Abstract: Aiming at the process test of teaching-free six-axis tower foot welding robot in welding tower foot of transmission line, the full-automatic GMAW was carried out on the main weld of tower foot structural components with removed stiffener. The welding parameters were verified, and the deformation, weld appearance and weld size of the welded workpiece were inspected. The production efficiency of teaching-free six-axis tower foot welding robot was compared with that of original manual welding. The research results showed that the teaching-free six-axis tower foot welding robot had good formation of weld, beautiful weld appearance with fish scale pattern, weld foot size met the requirements, and the efficiency was significantly higher than that of manual welding, which was of great significance to the subsequent automation and intelligent upgrading of transmission line tower foot welding.Highlights: (1) Transmission line tower foot teaching-free six-axis welding robot was specially developed for tower foot welding application scenarios, which eliminated the tedious teaching process and overcame problems of frequent teaching, long teaching time and high operation requirements caused by the original teaching.(2) In the welding of transmission line tower foot, the teaching-free six-axis welding robot was more stable and had higher welding quality than the traditional manual welding, which could effectively alleviate the welding quality fluctuation of transmission line tower production enterprises.(3) The application of teaching-free six-axis welding robot provided a feasible scheme for the automation and intelligence of welding of the tower foot of transmission line, and the welding efficiency of robot was higher than that of traditional manual welding. Through “machine replacement, machine reduction” would effectively alleviate the problem of welder resources increasingly scarce.