Patent ID: 6953909

Claim:
A movable welding apparatus for forming a weld pass, said apparatus comprising: a carriage for movement along a track mounted to a surface of an object to be welded, the carriage having a direction of movement lengthwise relative to the weld pass to be formed; a welding head mounted to said carriage; said welding head having a first degree of freedom permitting cross-wise motion thereof relative to the direction of motion of the carriage; a first motorized transport mechanism connected to the carriage for moving the welding head in said first degree of freedom; said welding head having a second degree of freedom permitting rocking motion of said welding head; a second motorized transport mechanism connected to the carriage for moving the welding head in said second degree of freedom; a controller operable to actuate said first and second motorized transport mechanisms to vary position of said welding head in each of said first and second degrees of freedom to follow a pre-defined trajectory while said welding head is in operation forming the weld pass.