Abstract: In order to realize the universal design of mobile welding robot and meet various welding scenarios, the research adds two swing arm expansion control axes to realize the ten axis control of the robot based on the track type eight axis mobile robot. At the same time, the robot vision and body perception system are designed to improve the control accuracy of the robot. Compared with the artificial welding team composed of advanced welding technicians, the robot compressed the welding hours to 4.10%, the weld defect rate decreased 96.69%, the welding spot defect rate decreased 92.63%, the welding rod consumption decreased by 55.26%. At the same time, the robot welding greatly improved the welding quality while fully reducing the construction cost.