生產線機械手臂的點位校準系統之精準度改善

• Main Authors: Shi-Hao Liu, 劉適豪
• Other Authors: Chih-Lung Shen
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/18790323190387841663

碩士 === 國立高雄第一科技大學 === 電子工程系碩士在職專班 === 104 === The formations of assembly lines of each industry cannot be built without compartments such as feeding and discharge equipment, handling system, and process equipment. As the time progresses and the influence of portable products arise, process-micronizing products have become a mainstream, and demands to its precision therefore elevated. Precision positioning systems composed of various types of photoelectric sensor are seen everywhere in a high-tech assembly line. Nevertheless, semi-finished products in the process rely on handling systems from first to second process; consequently, robotic arms play a vital role in handling. Among the handling systems, conventional conveyor belts are merely capable of horizontal axis positive and negative X and Y directions handlings of semi-finished products, while robotic arms compatible to multiple servomotors can complete multi-axis handlings with X, Y, Z, and θ directions synchronically. Its high efficiency tarnishes conveyor belts. Moreover, robotic arms with servomotors come with brilliant performances in precision positioning. In addition, servomotors are detachable parts. Once encountered with malfunction, the only thing to do is replacing the broken motors at damaged axes. However, after replacement with new servomotors, robotic arms are liable to the positioning inaccuracy. Albeit the fact that original manufacturers (take Japanese manufacturer SANKYO as instance) develops patches for calibration, inaccurate positions can’t be corrected to its original form. Based on such issue, in our research, we will propose a more precise and convenient points calibration system. The system can be applied to any kind of handling system, even more advanced, define the Second origin of robotic arms by pairing high-accuracy proximity sensors or photoelectric sensors, and execute calibration to the wrong positions directly with a faster and more precise approach, even without patches from original manufacturers. This system has launched a series of position calibrations to each and every handling system at assembly lines in Innolux Corporation. Take the actual situation as instance, under the use of single axis corresponding to six positions, the working hours of calibration has considerably shortened from the original 90~120 minutes to 30 minutes or less. To the fully booked high-tech industry racing against the clock, such achievement represents obvious helps to lowering loss caused by stagnation on the assembly line.