PROBLEM TO BE SOLVED: To provide a lap welding method for bead connection and its automatic welding device capable of executing high reliable welding wherein excellent smooth weld beads without any welding defect are formed in a bead connected part between existing weld beads. ;SOLUTION: With respect to a weld joint wherein a bead connection between an initial end part or a terminal end part of the existing weld beads or the bead connection between both an initial end and a terminal end of the existing beads is required, a positional deviation of a bead connection and overlap welding line is detected by a sensing operation in a first process by a touch sensor unit 39, further a bead boundary position and the positional deviation of the existing weld beads are detected by the sensing operation in a second process by an optical sensor 50 and a picture processor 52. A positional correction of a torch and a correction of a welding condition in the bead connection and overlap welding are controlled based on the detected information with a welding controller 38 by the welding operation in a third process by a welding robot 30.;COPYRIGHT: (C)1999,JPO
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