PURPOSE:To provide a titled device which permits satisfactory quality control and production control by the constitution in which a branch pipe tack-welded to a base pipe is touched by a touch sensor provided to a robot and impressed preliminarily with a voltage to detect the position and posture thereof. CONSTITUTION:This welding robot device grips one end of a boiler header consisting of the base pipe 13 to be welded by the robot 1 provided with a preheating burner 15 and a welding torch 23 and traveling on a traveling shaft 2 and the branch pipe 14 tack-welded thereto by means of the chuck 4 of a positioner 3 provided on a carriage traveling on a rail 7 parallel with the shaft 2 and supports the other end by means of a supporting base 6. Said robot device is so constituted that the touch sensor 24 attached to a bracket 22 provided to the wrist part 21 of the robot 1 is moved back and forth by a cylinder 25 and that the contact is detected from the beginning of flow of the preliminarily impressed voltage when the branch pipe is touched by feelers 24a, b to detect the position and posture of the branch pipe 14. The positioner 3 and supporting base 6 are driven via operation boxes 9, 10 by a control device 11 to correct the position and posture of the pipe 13 and the pipe 14, by which welding is executed.
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