Welding manipulator is divided into three models of small,medium and heavy,and the structure includes fixed,fixed &rotary,fixed &mobile and mobile &rotary types,which is applicable to the welding of inner &outer circular seams and longitudinal seam of various tube structures; electric support plate,inner telescopic arm,manned device and maintenance ladder can be installed,and various tracking,monitoring,fux recycling &conveying device,etc.can be supported as well.Digital control mode is applied for the manipulator control system,which is easy to operate and control accurately and is convenient in linkage control with other equipment.As a result,the product is widely used in wind power, pressure vessel,petrochemistry,pipeline,steel structure,boiler,shipbuilding,overlaying welding repair and other industries.