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 three-dimensional shape data of a workpiece produced by welding, an operation trajectory of the welding, and a scanning range of a sensor configured to scan an appearance shape of the workpiece;
• generating three-dimensional regions based on the acquired scanning range and a scanning section designated by the operator operation, the three-dimensional regions being scanned by the sensor;
• disposing at least one of the three-dimensional regions on the three-dimensional shape data of the workpiece based on the operator operation acquired from the input device;
• and
• creating and outputting, to a welding robot that performs the welding, a teaching program for scanning the three-dimensional region based on the disposed three-dimensional region and the operation trajectory of the welding.

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

• inputting three-dimensional shape data of a workpiece produced by welding to the computer;
• inputting, to the computer, a scanning section in which an appearance shape of the workpiece is scanned;
• inputting, to the computer, a shape of a scanning portion scanned in the scanning section;
• and
• creating a teaching program for causing a welding robot that performs the welding to scan a three-dimensional region based on the shape of the scanning portion.