The basic working principle of the welding robot is teaching reproduction, that is, the user guides the robot and operates it step by step according to the actual task. The robot automatically memorizes the position, posture, motion parameters and welding parameters of each action taught during the guidance Wait, and automatically generate a program that continuously performs all operations. After completing the teaching, just give the robot a start command, the robot will accurately follow the teaching action, complete all the operations step by step, the actual teaching and reproduction