Abstract: In accordance with the welding particularity of intersecting line, the intersecting pipe welding robot with suspension structure was developed, the characteristics and applicability of the mechanical structure were introduced. The industrial PC as host computer and PMAC for multi-axis control were adopted in control system, the operational management was achieved by two-level control systems, the welding operation was accomplished with patterns of coordinated multi-joint movement. The experiments on welding with the nozzles attachments to the outside and inside of two different cylinders and ellipsoids were carried out respectively. The results of welding experiments indicated that the mechanical and control system structure could meet a variety of welding needs, the welding experiments of intersecting line could be fulfilled, welding efficiency was enhanced and welding quality could be ensured.