臺灣博碩士論文加值系統

螺絲是在現今工業上不可或缺的存在，大至橋梁工程，小至電子元件皆會使用到。生產線上的螺絲鎖附也漸漸從人力發展成自動化。人工鎖附可能會導致螺絲最後鎖附扭矩的不準確，而且工時甚長動作繁複。自動化產線則是鎖附速度快速，且能夠節省大量的人力成本。本論文所要研究的自動螺絲鎖附系統，將螺絲以最快的速度鎖附到使用者所訂定的目標扭矩。螺絲鎖附系統由三個階段的轉速、扭矩控制，第一階段的高扭矩、高轉速，第二階段的低扭矩、低轉速和最後第三階段的目標扭矩補足。本論文將三個階段的轉速和扭矩分別去配置參數，根據參數、鎖附花費時間和扭矩的精準性，設計三次田口表格並實驗，經過多次的田口實驗調整參數使用範圍，並分析結果並找出最佳參數配置。讓螺絲鎖附系統在最短的時間內將螺絲鎖附到所訂定的目標扭矩。對於6 mm長的螺絲，本系統可在0.24秒內鎖附。由於最佳參數與螺絲長度有關，本論文最後探討以影像辨識方法偵測螺絲長度的可行性。

This thesis develops an automatic screw driver to lock a screw into position as quickly as possible. The system consists of a screwdriver, an AC servomotor, and a 32-bit microcontroller which measures the motor speed and the torque applied to the motor, and calculates the suitable speed and torque commands according to the measurement. The control algorithm includes three steps. The first step is a high-torque, high-speed mode. The second step is a low-torque, low-speed mode. In the final step the torque is raised to the target value. To achieve a minimal locking time with the specified locking torque, the Taguchi method is employed for experimentation. An optimal set of control parameters are found to achieve a locking time of 0.24 seconds for screws of 6-mm long. Since the control parameters should be adjusted according to the length of the screw, the thesis also explores the potential of machine vision in the detection of screw lengths.

摘要 i
ABSTRACT ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
符號說明 ix
一、序論 1
1.1 研究背景與目的 1
1.2 內容方法 2
1.3 論文大綱 3
二、實驗架構 4
2.1 螺絲鎖附系統架構 4
2.2 視覺辨識系統架構 7
三、系統控制方法 8
3.1 系統行程與控制方法 8
3.2 控制參數 12
四、參數最佳化實驗 14
4.1 田口實驗設計 14
4.2 第一次田口因子實驗 15
4.3 第二次田口因子實驗 20
4.4 第三次田口因子實驗 25
4.5 第三次因子實驗結果 28
4.6 第三次實驗結果分析 33


五、視覺辨識系統 40
5.1 視覺系統控制流程和分析方法 40
5.2 辨識系統模擬分析 45
5.3 辨識系統實體分析 49
六、結論與未來展望 53
6.1 結論 53
6.2 未來展望 54
參考文獻 55
附錄A 微電腦控制器電路圖 57
附錄B 馬達控制腳位接法 58
附錄C 類比電壓控制程式 59

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