Abstract: From the torch freedom control requirement of all position pipe welding process, a welding robot head was designed, which integrated the swing, lifting and tilting movements of the welding gun. The head of welding robot consists of swing mechanism, lifting mechanism and tilting mechanism. The tilting mechanism controls the angle of welding gun, which can provide mechanical structure basis for using arc force to control molten pool forming in welding process. The motion simulation of the designed welding robot head structure was carried out in Simcenter software. The results show that under the multi-axis interpolation linkage, the structure can realize the degree of freedom control required by the welding gun, and the welding robot head structure is well designed.