Abstract: An offline teaching device provided with an acquisition unit for acquiring first production data about a workpiece to be produced, and a teaching program creation unit for acquiring a first weld line of the workpiece from the first production data, and creating and outputting a first welding teaching program for executing welding by means of a welding robot, and a first inspection teaching program for executing an inspection of a weld bead, wherein, on the basis of a second weld line, a second welding teaching program for a workpiece to be produced using second production data and a second inspection teaching program are created and output.

Abstract: An offline teaching device include an input unit that receives an operator operation, an acquisition unit that acquires three-dimensional shape data of a workpiece, an operation trajectory of the welding, and a scanning range of a sensor; a generation unit that generates three-dimensional regions to be scanned by the sensor based on the acquired scanning range and a scanning section; and a control unit that disposes at least one of the three-dimensional regions on the three-dimensional shape data of the workpiece based on the operator operation input to the input unit, and that creates and outputs, 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.

Abstract: A repair welding segment detection method includes generating, based on a result of the inspection determination, shape mismatch data obtained by extracting a shape mismatch portion of the weld bead, dividing the shape mismatch data into N. where N is an integer of 2 or more, equally divided windows in a direction perpendicular to a welding direction of the weld bead, setting a shift region formed by i, where i: an integer of 1 or more, continuous windows among the N windows, separately calculating volumes of (N-i+1) shift regions obtained by shifting one by one the i windows forming the shift region in the welding direction, and determining that a shift region having a volume of a predetermined value or more among the calculated volumes of the (N-i+1) respective shift regions is a defective segment of the weld bead.

Abstract: A bead appearance inspection device includes an input unit configured to enter input data related to a welding bead of a workpiece produced by welding, and a determination unit configured to perform an inspection determination related to a shape of the welding bead based on the input data. The determination unit determines which of a range of a value indicating a non-defective product zone, a range of a value indicating a gray zone, and a range of a value indicating a defective product zone a value obtained from the input data belongs to. The range of the value indicating the gray zone is between the range of the value indicating the non-defective product zone and the range of the value indicating the defective product zone.

Abstract: A bead appearance inspection device includes an input unit configured to enter input data related to a welding bead of a workpiece produced by welding, a first determination unit configured to perform a first inspection determination related to a shape of the welding bead based on a comparison between the input data and a master data, k second determination units, where k is an integer of 1 or more, that are equipped with k types of artificial intelligence and that are configured to perform a second inspection determination related to a welding defect of the welding bead based on processings of the k types of artificial intelligence targeting the input data, and a comprehensive determination unit configured to output a result of an appearance inspection of the welding bead to an output device based on determination results of the first determination unit and the k second determination units.

Abstract: A bead appearance inspection device includes an acquisition unit that acquires input data related to a welding bead, a storage unit that stores a first determination standard and a second determination standard used for an inspection of a defect of the welding bead, a first determination unit that executes a first inspection determination on the welding bead, and k second determination units, where k is an integer of 1 or more, that execute a second inspection determination on the welding bead. An appearance inspection result of the welding bead is created and output by using a determination result indicating whether a first inspection result acquired by the first inspection determination satisfies the first determination standard and a determination result indicating whether a second inspection result satisfies the second determination standard.

Abstract: A repair welding device includes an inspection result acquisition unit configured to acquire an appearance inspection result including information about a defective portion of a weld bead of a welded workpiece produced by a main welding that is executed by a welding robot, and a robot control unit configured to instruct the welding robot to execute a repair welding on a position of the defective portion using the appearance inspection result based on a relationship between the position of the defective portion and a predetermined width related to the weld bead.

Abstract: A repair welding device includes an acquisition unit configured to acquire an appearance inspection result including information about a position of a defective portion of a weld bead of a welded workpiece produced by a main welding that is executed by a welding robot, and a robot control unit configured to set a plurality of interpolation points on a virtual welding line of the main welding executed by the welding robot and instruct the welding robot to execute a repair welding on an interpolation point that is closest to the acquired position of the defective portion. The virtual welding line is simulated based on a main welding program for executing the main welding.

Abstract: A repair welding control device includes a memory that stores instructions and a processor that executes the instructions. The instructions cause the processor to perform acquiring information indicating a range of a defective portion in main welding of a workpiece, and determining a repair welding start point indicating a start point of repair welding and a repair welding end point indicating an end point of the repair welding such that a repair welding range includes all the range of the defective portion and a range wider than the range of the defective portion.