| 摘要 |
PROBLEM TO BE SOLVED: To provide a sealer application apparatus of a vehicle and a teaching method thereof capable of quantitatively calculating a position of a sealer nozzle with respect to a workpiece, and accurately teaching a coating robot.SOLUTION: A sealer application apparatus 10 of a vehicle for applying sealer S to an overlapping part W3 of the hemming includes: a sealer gun 1 having a sealer nozzle 3; a light source device 4 for generating beams to be radiated onto a workpiece W; an imaging camera 5 for imaging a beam image radiated onto the workpiece; and a coating robot 2 that can be provided with them. The imaging camera images the image from a direction Q perpendicular to a workpiece surface, and the light source device emits the beam from an inclined direction with respect to an imaging direction K of the imaging camera. A discharge port 311 of the sealer nozzle is formed so that a discharge direction J is in a direction equal to or opposite to the imaging direction K. The sealer application apparatus of a vehicle further includes an arithmetic device 7 for calculating the distance from the discharge port to the overlapping part in a direction perpendicular to the overlapping part, on the basis of the amount of movement of the beam image imaged by the imaging camera, from a reference position in a direction parallel to the workpiece surface. |
