臺灣博碩士論文加值系統

摘 要本研究乃應用直角座標機器人系統、輸送帶設備、以及自行設計
之供料盤與手端機構，配合伺服馬達控制與各種路徑法則模式之程式，而
建立球形水果裝箱作業系統，以期該系統應用在水果裝箱作業中能使水果
損傷降到最小，同時能減短作業時間、以及降低人力需求。在本研究中，
分別以蘋果與葡萄柚進行試驗。試驗分為兩部份，第一部份為供料盤傾斜
角度之設定，本研究所設計之供料盤可處理半徑為23.5至47mm之球形水果
，處理富士蘋果之最佳傾斜角度為15°，此角度亦為供料盤設定之傾斜角
。第二部份為搬移裝箱作業，搬移作業前先以真空吸附式手端對葡萄柚進
行吸取試驗，其有效吸取率達85%；在搬移單箱水果方面，針對葡萄柚與
蘋果進行試驗，每一箱葡萄柚為12個，完成裝箱作業所需平均時間
為194.5秒，平均搬移正確率為93.6%；而每一箱蘋果為8個，完成裝箱作
業所需平均時間為163.5秒，平均搬移正確率為89.2%。

ABSTRACTA Cartesian robot system, conveyer, feeding plate and
end effector combined with servo-motor controllor and three path
strategics had been developed to use in packing process for
ball-shaped fruits. This system was expected to lessen the
injury of fruits, shorten working time and resolve the problem
for lack of manpower in the same time.In this study, the system
was tested with apples and grapefruits. The experiment consisted
of two parts, the first part was to find the appropriate slope
angle of feeding plate. The feeding plate could handle a radius
of 23.5~47 mm of ball-shaped fruits, and 15 degree was found to
be the best slope angle for apple. In the second part, the
preliminary results were shown that 85% of grapefruits were
grabbed successfully. In packing process, for grapefruit, there
were 12 grapefruits in a box, and it spent a