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研制了一种球罐全位置全自动电弧焊设备，此设备主要由二维记忆跟踪系统与有轨式爬行机构组成。其主要特点是：在焊接第一层时，跟踪系统的微机对二维传感器的数据进行分析处理与记录，并控制焊头进行二维实时跟踪；在焊接第二层至盖面焊缝的各层焊接过程中，微机系统依据记录的调节量数据来控制焊头，实现二维记忆跟踪与自动分层摆动焊接。焊接试验结果表明，该设备跟踪精度高，焊缝成形好，可以用于球罐的全位置多层自动焊接。
Developed a ball tank full position automatic arc welding equipment, this device is mainly composed of two-dimensional memory tracking system and track crawler body. Its main features are: the first layer of welding, the tracking system of the computer to the two-dimensional sensor data analysis and recording and control of welding head for two-dimensional real-time tracking; welding the second floor to cover the weld Layer welding process, the computer system based on the adjustment of the recorded data to control the welding head, to achieve two-dimensional memory tracking and automatic stratified swing welding. The welding test results show that the device has high follow-up precision and good weld formation, and can be used for all-position multi-layer automatic welding of the spherical tank.