JP2017095762A - Metal plating processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a metal plating processing system capable of reducing a size and a weight of a carrier holding mechanism, on a multijoint robot for detachably holding a work carrier which holds a metal plating processing object, and capable of performing quick operations because of size and weight reduction.SOLUTION: A metal plating processing system 100 comprises a multijoint robot 101. The multijoint robot 100 comprises as an end effector, a carrier holding mechanism 120 on a tip end of an arm connection body 104. The carrier holding mechanism 120 has a first grip body 122 and a second grip body 123 for holding a grip rod body 132 on a work carrier 130 for holding a metal plating processing object WK. The grip rod body 132 on the work carrier 130 is formed into a rod-state extending in a horizontal direction and droops the carrier body 134 through a main support body 131.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a plating processing system that performs a plating process on a plated object using an articulated robot.

  2. Description of the Related Art Conventionally, there is a plating processing system that performs plating processing on a plated workpiece using an articulated robot. For example, the following Patent Document 1 discloses a carrier holding mechanism for an industrial robot that holds a plated object by holding a support member provided on a basket that accommodates the plated object from both sides. Yes.

Japanese Patent Laid-Open No. 08-120429

  However, in the industrial robot carrier holding mechanism described in the above-mentioned Patent Document 1, the support member provided on the basket that accommodates the object to be plated is sandwiched and held from both sides in the longitudinal direction. There is a problem that the structure of the handle, which is a gripping mechanism, is increased in size and weight, and it is difficult to perform agile operation.

  The present invention has been made to cope with the above-described problems, and its object is to reduce the size and weight of the carrier holding mechanism in an articulated robot that detachably holds a work carrier that holds a workpiece to be plated. It is an object of the present invention to provide a plating processing system that can easily perform an agile operation by reducing the size and weight.

  In order to achieve the above object, the present invention is characterized in that a work carrier that holds a plated object to be plated, a plating tank that contains a plating solution and in which the work carrier is immersed, and a work carrier is attached and detached. A plating processing system having a carrier holding mechanism for holding freely and an articulated robot for taking a workpiece carrier into and out of a plating tank, the workpiece carrier extending in a rod shape, and a hanging rod from the holding rod body A carrier body that is detachably held and holds the workpiece to be detachable, and the carrier holding mechanism grips the gripping bar from the short direction perpendicular to the longitudinal direction of the gripping bar. To have a mechanism.

  According to the feature of the present invention configured as described above, the plating processing system includes a gripping bar body in which the work carrier extends in a bar shape, and a carrier holding mechanism for gripping the gripping bar body from the short side direction. Therefore, the structure of the carrier holding mechanism can be reduced in size and weight, and agile operation can be facilitated by the reduction in size and weight.

  Another feature of the present invention is that in the plating system, the gripping bar is formed to extend in the horizontal direction, and the gripping mechanism grips the gripping bar from above and below.

  According to another feature of the present invention configured as described above, the plating processing system grips the gripping rod body extending in the horizontal direction with the gripping mechanism sandwiched from above and below, so that the work carrier that moves in the vertical direction moves vertically. As compared with the case where the workpiece carrier is gripped along the workpiece carrier, the workpiece carrier can be stably tilted when the workpiece carrier is drained.

  Another feature of the present invention is that in the plating system, the articulated robot is configured such that one end side of the gripping rod body is upward with respect to the other end side in a state where the work carrier is immersed in the plating tank and then pulled up. The water draining operation is performed to incline the work carrier so as to be positioned.

  According to another feature of the present invention configured as described above, the plating system is configured such that the one end side of the gripping rod body is set to the other end side in a state where the articulated robot is lifted after the work carrier is immersed in the plating tank. In order to perform the draining operation to incline so as to be located upward, the draining operation is performed quietly and without damaging the plated object as compared to the method of draining by impact like the industrial robot in the above prior art. Can do. In this case, the draining in the plating process includes draining various liquids such as a plating solution used for the plating process in addition to draining the washing water after the plating process.

  Another feature of the present invention is that, in the plating processing system, the articulated robot further lifts the work carrier by immersing it in a plating tank and then raising the work carrier at a speed faster than the lifting speed. It is to perform the draining operation to descend at a slower speed.

  According to another feature of the present invention configured as described above, after the articulated robot is further lifted at a speed faster than the pulling speed after the articulated robot has dipped and lifted the work carrier in the plating tank, In order to perform the draining operation to descend at a speed slower than the ascending speed, the draining operation is performed quietly and without damaging the object to be plated, compared with the method of draining by impact like the industrial robot in the above-mentioned conventional technology. be able to. Moreover, according to this plating processing system, even when the work carrier holds the workpiece to be plated in a suspended state, it is possible to drain the water with high accuracy without dropping the plating workpiece.

  Another feature of the present invention is that in the plating system, the carrier body is formed along the longitudinal direction of the gripping rod body, and the articulated robot moves when moving the work carrier in the horizontal direction. The work carrier is oriented parallel to the direction.

  According to another feature of the present invention configured as described above, in the plating system, the carrier body is formed along the longitudinal direction of the gripping rod body, and the articulated robot moves the work carrier in the horizontal direction. At this time, since the work carrier is directed parallel to the moving direction, it is possible to move the plated object with high accuracy while reducing the air resistance and preventing the workpiece carrier from shaking and vibrating, and falling off the plated object. Can do.

It is the top view which showed typically the apparatus structure of the plating processing system which concerns on one Embodiment of this invention. It is the front view which showed typically the apparatus structure of the plating processing system shown in FIG. (A), (B) is a front view showing an outline of an external configuration of a carrier holding mechanism provided in the articulated robot shown in FIG. 1, and (A) is a state where the first gripping body and the second gripping body are closed. The hand-closed state is shown, and (B) shows the hand-opened state in which the first gripping body and the second gripping body are opened. It is the side view which showed the outline of the external appearance structure of the carrier holding mechanism shown in FIG. It is the perspective view which showed the outline of the external appearance structure of the work carrier hold | gripped by the articulated robot shown in FIG. It is a front view which shows a mode that the work carrier shown in FIG. 5 is inclined and the water draining operation is performed.

  Hereinafter, an embodiment of a plating processing system according to the present invention will be described with reference to the drawings. FIG. 1 is a plan view schematically showing a device configuration of a plating processing system 100 according to the present invention. FIG. 2 is a front view schematically showing the apparatus configuration of the plating processing system shown in FIG. Note that each drawing referred to in the present specification is schematically represented by exaggerating some of the components in order to facilitate understanding of the present invention. For this reason, the dimension, ratio, etc. between each component may differ. The plating processing system 100 is a group of mechanical devices for forming a metal thin film on the surface of a plated workpiece WK made of a metal or resin material or part. In this case, the plating process includes, for example, a chromium plating process, a nickel plating process, an alumite process, a gold plating process, a silver plating process, a copper plating process, or an antibacterial plating process.

(Configuration of plating processing system 100)
This plating processing system 100 includes an articulated robot 101. The multi-joint robot 101 connects the end effectors attached to the distal ends of the arm members in a three-dimensional manner by computer control by connecting rod-shaped arm members adjacent to each other with joints (shafts) that rotate relatively. It is a mechanical device that causes the end effector to perform a predetermined operation, and is a so-called industrial robot. In this embodiment, the multi-joint robot 101 is a so-called 5-axis control vertical multi-joint robot provided with five joints. The articulated robot 101 may have less than 5 or 6 or more joints, or may be a horizontal articulated robot.

  The articulated robot 101 mainly includes a base 102, an arm coupling body 104, and a control device 105. The base 102 is a mechanical device that rotatably supports the arm coupling body 104 in a horizontal plane. The base 102 includes an electric motor that is controlled by the control device 105 and is fixed on the base table 103. The base table 103 is a table-like structure that supports the main part of the articulated robot 101 including the base 102 and the arm coupling body 104, and is fixed on the floor surface in the factory where the plating process is performed.

  The arm coupling body 104 is a mechanical device that holds the carrier holding mechanism 120 in a displaceable state, and a plurality of rod-like arm members are connected in series via a joint having a built-in electric motor, thereby adjacent arms. The members are configured to be relatively rotatable. One end (lower part in the figure) of the arm coupling body 104 is supported by the base 102, and the other end part (upper part in the figure) supports the carrier holding mechanism 120.

  The control device 105 is configured by a microcomputer including a CPU, a ROM, a RAM, and the like, and comprehensively controls the entire operation of the articulated robot 101 and executes an operation program set by an operator. The plating process of the plated object WK is executed. Specifically, the control device 105 controls each operation of the base 102, the arm coupling body 104, and the carrier holding body 120, so that the workpiece WK to be plated WK is orthogonal to the plating tank 110 in the X axis direction and the Y axis. The plating process of the workpiece to be plated WK is executed by moving in the three orthogonal directions consisting of the direction and the Z-axis direction. The control device 105 is provided in a control box (not shown) configured separately from the base 102 and the arm coupling body 104.

  Further, the control device 105 includes a hand operation box 105a and a display device 105b. The hand control box 105 a is an input device that includes a plurality of switches for an operator to perform operation commands and teaching to the control device 105. The display device 105 b is a liquid crystal display device that displays the operating state of the control device 105, and is provided on the outer surface of the control box that houses the control device 105.

  The plating tank 110 is a liquid tank having an open upper surface for storing a plating liquid for plating the plated article WK and a cleaning liquid for removing the plating liquid from the surface of the plated article WK. The plating tank 110 is installed around the articulated robot 101 within a range where the arm connection body 104 of the articulated robot 101 can reach. In this case, the plating tank 110 may be provided around the multi-joint robot 101 with a plating tank 110 containing a plating liquid and a cleaning liquid necessary for one type of plating process, but is necessary for two or more types of plating processes. A plating tank 110 containing a plating solution and a cleaning solution, respectively, may be disposed.

  Further, a cradle 111 for supporting a work carrier 130 described later is provided at the edge of the upper surface of the plating tank 110. The cradle 111 is formed to be recessed in a concave shape so that the receiving piece 131a is fitted therein. Note that the plating tank 110 is provided with auxiliary equipment (not shown) such as a heating device, a thermostatic device, a cooling device, a stirring device, or a filtration device according to the type of liquid to be stored.

  In addition, a carrier holder 112 is provided at one corner around the multi-joint robot 101 to allow the work carrier 130 to enter or retreat from the range where the arm coupling body 104 of the multi-joint robot 101 can reach. The carrier holder 112 is configured to be movable on a rail that is moved into or withdraws from a range where the arm coupling body 104 of the multi-joint robot 101 reaches in a state where the work carrier 130 is detachably held.

  The carrier holding mechanism 120 is a mechanical device for detachably holding the work carrier 130 as shown in FIGS. 3A, 3B, and 4, and is fixed to the tip of the arm coupling body 104. Is attached. That is, the carrier holding mechanism 120 is an end effector in the articulated robot 101. The carrier holding mechanism 120 includes a holding body base 121.

  The holding body base 121 is a component that is fixedly attached to the distal end portion of the arm coupling body 104 while supporting the first holding body 122, the second holding body 123, and the holding actuator 126, and the metal material is formed into a rectangular plate shape. Formed and configured. The holding base 121 is fixedly attached to the tip of the arm coupling body 104 via a bolt (not shown) at the center of the upper surface of the holding body base 121, and the first holding body 122 and the holding actuator 126 are attached to the lower surface of the drawing, respectively. Yes.

  The first gripping body 122 is a metal part for supporting the gripping bar body 132 in the work carrier 130 from below and sandwiching the gripping bar body 132 together with the second gripping body 123. More specifically, the first holding body 122 is bent after being dropped from two places on the lower surface of the holding body base 121 so as to support the holding bar body 132 at two positions in the longitudinal direction. Is formed. In this case, each first gripping body 122 is formed in a substantially J shape in a side view, with a concave fitting portion 122a into which the gripping rod body 132 is fitted from below.

  The second gripping body 123 is a part that presses the gripping bar 132 supported by the first gripping body 122 from above, and is configured by forming a metal material in a plate shape extending in the longitudinal direction of the gripping bar 132. Has been. Resin pressing pieces 123 a for pressing the gripping rod 132 supported by the first gripping body 122 from above are provided on the lower surfaces of both ends of the second gripping body 123. In this case, each pressing piece 123a is notched in a concave shape so that the gripping bar 132 is fitted from above.

  The second grip body 123 is supported at a position below the holder base 121 by support pillars 124 respectively connected to both ends of the upper surface. The two support pillars 124 are parts for supporting the second gripping body 123 in a state in which the second gripping body 123 can be displaced in the vertical direction, and are each formed of a metal round bar. These two support pillars 124 are slidably penetrated through the bearing base 124a with respect to the holding body base 121, and one end portion (the lower side in the drawing) is connected to the second gripping body 123. In addition, the other (upper side in the figure) ends are connected to each other by a connecting body 125.

  The coupling body 125 is a component for integrally coupling the two support columns 124 and coupling the support columns 124 to the gripping actuator 126, and is configured by forming a metal material in a U shape in plan view. Has been. That is, the connecting body 125 has two support columns 124 connected to both ends thereof, and the tip of the operating shaft 126a of the gripping actuator 126 is connected to the center.

  The gripping actuator 126 is a drive source for lowering the second gripping body 123 from the raised position and pressing the gripping bar supported by the first gripping body 122 from above 132. In the present embodiment, the gripping actuator 126 is configured by an air cylinder, but may be an actuator other than the air cylinder, such as an electric motor.

  The gripping actuator 126 is provided in a state in which the operating shaft 126 a hangs down on the lower surface of the holding body base 121 in a state where the operating shaft 126 a penetrates the holding body base 121 and is fixedly connected to the coupling body 125. The gripping actuator 126 is connected to the compressor 127b via the electromagnetic valve 127a, and moves the second gripping body 123 up and down by moving the operating shaft 126a forward and backward by the air pressure supplied from the compressor 127b (FIG. 3). (See (A) and (B)).

  The electromagnetic valve 127 a is a valve for switching between two air pressures supplied to the gripping actuator 126, that is, an air pressure for pushing out the operating shaft 126 a and an air pressure for drawing in, and the operation is controlled by the control device 105.

  As shown in FIG. 5, the work carrier 130 is an instrument for holding a plated object WK to be plated, and mainly includes a main support 131 and a carrier body 134. The main support 131 is a component for supporting the carrier body 134, and is configured by forming a metal material into a plate shape extending in a band shape. At both ends of the main support 131, receiving pieces 131a placed on a receiving table 111 provided on the plating tank 110 are provided. A grip bar 132 is provided at the center of the main support 131.

  The grip bar 132 is a part gripped by the carrier holding mechanism 120 and is formed by forming a metal material into a square bar extending in parallel with the main support 131. The grip bar 132 is provided at a position separated upward from the main support 131 by the overhanging arm 133 at the center in the longitudinal direction of the main support 131.

  The carrier body 134 is an instrument that detachably holds a plurality of workpieces WK, and is formed in a square ladder shape when viewed from the front along the gripping rod body 132. More specifically, the carrier body 134 has a configuration in which a plurality of horizontal plates 134b made of plate-like bodies extending in the horizontal direction are installed between the vertical plates 134a made of two plate-like bodies extending in the vertical direction along the vertical direction. Has been.

  In this case, carrier hooks 134c for hooking on the main support 131 are provided at the upper ends of the two vertical plates 134a. Each horizontal plate 134b is provided with a plurality of work hooks 134d for hooking the workpiece to be plated WK. The carrier body 134 is configured by forming an electrical insulating film on the surface of a metal material. In FIG. 1, the work carrier 130 is not shown. In FIG. 4, a part of the work carrier 130 is indicated by a two-dot chain line. In FIG. 5, two workpieces WK are removed from the work hook 134d.

(Operation of plating processing system 100)
Next, the operation of the plating processing system 100 configured as described above will be described. The plating system 100 performs a plating process on the control device 105, specifically, a position where the work carrier 130 is first held (for example, the carrier holder 112), and the held work carrier 130 in the plating tank 110. The position, order and time of immersion, the contents of the draining operation, and the position to return the work carrier 130 are set in advance by teaching work by an operator. Therefore, the control device 105 performs the plating process work of the plated workpiece WK by executing the teaching back for reproducing the contents set by the teaching work. In this description of the operation, steps related to the present invention at the time of teaching back will be described, and steps not directly related to the present invention will be omitted as appropriate.

  First, the control device 105 holds the work carrier 130 by the carrier holding mechanism 120. Specifically, the control device 105 controls the operation of the base 102 and the arm coupling body 104 in the hand open state (see FIG. 3B) in which the second gripping body 123 is raised by controlling the operation of the electromagnetic valve 127a. And the first gripping body 122 is positioned below the gripping bar body 132 of the work carrier 130, and then lifted to fit the gripping bar body 132 into the fitting portion 122a. Next, the control device 105 controls the operation of the electromagnetic valve 127a to lower the second gripping body 123 and set the hand closed state in which the gripping bar 132 is pressed by the pressing piece 123a (see FIG. 4).

  Thereby, the work carrier 130 is held in a state in which the gripping bar 132 is sandwiched between the first gripping body 122 and the second gripping body 123 from above and below. In this case, the carrier holding mechanism 120 only has to move the second gripping body 123 up and down within a range in which the carrier holding mechanism 120 can be sandwiched from the thickness direction in the vertical direction in the figure in the short direction perpendicular to the longitudinal direction of the gripping bar 132. The gripping bar 132 can be quickly sandwiched with a simple configuration. That is, the first grip body 122 and the second grip body 123 correspond to the gripping mechanism according to the present invention.

Next, the control device 105 controls the operation of the arm connecting body 104 to lift the work carrier 130 and then controls the operations of the base 102 and the arm connecting body 104 to convey the gripped work carrier 130 to the plating tank 110. And soak. In this case, the control device 105 controls the operation of the base 102 and the arm coupling body 104 to make the orientation of the gripped work carrier 130 parallel to the horizontal movement direction, as indicated by the broken line arrows in FIG. To control. As a result, the articulated robot 101 reduces the air resistance when moving with respect to the work carrier 130 and moves the workpiece WK with high accuracy while preventing the workpiece carrier 130 from shaking and vibrating and dropping the workpiece WK. Can be made.

  The orientation of the work carrier 130 may be controlled in advance by teaching, or the orientation of the work carrier 130 (carrier holding mechanism 120) is calculated in an operation program for driving the arm coupling body 104. It can also be set to move while moving.

  Next, after immersing the work carrier 130 in the plating tank 110 for a predetermined time, the control device 105 controls the operation of the arm coupling body 104 to lift the work carrier 130 onto the plating tank 110 and perform a draining operation. Here, the draining operation is an operation of dropping the plating liquid or the cleaning liquid adhering to the workpiece carrier 130 and the workpiece to be plated WK, and mainly includes a method of tilting the workpiece carrier 130 and a method of moving the workpiece carrier 130 up and down. There is.

  Specifically, as shown in FIG. 6, the control device 105 controls the operation of the arm coupling body 104 to hold the carrier so that one end side of the gripping rod body 132 is positioned above the other end side. By tilting the mechanism 120, the plating solution or cleaning solution adhering to the work carrier 130 and the workpiece to be plated WK can be collected at the lowermost end portion of the carrier body 134 and dropped into the plating tank 110.

  Further, the control device 105 adheres to the work carrier 130 and the workpiece to be plated WK by controlling the operation of the arm coupling body 104 and moving the carrier holding mechanism 120 up and down as indicated by the broken line arrow shown in FIG. The plating solution or cleaning solution thus collected can be collected at the lower end of the carrier body 134 and shaken down into the plating tank 110.

  In this case, after lifting the work carrier 130 from the plating tank 110, the control device 105 continuously speeds up the carrier holding mechanism 120 from the plating tank 110 without stopping the operation of raising the carrier holding mechanism 120. After further increasing at a speed, it can be decreased at a speed slower than this increasing speed. Thus, the plating processing system 100 can prevent the plating processing object WK from falling off while effectively dropping the plating liquid or the cleaning liquid adhering to the work carrier 130 and the plating processing object WK.

  The control device 105 can also raise the carrier holding mechanism 120 again after pulling up the work carrier 130 from the plating tank 110 and temporarily stopping the raising of the carrier holding mechanism 120. In this case, the rising speed of the carrier holding mechanism 120 may be the same speed as the pulling speed of the work carrier 130 from the plating tank 110 or a speed equal to or higher than the same speed. One of these two draining operation methods may be executed, one of them may be executed, the other may be executed, or both may be executed simultaneously. In addition, the direction of the draining operation may be set in advance by teaching, or may be set in an operation program for driving the arm coupling body 104.

  Next, the control device 105 moves the work carrier 130 that has performed the draining operation to the plating tank 110 or the carrier holder 112 in the next step. When the work carrier 130 is moved to the carrier holder 112, the control device 105 cancels the gripping of the work carrier 130. Specifically, the control device 105 controls the operation of the solenoid valve 127a to raise the second gripping body 123 to the hand open state, and then controls the operation of the arm coupling body 104 to control the first gripping body. 122 is lowered below the gripping rod 132. Next, the control device 105 controls the operations of the base 102 and the arm coupling body 104 to release the first grip body 122 from the position below the grip bar 132.

  In addition, when the immersion time of the work carrier 130 in the plating tank 110 is long, the control apparatus 105 can cancel the holding | grip of the work carrier 130 and can perform the plating process of the other work carrier 130. FIG.

  As can be understood from the above description of the operation, according to the above-described embodiment, the plating processing system 100 has the gripping bar body 132 with the work carrier 130 extending in a bar shape, and grips the gripping bar body 132 from the short side direction. Since the carrier holding mechanism 120 is provided, the structure of the carrier holding mechanism 120 can be reduced in size and weight, and the agile operation of the carrier holding mechanism 120 can be facilitated by the reduction in size and weight.

  Furthermore, in carrying out the present invention, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the object of the present invention.

  For example, in the above embodiment, the gripping rod 132 is provided separately above the main support 131. However, the gripping bar 132 may be the main support 131 itself.

  Moreover, in the said embodiment, the holding | grip rod body 132 is formed in the square bar shape with a square cross section. However, the holding rod body 132 only needs to be formed to extend in a rod shape, and the cross section may be a shape other than a square, for example, a rectangle, a triangle, a circle, or an ellipse.

  Moreover, in the said embodiment, the holding | grip stick body 132 is extended and formed in the horizontal direction. However, the gripping bar 132 may be configured to hold the carrier body 134 directly or indirectly via the main support 131. Therefore, the gripping rod 132 can be constituted by a rod extending in the vertical direction from the main support 131, for example. In this case, the carrier holding mechanism 120 may hold the gripping rod 132 extending in the vertical direction from the horizontal direction (X-axis direction and Y-axis direction).

  Further, in the above embodiment, the carrier holding mechanism 120 is configured such that the first holding body 122 and the second holding body 123 constituting the holding mechanism according to the present invention hold the holding rod body 132 in the vertical direction (Z-axis direction). It was configured as follows. However, the gripping mechanism according to the present invention only needs to be configured to hold the gripping rod body 132 in a sandwiched state. Therefore, the first grip body 122 and the second grip body 123 can also be configured to sandwich the grip bar 132 from the left-right direction.

  In the above embodiment, the work carrier 130 is configured to hold and hold a plurality of workpieces WK. However, the work carrier 130 only needs to include a carrier body 134 that holds at least one workpiece to be plated WK below the gripping bar body 132. Therefore, for example, the work carrier 130 can be configured by forming the carrier body 134 in a bowl shape.

WK ...
DESCRIPTION OF SYMBOLS 100 ... Metal plating system, 101 ... Articulated robot, 102 ... Base, 103 ... Base stand, 104 ... Arm connection body, 105 ... Control apparatus, 105a ... Hand operation box, 105b ... Display apparatus,
110 ... plating tank, 111 ... cradle, 112 ... carrier holder,
DESCRIPTION OF SYMBOLS 120 ... Carrier holding mechanism, 121 ... Holding body base, 122 ... 1st holding body, 122a ... Fitting part, 123 ... 2nd holding body, 123a ... Pressing piece, 124 ... Supporting pillar, 124a ... Bearing, 125 ... Connection body 126 ... Gripping actuator, 126a ... Actuating shaft, 127a ... Solenoid valve, 127b ... Compressor,
DESCRIPTION OF SYMBOLS 130 ... Work carrier, 131 ... Main support body, 131a ... Receiving piece, 132 ... Holding rod body, 133 ... Overhang arm, 134 ... Carrier body, 134a ... Vertical plate, 134b ... Horizontal plate, 134c ... Carrier hook, 134d ... Work hook.

Claims (5)

A work carrier for holding a plated object to be plated,
A plating tank that contains the plating solution and in which the work carrier is immersed;
A plating processing system comprising a multi-joint robot having a carrier holding mechanism for detachably holding the workpiece carrier and taking the workpiece carrier into and out of the plating tank;
The work carrier is
A gripping rod extending like a rod; and
A carrier body that is provided in a state of hanging from the gripping rod body and holds the plated object detachably,
The carrier holding mechanism is
A plating processing system comprising a gripping mechanism for gripping the gripping rod body from a short direction perpendicular to the longitudinal direction of the gripping rod body. In the plating processing system according to claim 1,
The grip bar is formed to extend in the horizontal direction,
The gripping mechanism is
A plating processing system characterized in that the gripping rod body is gripped from above and below. In the plating processing system according to claim 1 or 2,
The articulated robot is
A water draining operation is performed to incline the work carrier so that one end side of the gripping rod body is positioned above the other end side in a state where the work carrier is immersed in the plating tank and then pulled up. Plating system. In the plating processing system according to any one of claims 1 to 3,
The articulated robot is
After the workpiece carrier is dipped in the plating tank and pulled up, the workpiece carrier is further lifted at a speed faster than the lifting speed, and then a draining operation is performed to lower the workpiece carrier at a speed slower than the rising speed. . In the plating processing system according to any one of claims 1 to 4,
The carrier body is
Formed along the longitudinal direction of the gripping bar,
The articulated robot is
When moving the work carrier in the horizontal direction, the plating system is characterized in that the direction of the work carrier is directed parallel to the moving direction.

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