PURPOSE: To easily specify a flaw detection position without using a precise position storage means by a method wherein a shifter body on which a flaw detection means has been mounted is moved along a flaw defection face, a paint is spouted to the flaw detection position, a mark is put and the position is confirmed by a television in a reinspection.
CONSTITUTION: A television camera 11 in which the lower part in the positioning center position of a robot is used as a field of view 10 is installed. In addition, a nozzle 12 which spouts a paint to a part near a flaw detector 8 and a television camera 14 which uses the lower part of the nozzle 12 as a field of view 13 are installed. After the robot has been moved, the flaw detector 8 for a flaw detection device 7 is brought into contact with a flaw detection face 9, and a flaw is detected. Then, the paint is spouted from the nozzle 12 and it is applied to the flaw detection face 9. In a reinspection, the applied position of the paint is detected by using the image of the camera 14, and the state of a flaw position is confirmed. In addition, when the paint is spouted from the nozzle 12, compressed air is spouted from a nozzle 15, and the front of the camera 14 is shielded.
SUYAMA KENJI
KOSEKI MASATO
