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研究生： 魏心樂
NGUI, XIN-LE
論文名稱： 運用機械手臂夾具探討食品定量夾取之研究
Exploring Food Quantitative Gripping Through the Use of Robotic Arm Gripper
指導教授： 葉維彰
Yeh, Wei-Chang
口試委員: 李昀儒
Lee, Yun-Ju
林佳陞
Lin, Chia-Sheng
學位類別： 碩士
Master
系所名稱： 工學院 - 工業工程與工程管理學系
Department of Industrial Engineering and Engineering Management
論文出版年： 2024
畢業學年度： 112
語文別： 中文
論文頁數： 95
中文關鍵詞： 食品盛裝 、拾放作業 、機械手臂 、夾具 、定量夾取
外文關鍵詞： Food Packaging, Pick-and-Place Process, Robotic Arm, Gripper, Quantitative Gripping
相關次數： 點閱：35  下載：1 
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    • 隨著現代化生活節奏加速，便利商店銷售的冷凍餐盒成為許多消費者的外食選項之一，製造商為滿足不同消費者的需求，推出多樣化的餐盒，亦可見該食品產業的需求市場。然而，傳統的食品加工業一直以來都被認為是工業化需求程度較低的產業，因此除去單一類型、大量生產的專業機械手臂，在食品盛裝的簡單拾放作業 (Pick-and-place Process) 依舊依賴大量的勞動力進行。
    近年來，受到新冠疫情的影響，人們的衛生觀念大幅度提升，同時為了避免勞動力人數限制造成的停工、疾病等衛生問題，食品工業轉向更注重自動化機械手臂的應用。為了能夠快速取代簡單的拾放作業，機械手臂 (Robotic Arm) 成為快速變更生產線上的理想選擇。然而，市面上的機械手臂以兩指或三指夾具 (Gripper) 為主，對於多樣的食品處理依舊有限制，因此本研究致力於開發更適用於食品工業的夾具。
    在完成動態夾具設計後，本研究進行了單次重複性實驗，以評估所設計夾具的夾取效能。結果顯示，夾具在相同參數設計下的重複性拾放作業具有良好的穩定性與可靠度。基於餐盒內食品的多樣性，本研究針對不同型態的食品進行了夾取實驗。為了客觀評估夾具效能和影響夾取效果的顯著因子，實驗前透過食品密度計算單次夾取的目標重量，並進行實驗設計與統計分析，提出了對4種不同形狀食品定量夾取的最佳參數設計，以提高夾具的適用性。
    食品的定量夾取能讓製造商更好地計算與控制原物料使用量，減少不必要的浪費。本研究的結果為食品工業中機械手臂夾具設計的動態設計和食品定量夾取提供了重要參考。

    As the pace of modern life accelerates, frozen meal boxes sold in convenience stores have become one of the dining options for many consumers. To meet the diverse needs of different consumers, manufacturers have launched a variety of meal boxes, indicating a demand market for this food industry. However, traditional food processing has always been considered an industry with lower industrialization needs. Therefore, apart from single-type, mass-produced specialized robots, simple pick-and-place operations in food packaging still rely heavily on labour.
    In recent years, affected by the COVID-19 pandemic, people’s awareness of hygiene has greatly increased. To avoid issues such as shutdowns and hygiene problems caused by labour force restrictions, the food industry has turned to focus more on the application of automation robots. To quickly replace simple pick-and-place process, robotic arms have become an ideal choice for rapid changes in production lines. However, most robotic arms on the market use two-finger or three-finger grippers which are still limited for diverse food handling; therefore this study is dedicated to developing grippers more suitable for the food industry.
    After completing the dynamic gripper design, this study conducted repeatability experiments to evaluate the gripping performance of the designed gripper. The results showed that the gripper has good stability and reliability in repetitive pick-and-place tasks under the same parameter design. Due to the diversity of food, this study carried out gripping experiments on different types of food. To objectively assess the efficiency of the gripper and the significant factors affecting the gripping effect, the target weight for a single grip was calculated based on food density before the experiments. Design of experimental (DOE) and statistical analysis were conducted, and optimal parameter designs for quantitative gripping of four different shaped foods were proposed to enhance the applicability of the gripper.
    Quantitative gripping of food allows manufacturers to better calculate and control the usage of raw materials, reducing unnecessary waste. The results of this study provide important references for the dynamic design of robotic arm gripper and quantitative gripping in the food industry.

    摘要 I ABSTRACT II 謝辭 IV 目錄 V 表目錄 VIII 圖目錄 X 第一章 緒論 1 1.1 研究背景與動機 1 1.2 研究目的 5 1.3 研究架構 6 第二章 文獻回顧 8 2.1 食品工業之相關研究 8 2.1.1 食品工業自動化系統 8 2.1.2 冷凍餐盒的發展 12 2.1.3 食品特性 13 2.2 食品夾取之研究 15 2.2.1食品夾取技術 15 2.2.2 食品夾取的挑戰 18 2.2.3 食品類型 19 2.3 新型夾具之設計原理與特性 21 2.3.1 目標食品 21 2.3.2 夾具設計原理 23 2.3.3 新型夾具的類型 24 2.4 小結 26 第三章 研究方法 27 3.1 實驗設備 27 3.2 夾具設計 29 3.2.1 回饋迴路 29 3.2.2 夾柄設計 31 3.2.3 新型夾具設計 36 3.2.4 實驗變異性 43 3.3實驗設計 43 3.3.1 一般全因子實驗設計 44 3.3.2 實驗設計流程 45 3.4 統計分析 46 3.4.1 研究假設 46 3.4.2 多組比較分析 48 3.5 小結 50 第四章 實驗結果 51 4.1 實驗結果 51 4.1.1 一般全因子實驗設計 51 4.1.2 不同食品實驗結果 60 4.1.3 單樣本z檢定 65 4.2 不同因子對夾取效果的影響 66 4.2.1因子與參數結果比較 66 4.2.2不同因子交互比較 71 第五章 討論 78 5.1 實驗結果與討論 78 5.1.1 實驗結果總結 78 5.1.2 最佳參數水準 80 5.2 實驗限制 82 5.3 改進方法 83 第六章 結論與未來展望 85 6.1 結論 85 6.2 未來展望 87 參考文獻 89

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