicked, the additional purchase information is transferred from the customer terminal 103 to the system management server. 102.
- the system management server 102 that acquired the additional purchase information executes an additional unit presentation program and performs an additional unit presentation process.
- the additional unit presentation process information on the robot's constituent units owned by the customer is read from the customer information database based on the customer ID, and based on this information, the unit that the customer adds to realize the current robot is extracted. Then, additional unit information listing the units and parts to be added is sent to the customer terminal 103.
- an additional unit presentation screen 175 as shown in FIG. 20 is displayed.
- the units to be added are two sets of rotating units 182 and an end effector unit 184. And an operation program.
- clicking on an order button provided on the additional unit presentation screen 175 sends the order information from the customer terminal 103 to the system management server 102.
- This ordering information may include information on the customer such as the destination and customer ID, and payment information such as the payment method, in addition to the additional unit presented on the additional unit presentation screen 175.
- the generated delivery list information is sent from the system operation server 102 to the robot manufacturer terminal 104.
- the robot maker terminal 104 receives the delivery list information, the robot maker packs the constituent units on the delivery list and sends them to the destination designated by the customer.
- the robot is provided from the robot manufacturer to the customer as an assembly kit in which a set of component units is packaged or as one or a plurality of additional units requested by the customer.
- the robot operation program may be delivered to the customer as a recording medium storing the program, or may be installed in the controller in advance.
- each unit of the robot is designed so that it is sufficient to use a fixing means that is relatively easy to handle, such as screw tightening, fitting, and bonding, when assembling the robot. In this way, the robot is configured so that it can be easily assembled by the customer himself.
- the transaction system 101 of the robot is Information on the variable specifications of the basic robot including at least one variable specification item of the basic robot, with the control unit 181, the arm unit composed of at least one movable unit 182, 183, and the connected body of the end effector unit 184 as a basic robot.
- a stored variable specification database (storage device M6); A movable unit database (storage device M3) in which information on the movable units 182 and 183 is stored;
- a component suitability examination result database (storage device M8) in which information on combinations of movable units 182 and 183 whose variable specifications have been changed is stored;
- a custom specification determination unit 222 that reads out the variable specification item corresponding to the basic robot from the variable specification database, displays the variable specification item on the customer terminal 103, and receives from the customer terminal 103 a custom specification in which at least one of the variable specification items is changed;
- the conformity examining unit 223 that searches for a combination of the movable units 182 and 183 that realize the custom specifications,
- a robot presenting unit 224 that outputs and displays on the customer terminal 103 a virtual body of a robot that is a continuous body of the control unit 181, the searched movable units 182, 183, and the end effector unit 184;
- the conformity examining unit 223 examines the combination of the movable units 182 and 183 and the end effector unit 184.
- the type of the end effector unit 184 is determined in advance, and the conformity examining unit 223 includes the movable unit 182 and the end effector unit 184. Only 183 combinations may be considered.
- the combination of the movable units 182 and 183 includes information such as the number of rotating units 182, the number of bending units 183, and the connecting order of the units.
- the robot transaction method of this embodiment is The control unit 181, the arm unit composed of at least one movable unit 182, 183, and the connected body of the end effector unit 184 are used as a basic robot, and at least one variable specification item for the basic robot is presented to the customer, Receive a custom specification in which at least one of the variable specification items is changed, and search for a combination of movable units 182 and 183 that realize the custom specification.
- Presenting the virtual body of the robot, which is a connected body of the control unit 181, the searched movable units 182, 183, and the end effector unit 184, to the customer Receives an order from a customer by receiving an order for a set or part of a robot component unit.
- the robot transaction system 101 and the transaction method described above even a customer who does not have robot expertise can order a robot customized to the specifications required by the customer. Further, since the virtual body of the robot is presented to the customer before ordering the robot, the customer can easily try the robot before ordering. In addition, the cost can be reduced as human parts are not involved in the examination and design of parts for robots. Robot manufacturers can provide robots at low cost, and customers can obtain custom robots at low cost.
- the robot transaction system 101 is implemented by the robot from the basic robot database (storage device M2) in which information related to the basic robot including the work classification suitable for the basic robot is stored, and the customer terminal 103.
- Basic robot search that receives work classification information related to work classification, searches one or more basic robots that match the work classification based on the work classification information from the basic robot database, and outputs and displays the searched basic robot on the customer terminal
- the unit 221 is further provided.
- the robot search method receives work classification information related to work classification performed by the robot, and stores a group of information related to the basic robot (stored in the basic robot database) including work classification suitable for the basic robot.
- the basic robot information) is searched for one or more basic robots that match the work classification, and the searched basic robots are presented to the customer.
- the robot transaction system 101 is compared with the robot configuration unit owned by the customer and the robot configuration unit, and added to the robot configuration unit owned by the customer to realize the robot. It further includes an additional unit presenting unit 226 that extracts the unit to be added and causes the customer terminal 103 to output and display information regarding the added unit.
- the robot transaction method compares the robot configuration unit owned by the customer with the robot configuration unit, and adds the robot configuration unit owned by the customer to realize the robot. Unit to be extracted, and information about the added unit is presented to the customer.
- Transactional robots can be rearranged to other types of robots by rearranging the constituent units or adding additional units to the constituent units.
- the customer can effectively use the resources by configuring the robot desired by the customer by using the robot configuration unit already owned by the customer.
- the robot transaction system 1 101 performs robot electronic commerce.
- the robot transaction system 1, 101 can also be used as a robot manufacturer's sales promotion tool regardless of electronic commerce.
- the components (program, data, etc.) of the robot transaction systems 1 and 101 may be installed in one portable computer.
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Abstract
Description
前記ロボットの基礎となる基本ロボットごとに当該基本ロボットの所定の基本仕様のうち可変仕様に関する情報が記憶された可変仕様データベースと、
顧客端末から前記基本ロボットの選択を受け取り、前記可変仕様データベースから選択された前記基本ロボットの可変仕様項目を抽出し、前記基本仕様から前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を決定する特注仕様決定部と、
前記基本ロボットの構成部品及び前記基本ロボットに装着可能な部品に関する情報が記憶された部品データベースと、
前記部品データベースに記憶された部品の中から、前記特注仕様を実現する前記ロボットを構成する部品の組み合わせを探索する適合検討部と、
前記基本ロボットに探索された前記部品を実装した前記ロボットの仮想体を前記顧客端末へ出力表示させるカスタムロボット提示部と、
前記顧客端末から前記ロボットの発注を受け取り、前記ロボットを受注する受注部とを、備えることを特徴としている。
顧客に前記ロボットの基礎となる基本ロボットの選択を促し、
前記基本ロボットの選択を受け取って、前記基本ロボットの所定の基本仕様のうち可変仕様に関する情報群から、選択された前記基本ロボットの可変仕様項目を抽出し、
前記基本仕様から前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を決定し、
前記基本ロボットの構成部品及び前記基本ロボットに装着可能な部品に関する情報群から、前記特注仕様を実現する前記ロボットを構成する部品を探索し、
前記顧客に前記基本ロボットに探索された前記部品を実装した前記ロボットの仮想体を提示し、
前記顧客に前記ロボットの発注の入力を促し、
前記ロボットの発注を受け取って、前記ロボットを受注することを特徴としている。
制御ユニット、少なくとも1つの可動ユニットから成るアーム部、及びエンドエフェクタユニットの連設体を基本ロボットとし、前記基本ロボットの少なくとも1つの可変仕様項目を含む前記基本ロボットの可変仕様に関する情報が記憶された可変仕様データベースと、
前記可動ユニットに関する情報が記憶された可動ユニットデータベースと、
前記可変仕様が変更された前記可動ユニットの組み合わせに関する情報が記憶された部品適合検討結果データベースと、
前記可変仕様データベースから前記基本ロボットに対応する前記可変仕様項目を読み出して顧客端末に表示させ、前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を前記顧客端末から受け取る特注仕様決定部と、
前記可動ユニットデータベース及び前記部品適合検討結果データベースに記憶された情報に基づいて、前記特注仕様を実現する前記可動ユニットの組み合わせを探索する適合検討部と、
前記制御ユニット、探索された前記可動ユニットの組み合わせ、及び前記エンドエフェクタユニットの連設体であるロボットの仮想体を前記顧客端末に出力表示させるロボット提示部と、
前記顧客端末から前記ロボットの構成ユニットの一式又は一部の発注を受け取って受注する受注部とを、備えることを特徴としている。
制御ユニット、少なくとも1つの可動ユニットから成るアーム部、及びエンドエフェクタユニットの連設体を基本ロボットとし、前記基本ロボットについて少なくとも1つの可変仕様項目を顧客に提示し、
前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を受け取って、前記特注仕様を実現する前記可動ユニットの組み合わせを探索し、
前記制御ユニット、探索された前記可動ユニットの組み合わせから成る前記アーム部、及び前記エンドエフェクタユニットの連設体であるロボットの仮想体を前記顧客に提示し、
前記顧客から前記ロボットの構成ユニットの一式又は一部の発注を受け取って受注することを特徴としている。
本発明の第1実施形態に係る取引システム1について説明する。
可変仕様項目のうち動作姿勢とは、ロボットが作業を行うときのロボットアームの姿勢のことである。動作範囲の要求仕様を、例えば、ワークを上向きに支持、ワークを下向きに吊り下げ、などの項目から選択できる。
可変仕様項目のうち動作振動特性とは、ロボットアームが移動するときの手先部の振動の周波数のことである。基本ロボットごとに動作振動特性に関する複数の数値が規定されており、動作振動特性の要求仕様を所定の数値のなかから選択できる。
可変仕様項目のうち動作速度とは、ロボットアームが移動するときの手先部の移動速度である。基本ロボットごとに動作速度範囲が規定されており、動作速度の要求仕様を所定の動作速度範囲の中で設定できる。
可変仕様項目のうち位置決め精度とは、ロボットアームの手先部が指令位置へ移動した時の、指令位置と実際の手先部の位置との偏差のことである。基本ロボットごとに位置決め精度に関する数値範囲が規定されており、位置決め精度の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち軌跡精度とは、ロボットアームの手先部が基準位置から指令位置へ移動するときの、指令軌跡と実際の手先部の軌跡との偏差のことである。基本ロボットごとに軌跡精度に関する数値範囲が規定されており、軌跡精度の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち発生力とは、ロボットアームの手先部に発生させることのできる力・モーメントのことである。基本ロボットごとに発生力に関する数値範囲が規定されており、発生力の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち可搬重量とは、ロボットアームが運べるワークの最大重量のことである。基本ロボットごとに可搬重量に関する数値範囲が規定されており、可搬重量の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち価格とは、ロボットの販売価格のことである。基本ロボットごとに、複数の価格帯が規定されており、価格の要求仕様を複数の価格帯から選択できる。
ロボットの基礎となる基本ロボットごとに当該基本ロボットの所定の基本仕様のうち可変仕様に関する情報が記憶された可変仕様データベース202と、
顧客端末3から基本ロボットの選択を受け取り、可変仕様データベースから選択された基本ロボットの可変仕様項目を抽出し、基本仕様から可変仕様項目のうち少なくとも1つが変えられた特注仕様を決定する特注仕様決定部と、
基本ロボットの構成部品及び基本ロボットに装着可能な部品に関する情報が記憶された部品データベース204と、
部品データベース204に記憶された部品の中から、特注仕様を実現するロボットを構成する部品の組み合わせを探索する適合検討部と、
基本ロボットに探索された部品を実装したロボットの仮想体を顧客端末3へ出力表示させるカスタムロボット提示部と、
顧客端末3からロボットの発注を受け取り、ロボットを受注する受注部とを、備えることを特徴としている。
本発明の第2実施形態に係る取引システム101について説明する。
図11は、本発明の第2実施形態に係るロボットの取引システム101の商取引の対象となるロボット108の一例を示している。図11に示すように、ロボット108は、制御ユニット181と、少なくとも1つの可動ユニット182,183と、エンドエフェクタユニット184との連設体である。可動ユニット182,183は、回転ユニット182と曲げユニット183とを含む。ロボット108は、壁掛け用ベース、天井吊り用ベース、床置き用ベース、クリップ型ベースなどの、制御ユニット181を保持するベース(図示略)と共に利用される。クリップ型ベースは、ロボット108を台やフレームなどに取り付けるためのクリップを有する。
本実施形態に係るロボットの取引システム101は、上記のロボット108の商取引を行うものである。ロボット108は、顧客の要望に応じてカスタマイズすることが可能であるが、ロボットの専門知識を有さない顧客では、要望に応じた動作を行うロボット108をどのように構成すれば良いかを適切なガイドなしに検討することが難しい。そこで、ロボットの取引システム101では、このような専門知識を有さない顧客であっても、要求仕様にカスタマイズドされたカスタムロボットを容易に設計し、気軽に試し、且つ、安価に取得できるようにしている。
可変仕様項目のうち動作範囲とは、例えば、制御ユニット181に与えられたロボット座標原点からの、エンドエフェクタユニット184に与えられたハンド基準点の動作範囲である。
可変仕様項目のうち動作姿勢とは、ロボットが作業を行うときのエンドエフェクタユニット184の姿勢のことである。動作姿勢の要求仕様を、例えば、ワークを上向きに支持、ワークを下向きに吊り下げ、などの項目から選択できる。
可変仕様項目のうち動作振動特性とは、ロボットが動作するときのハンド基準点の振動の周波数のことである。基本ロボットごとに動作振動特性に関する複数の数値が規定されており、動作振動特性の要求仕様を所定の数値のなかから選択できる。
可変仕様項目のうち動作速度とは、ロボットが動作するときのハンド基準点の移動速度である。基本ロボットごとに動作速度範囲が規定されており、動作速度の要求仕様を所定の動作速度範囲の中で設定できる。
可変仕様項目のうち位置決め精度とは、ハンド基準点が指令位置へ移動した時の、指令位置と実際のハンド基準点の位置との偏差のことである。基本ロボットごとに位置決め精度に関する数値範囲が規定されており、位置決め精度の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち軌跡精度とは、ハンド基準点が基準位置から指令位置へ移動するときの、指令軌跡と実際の手先部の軌跡との偏差のことである。基本ロボットごとに軌跡精度に関する数値範囲が規定されており、軌跡精度の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち発生力とは、ハンド基準点に発生させることのできる力・モーメントのことである。基本ロボットごとに発生力に関する数値範囲が規定されており、発生力の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち可搬重量とは、ロボットが運べるワークの最大重量のことである。基本ロボットごとに可搬重量に関する数値範囲が規定されており、可搬重量の要求仕様を所定の数値範囲から設定できる。
可変仕様項目のうち価格帯とは、ロボットの販売価格の価格帯のことである。基本ロボットごとに、複数の価格帯が規定されており、価格の要求仕様を複数の価格帯から選択できる。
制御ユニット181、少なくとも1つの可動ユニット182,183から成るアーム部、及びエンドエフェクタユニット184の連設体を基本ロボットとし、基本ロボットの少なくとも1つの可変仕様項目を含む基本ロボットの可変仕様に関する情報が記憶された可変仕様データベース(記憶装置M6)と、
可動ユニット182,183に関する情報が記憶された可動ユニットデータベース(記憶装置M3)と、
可変仕様が変更された可動ユニット182,183の組み合わせに関する情報が記憶された部品適合検討結果データベース(記憶装置M8)と、
可変仕様データベースから基本ロボットに対応する可変仕様項目を読み出して顧客端末103に表示させ、可変仕様項目のうち少なくとも1つが変えられた特注仕様を顧客端末103から受け取る特注仕様決定部222と、
可動ユニットデータベース及び部品適合検討結果データベースに記憶された情報に基づいて、特注仕様を実現する可動ユニット182,183の組み合わせを探索する適合検討部223と、
制御ユニット181、探索された可動ユニット182,183の組み合わせ、及びエンドエフェクタユニット184の連設体であるロボットの仮想体を顧客端末103に出力表示させるロボット提示部224と、
顧客端末103からロボットの構成ユニットの一式又は一部の発注を受け取って受注する受注部225とを、備える。
制御ユニット181、少なくとも1つの可動ユニット182,183から成るアーム部、及びエンドエフェクタユニット184の連設体を基本ロボットとし、基本ロボットについて少なくとも1つの可変仕様項目を顧客に提示し、
可変仕様項目のうち少なくとも1つが変えられた特注仕様を受け取って、特注仕様を実現する可動ユニット182,183の組み合わせを探索し、
制御ユニット181、探索された可動ユニット182,183の組み合わせから成るアーム部、及びエンドエフェクタユニット184の連設体であるロボットの仮想体を顧客に提示し、
顧客からロボットの構成ユニットの一式又は一部の発注を受け取って受注する。
2 :システム運営サーバ
3 :顧客端末
4 :ロボットメーカ端末
8 :ロボット
10 :ネットワーク
21 :インターフェース
22 :プロセッサ
24 :記録媒体読取装置
71 :基本ロボット探索画面
72 :基本ロボット探索結果画面
73 :要求仕様入力画面
74 :カスタムロボット提示画面
81 :基台
82 :インターフェース
83 :旋回座
84,87,89 :関節部材
86 :第1リンク
88 :第2リンク
90 :エンドエフェクタ
91,92 :関節駆動装置
95 :梱包用箱
201 :基本ロボットデータベース
202 :可変仕様データベース
203 :シミュレーションツールデータベース
204 :部品データベース
205 :部品適合検討結果データベース
206 :プログラムデータベース
101 :取引システム
102 :システム運営サーバ
121 :インターフェース
122 :処理装置
221 :基本ロボット探索部
222 :特注仕様決定部
223 :適合検討部
224 :ロボット提示部
225 :受注部
226 :追加ユニット提示部
103 :顧客端末
104 :ロボットメーカ端末
108 :ロボット
181 :制御ユニット
182 :回転ユニット(可動ユニット)
183 :曲げユニット(可動ユニット)
184 :エンドエフェクタユニット
110 :ネットワーク
171 :基本ロボット探索画面
172 :基本ロボット探索結果画面
173 :要求仕様入力画面
174 :ロボット提示画面
175 :追加ユニット提示画面
M1~M9:記憶装置
Claims (19)
- ロボットの取引を行うロボットの取引システムであって、
前記ロボットの基礎となる基本ロボットごとに当該基本ロボットの所定の基本仕様のうち可変仕様に関する情報が記憶された可変仕様データベースと、
顧客端末から前記基本ロボットの選択を受け取り、前記可変仕様データベースから選択された前記基本ロボットの可変仕様項目を抽出し、前記基本仕様から前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を決定する特注仕様決定部と、
前記基本ロボットの構成部品及び前記基本ロボットに装着可能な部品に関する情報が記憶された部品データベースと、
前記部品データベースに記憶された部品の中から、前記特注仕様を実現する前記ロボットを構成する部品の組み合わせを探索する適合検討部と、
前記基本ロボットに探索された前記部品を実装した前記ロボットの仮想体を前記顧客端末へ出力表示させるカスタムロボット提示部と、
前記顧客端末から前記ロボットの発注を受け取り、前記ロボットを受注する受注部とを、備える、
ロボットの取引システム。 - 前記基本ロボットに適合する作業分類を含む前記基本ロボットに関する情報が記憶された基本ロボットデータベースと、
前記顧客端末から前記基本ロボットの選択を受け取る前に、前記ロボットが実施する作業分類に関する作業分類情報を前記顧客端末から受け取り、前記作業分類情報に基づいて前記作業分類に適合する一又は複数の基本ロボットを前記基本ロボットデータベースから探索し、探索された前記基本ロボットを前記顧客端末へ出力表示させる、基本ロボット探索部とを、更に備える、
請求項1に記載のロボットの取引システム。 - 前記特注仕様決定部は、前記可変仕様項目と、当該可変仕様項目のうち少なくとも1つに対する要求仕様情報の入力要求とを前記顧客端末へ出力表示させ、前記要求仕様情報を前記顧客端末から受け取り、受け取った前記要求仕様情報に基づいて前記特注仕様を決定する、
請求項1又は2に記載のロボットの取引システム。 - 前記特注仕様決定部は、前記ロボットの作業対象に関する作業対象情報と、前記ロボットが前記作業対象に対して施す作業に関する作業内容情報とを前記顧客端末から受け取り、前記作業対象情報及び前記作業内容情報とに基づいて前記特注仕様を決定する、
請求項1又は2に記載のロボットの取引システム。 - 前記受注部が、前記ロボットを受注して、前記ロボットの組立部品一式を含む納品リストを生成する、
請求項1~4のいずれか一項に記載のロボットの取引システム。 - 前記可変仕様項目が、動作範囲、動作姿勢、動作振動特性、動作速度、位置決め精度、軌跡精度、発生力、可搬重量、及び価格のうち少なくとも1つを含む、
請求項1~5のいずれか一項に記載のロボットの取引システム。 - ロボットの取引を行うロボットの取引方法であって、
顧客に前記ロボットの基礎となる基本ロボットの選択を促し、
前記基本ロボットの選択を受け取って、前記基本ロボットの所定の基本仕様のうち可変仕様に関する情報群から、選択された前記基本ロボットの可変仕様項目を抽出し、
前記基本仕様から前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を決定し、
前記基本ロボットの構成部品及び前記基本ロボットに装着可能な部品に関する情報群から、前記特注仕様を実現する前記ロボットを構成する部品を探索し、
前記顧客に前記基本ロボットに探索された前記部品を実装した前記ロボットの仮想体を提示し、
前記顧客に前記ロボットの発注の入力を促し、
前記ロボットの発注を受け取って、前記ロボットを受注する、
ロボットの取引方法。 - 前記顧客に前記基本ロボットの選択を促す前に、前記顧客に前記ロボットが実施する作業分類に関する作業分類情報の提供を促し、前記作業分類情報を受け取って、前記基本ロボットに適合する作業分類を含む前記基本ロボットに関する情報群から、前記作業分類に適合する一又は複数の前記基本ロボットを探索し、
前記顧客に探索された前記基本ロボットを提示する、
請求項7に記載のロボットの取引方法。 - 前記特注仕様を決定することが、前記顧客に前記可変仕様項目のうち少なくとも1つに対する要求仕様情報の提供を促し、前記要求仕様情報を受け取り、前記要求仕様情報に基づいて前記特注仕様を決定することを含む、
請求項7又は8に記載のロボットの取引方法。 - 前記特注仕様を決定することが、前記ロボットの作業対象に関する作業対象情報と、前記ロボットが前記作業対象に対して施す作業に関する作業内容情報との提供を前記顧客に促し、前記作業対象情報及び前記作業内容情報を受け取り、前記作業対象情報及び前記作業内容情報に基づいて前記特注仕様を決定することを含む、
請求項7又は8に記載のロボットの取引方法。 - 前記ロボットを受注して、前記ロボットの組立部品一式を含む納品リストを生成する、
請求項7~10のいずれか一項に記載のロボットの取引方法。 - 前記ロボットを、前記ロボットの組立部品一式がパッケージされた組立てキットの状態で、前記顧客へ発送する、
請求項7~11のいずれか一項に記載のロボットの取引方法。 - 前記可変仕様項目が、動作範囲、動作姿勢、動作振動特性、動作速度、位置決め精度、軌跡精度、発生力、可搬重量、及び価格のうち少なくとも1つを含む、
請求項7~12のいずれか一項に記載のロボットの取引方法。 - 制御ユニット、少なくとも1つの可動ユニットから成るアーム部、及びエンドエフェクタユニットの連設体を基本ロボットとし、前記基本ロボットの少なくとも1つの可変仕様項目を含む前記基本ロボットの可変仕様に関する情報が記憶された可変仕様データベースと、
前記可動ユニットに関する情報が記憶された可動ユニットデータベースと、
前記可変仕様が変更された前記可動ユニットの組み合わせに関する情報が記憶された部品適合検討結果データベースと、
前記可変仕様データベースから前記基本ロボットに対応する前記可変仕様項目を読み出して顧客端末に表示させ、前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を前記顧客端末から受け取る特注仕様決定部と、
前記可動ユニットデータベース及び前記部品適合検討結果データベースに記憶された情報に基づいて、前記特注仕様を実現する前記可動ユニットの組み合わせを探索する適合検討部と、
前記制御ユニット、探索された前記可動ユニットの組み合わせ、及び前記エンドエフェクタユニットの連設体であるロボットの仮想体を前記顧客端末に出力表示させるロボット提示部と、
前記顧客端末から前記ロボットの構成ユニットの一式又は一部の発注を受け取って受注する受注部とを、備える、
ロボットの取引システム。 - 前記基本ロボットに適合する作業分類を含む前記基本ロボットに関する情報が記憶された基本ロボットデータベースと、
前記顧客端末から、前記ロボットが実施する作業分類に関する作業分類情報を受け取り、前記作業分類情報に基づいて前記作業分類に適合する一又は複数の前記基本ロボットを前記基本ロボットデータベースから探索し、探索された前記基本ロボットを前記顧客端末へ出力表示させる、基本ロボット探索部とを、更に備える、
請求項14に記載のロボットの取引システム。 - 顧客が所有するロボットの構成ユニットと、前記ロボットの構成ユニットとを比較して、前記ロボットを実現するために前記顧客が所有するロボットの構成ユニットに追加されるユニットを抽出し、前記追加されるユニットに関する情報を前記顧客端末に出力表示させる追加ユニット提示部を、更に含む、
請求項14又は15に記載のロボットの取引システム。 - 制御ユニット、少なくとも1つの可動ユニットから成るアーム部、及びエンドエフェクタユニットの連設体を基本ロボットとし、前記基本ロボットについて少なくとも1つの可変仕様項目を顧客に提示し、
前記可変仕様項目のうち少なくとも1つが変えられた特注仕様を受け取って、前記特注仕様を実現する前記可動ユニットの組み合わせを探索し、
前記制御ユニット、探索された前記可動ユニットの組み合わせから成る前記アーム部、及び前記エンドエフェクタユニットの連設体であるロボットの仮想体を前記顧客に提示し、
前記顧客から前記ロボットの構成ユニットの一式又は一部の発注を受け取って受注する、
ロボットの取引方法。 - 前記ロボットが実施する作業分類に関する作業分類情報を受け取って、前記基本ロボットに適合する作業分類を含む前記基本ロボットに関する情報群から、前記作業分類に適合する一又は複数の前記基本ロボットを探索し、
探索された前記基本ロボットを前記顧客に提示する、
請求項17に記載のロボットの取引方法。 - 顧客が所有するロボットの構成ユニットと、前記ロボットの構成ユニットとを比較して、前記ロボットを実現するために前記顧客が所有するロボットの構成ユニットに追加されるユニットを抽出し、前記追加されるユニットに関する情報を前記顧客に提示する、
請求項17又は18に記載のロボットの取引方法。
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