This robot uses the advanced technology of vision-tracking and intelligent 
control to achieve the real automatical welding process for the tube-plate heat 
exchanger with no manual operation. The welding head has no contact with the 
workpiece. Vision sensor measures the position information of the tube-plate heat 
exchanger automatically and welding head find the accurate position automatically 
and process arc welding automatically. After the welding process, the robot find 
the accurate position of the next tube and continue welding. It is a revolutionary, 
intelligent welding equipment, which can greatly improve the welding efficiency 
and reduce the labor intensity of workers and skill requirements. 
  It can weld the joint of tube-plate heat exchanger, of which the materials are 
carbon steel, stainless steel, and titanium steel. It can weld not only the circular 
tube, but also the flat tube and other special kinds of tubes. The position of the 
tube can be out of, parallel, and inside the plate. The welding mode includes wire 
filling welding and no wire filling welding.