Welding pass specific method, program, teaching program and welding robot system

摘要

The welding robot system includes a welding robot 1 and a computer 2 that controls the welding robot 1. The welding path is specified in the following steps. From the shape of the member to be welded in the three-dimensional CAD data, the first member to be welded and the second member to be welded which can be in contact with each other are specified. Next, the first surface 20 of the second member to be welded is in contact with one surface of the first member to be welded and has a normal vector (B) parallel to the normal vector (A) of the one surface. Extract. Then, the second surface 21 of the second member to be welded is extracted, the shared edge 22 shared by the first surface 20 and the second surface 21 is extracted, and corresponding to the shared edge 22 Thus, the welding path 30 is specified, and the first member to be welded and the second member to be welded are welded.