Abstract: Based on the surface model of the work piece generated by Rhinoceros,the Grasshopper software platform is used to extract the welding curve and weld path planning from the workpiece model, and output the path planning result data, which is input to the control system to drive the mechanical structure; the mechanical structure uses two degrees of freedom to control the torch position to ensure that the torch always welds from directly above the welding point. The two-degree-of-freedom rotating mechanism controls the position of the workpiece so that the gun is in the most favorable position to avoid workpiece interference, and the two sets of mechanism movements cooperate to achieve automatic continuous welding of spatial curves, which improves the welding quality and simplifies the path solving method.