As a kind of metal products with grid structure,steel grating has the characteristics of ventilation,heat dissipation and anti-slip,it is widely used in industrial,metallurgical,pharmaceutical and port fields.At present,the welding process of steel grid plate is still mainly completed manually,and the problems such as poor consistency of welding quality and greater labor intensity of workers are prominent.Therefore,a set of robot automatic welding system for steel grating based on 3D vision technology is developed,which realizes high efficiency and high quality automatic welding of steel grating.