The invention relates to a welding manipulator driving device, which belongs to the technical field of fluid braking devices. The welding manipulator driving device comprises an air cylinder, wherein the air cylinder is divided into a front cover, a cylinder body and a back cover, a piston cavity is formed in the cylinder body, a piston is installed in the piston cavity, a piston rod which is connected with the piston penetrates through the front cover, and a first air port is formed in the back cover. The welding manipulator driving device is characterized in that a hydraulic oil port which is communicated with the piston cavity is formed in the front cover, the hydraulic oil port is connected with the bottom of an oil tank outside the air cylinder through an oil inlet pipeline, and a speed regulating valve is installed on the oil inlet pipeline; hydraulic oil is contained in the oil tank, an air chamber is left in the upper part of the oil tank, and a second air port which is communicated with the air chamber is formed in the top of the oil tank. The welding manipulator driving device has the advantage of simple structure, only one oil tank needs to be arranged on the original air cylinder, and compared with an existing gas-liquid damping type air cylinder, the air cylinder is lower in the cost, but the problem of unstable output of the air cylinder can be solved.