In order to solve the problems of low production efficiency and poor quality stability of manual filling of automobile cavity two-component polyurethane foam,the foaming process,vision inspection technology and robot automation application were studied,and a set of automatic foaming scheme based on robot 3D vision guidance was proposed.Through the 3D vision system composed of 3 cameras installed on the ground,through taking pictures,the rest position of the car white body in the workstation was checked out,the deviation between the actual position and the benchmark of the white body was calculated.The robot was led into the white body cavity filling foam work area,the position that the 3D vision sensor took photographs of filling hole should be relatively constant.The robot held a 3D vision sensor to detect the coordinate position of the body-in-white filling hole in the three-dimensional space,the deviation between the actual position of the filling hole and the calibrated reference position was calculated,the filling gun was guided to insert the filling hole accurately to prevent interference or even collision.The robot communicated with the hydraulic constant ratio metering system to transfer the filling amount information of the two-component polyurethane.The hydraulic constant ratio metering system delivered the two-component polyurethane material into the mixing chamber of the filling gun at a certain flow rate and pressure.The material was fully mixed and injected into the cavity for chemical reaction to realize automatic foaming in the automobile cavity.This scheme was applied to the painting workshop of an automobile factory,and the production beat was significantly improved with good consistency of manufacturing quality.