To continue welding by moving a welding torch along the target welding line at the predetermined speed, after a carriage reaches to a movable limit.
A welding apparatus includes: a torch B that welds a corner portion F where a plurality of welding materials C, D, E are combined; a linear driving mechanism that includes a linear guide member for guiding the torch B in a linear manner and a linear driving motor 22 to drive the torch B; a rotation mechanism that includes a rotation motor 15 to rotate at least the linear guide member composing the linear driving mechanism; a carriage A loaded with the linear driving mechanism and the rotation mechanism; and a control apparatus 25 that controls driving of the linear driving motor 22 and the rotation motor 15 so as to maintain a distance of the torch B from the corner F as well as maintain a welding speed, when it is recognized that the carriage moves a shorter distance than the predetermined welding distance.
OTA SATOSHI
TODATE YOSHITERU
MINAHARA MASATOSHI
KOIKE TETSUO
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