2022 年 88 巻 5 号 p. 420-426
The rack method is often used in the plating process of fine workpieces. It is difficult to automate the rack loading task by the off-line teaching or the force feedback procedures since the deformation of racks and pins with repeated use. In this study, at first, we developed an autonomous rack loading algorithm for fine workpieces by measuring rack pin positions and attitudes using on-line non-contact sensing. In addition, we constructed an on-line non-contact sensing fine workpiece Rack Loading task support Robot System (RLRS) that implemented our newly algorithm. The RLRS consists of the Pin Sensing Device (PSD), a 6-DOF serial robot arm and a robot vision for correcting hole position of workpiece. The autonomous rack loading algorithm for the fine workpiece uses the pin measurement data from PSD and the hole position correction data from robot vision to plan the motion of the robot arm. The verification experiment of RLRS had conducted using 0.8mm diameter pin and 1.1mm diameter hole of workpieces, and resulted in 93.3% success rate. Although improved accuracy of the pin position detection is needed, our newly algorithm has been suggested to be useful for automating rack loading task of fine workpieces.
