| 摘要 |
PURPOSE:To achieve automatic connection of a wire harness by connecting a coupler effectively and securely. CONSTITUTION:A camera specifies a position of a coupler 11 by comparison with a pattern of the coupler 11 preliminarily memorized in a memory in a control unit based on brightness difference or saturation difference between the coupler 11 and a background. A peripheral range of the coupler is scanned by a laser detection device by radiating a slit-shaped laser beam. By detecting reflected light, a direction of the coupler 11 is detected correctly. Work of getting an arm to be closer to the detected coupler 11 to catch it is performed. A hand 13 is moved down to a position where a forward end of a plate member 27 is applied to a surface of a work. The plate member 27 which is not applied to a harness 10 is extended to the surface of the work on the back of the coupler 11. When a presser member presses the coupler 11 which is down, the coupler 11 is corrected to be in a horizontal attitude. In a condition where the hand 13 moves forward to a position relation for providing connection of the coupler 11, in the case reaction force of the hand 13 exceeds a specified value, it is determined that connection action is completed. |
