With the rapid development of robotics and the gradual disappearance of the demographic dividend, machine substitution has become the hottest topic in China today. The most popular robot application is in the field of arc welding. For the field of arc welding,it is not enough to provide a robot body and welding equipment,as it cannot meet some unique process requirements for arc welding,that is why it necessary to carry a variety of welding process packages such as weaving welding,arc tracking, multi-layer multi-channel,external shaft linkage welding,etc. to meet the demand of robotic automatic welding market.