Automatically Tightening Tiny Screw to Cellphone with an Industry Robot

工業機器人應用於手機微小螺絲自動鎖附之實現

呂睿晨(Jui-Chen Lu) ； 董必正(Pi-Cheng Tung) ； 李安謙(An-Chen Lee)

《中國機械工程學刊》 41卷6期 (2020/12) Pp. 735-744

摘要

The objective of this research is to tighten tiny screws of the cellphone automatically by controlling a six-axis manipulator. The manipulator cooperates with two CCD cameras to perform initial positioning control and fine positioning control, respectively. One camera is fixed on a stationary frame above screw holes and the other is installed on the end effector of the manipulator. The captured images are processed and analyzed to detect the coordinate position of the screw holes. Through coordinate transformation and calculation, the hole positions of the space coordinate are found. A fine-tuning algorithm is developed to enhance the detection accuracy of hole position. Experimental results show that the proposed fine-tuning algorithm can tighten M1 and M1.1 screws into the target holes with the manipulator.

關鍵字

coordinate transformation ； image processing ； manipulator

並列摘要

本研究目的主要是透過六軸機械手臂自動鎖附細小螺絲於手機。架構為機械手臂與兩個CCD攝影機配合，分別執行初始定位控制及精密定位控制。其中，一個攝影機固定在螺絲孔上方的固定架上，另一個則安裝在機械手臂末端的執行器上。方法為將獲取的影像進行影像處理及分析，以檢測螺絲孔的座標位置，並且利用座標轉換，找到孔的空間座標位置，開發一種微調演算法以提高孔座標的檢測精度。實驗結果驗證，所提出的微調演算法可以藉由機械手臂將M1和M1.1螺絲鎖附到目標孔中。