| 摘要 |
PROBLEM TO BE SOLVED: To provide a urethane coating method capable of applying urethane coating to the area inside by a predetermined distance from the peripheral edge of a window for a car without teaching. SOLUTION: The image of the window is picked up and, on the basis of the picked-up image of the window, the external pattern of the window is detected to be compared with a reference pattern provided with a coating start point to calculate the quantities of movement and rotation in the XY direction of the window. The moving locus and coating start point to the preliminarily registered reference pattern of a coating gun is corrected on the basis of the calculated quantities of movement and rotation in the XY direction of the window according to the external shape pattern of the window to move the coating gun to the corrected coating start point and, further, the coating gun is moved to the window along the corrected moving locus to apply urethane to the area inside by predetermined offset quantity from the peripheral edge of the window.
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