Development of Rack Loading System for Plating Process

As a plating method for precision parts, the rack loading method in which the workpiece is placed on the rack is often used. In many plating factories that use the rack loading method, workers perform the loading task manually. Existing model-based rack-loading labor-saving systems that utilize simulation results need to be recalculated every time the shape or position of a workpiece or rack changes. For this reason, it takes a lot of time and effort to change the setups. Achieving the rack-loading task that requires less setup changes, we assumed the rack loading task as a non-contact inverse peg-in-hole problem. In this study, we constructed a rack loading system which recognizes the pin position on the rack side and the hole position on the workpiece side without any contacts.