PURPOSE: To automize connecting work for installing the connector of a harness by providing a position recognizing means on the finger of a multi-joint robot.
CONSTITUTION: In a multi-joint robot 6, finger cameras 62 for recognizing respective partner connectors of the connectors 54R, 54L held by fingers 61 to connect them are provided in opposition to the connectors and close to the fingers 61. The other end side of the multi-joint robot 6 is connected to a control part. The control part 7 contains a control circuit for controlling a series of connecting motions for selection and takeout of a harness 52 and installation of the taken harness 52 onto a determined distributing board by the multi-joint robot 6. The coordinate of the distributing board to be connected, the kind of the harness to be adapted, the order of connection, motions to be made by the multi-joint robot 6 are preliminarily programmed therein.
NAKAMURA HIDEO
FUKAZAWA YASUO
