System composition: FANUC R2000ic-165F robot (including robot control system, system wiring, robot teach pendant), automated full-position tube sheet welding head (TP60-5), 3D cross laser recognition and positioning system, DLV-Control intelligent multi-level collaborative control system (including: human-computer interaction, system teach pendant, DT-400 digital inverter program-controlled welding power supply and self-circulating cooling water tank, and robot pipeline package assembly cable, etc.).