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welding robot teaching-free scanning Backgrounds As an important tool for the automation of welding production, industrial robots are widely used in many manufacturing companies. In actual welding, due to the changes in the position and size of the weld seam caused by processing and assembly errors, the welding robot cannot follow the pre-taught trajectory to weld, and the welding quality is reduced. Sensors are indispensable for welding robots from teaching reproduction to intelligence. With the continuous development of industry, the term “intelligent manufacturing” has been mentioned by more and more industrial peoples. For some products with low precision or low tooling and assembly, many companies have introduced welding robots. To meet actual production needs, sensors are the preferred means of automation upgrades.     In the current welding production process Different products need to design different types of production lines and production processes; Similar products, due to different models, usually need to replace the tooling and fixture. There are assembly errors in the assembly process of the workpieces, processing errors in the processing process, differences between the actual welded workpieces and the design patterns, and thermal deformation during the welding process will also cause errors in the welding process... For robot welding, simple teaching usually has a large error. The welding robot teaching-free scanning system is a system independently developed by【ATINY】 that does not require path programming of the workpiece, and has practical significance for teaching. This system can directly perform intelligent and autonomous welding on the weld of the product, which solves the problem that a single small batch of products cannot be automatically welded. Real-time positioning and correction of welding points and trajectories through vision technology is an efficient solution. The strong penetrating laser vision can more effectively solve the interference problems caused by the smoke, arc, and metal splash during the welding process. Ensuring the quality of welding also guarantees the qualit