Offline teaching device and offline teaching method

An offline teaching method performed by an offline teaching device including one or more computers communicably connected to an input device capable of receiving an operator operation, the offline teaching method comprising:

• acquiring position information of a plurality of welding lines of a workpiece produced by welding and a scanning range of a sensor that scans an appearance shape of a weld bead formed on the workpiece;
• generating a plurality of three-dimensional regions to be scanned by the sensor, based on the acquired position information of the plurality of welding lines and the acquired scanning range;
• generating and outputting an auxiliary screen in which the plurality of welding lines and the plurality of three-dimensional regions are disposed in a virtual space and an overlapping region of each of the plurality of three-dimensional regions is highlighted;
• deleting the overlapping region based on the operator operation;
• generating and outputting a new auxiliary screen in which the plurality of welding lines and at least one three-dimensional region after the overlapping region is deleted are disposed in the virtual space;
• and
• creating and outputting a teaching program for causing a robot that drives the sensor to scan the at least one three-dimensional region, based on the operator operation.

An offline teaching method performed by an operator operating an input device and using an offline teaching device including one or more computers communicably connected to the input device, the offline teaching method comprising:

• inputting, to the computer, position information of a plurality of welding lines of a workpiece produced by welding and a scanning range of a sensor that scans an appearance shape of a weld bead formed on the workpiece;
• inputting, to the computer, the overlapping region to be deleted on an auxiliary screen in which the plurality of welding lines and a three-dimensional region to be scanned by the sensor are disposed in a virtual space and an overlapping region of each of the plurality of three-dimensional regions is highlighted;
• and
• creating a teaching program for causing a robot that drives the sensor to scan at least one three-dimensional region after deleting the input overlapping region indicated by a new auxiliary screen in which the plurality of welding lines and the at least one three-dimensional region are disposed in the virtual space.