Flexible multi-product automatic welding line

Abstract

The utility model belongs to the technical field of welding, and discloses a flexible multi-product automatic welding line which comprises a plurality of welding robots, a plurality of carrying robots, a plurality of fixed welding devices, a material area and a transition table. The material area is provided with a positioning clamp used for bearing a to-be-welded part and a sensing device used for recognizing the to-be-welded part, and the transition table is used for caching the to-be-welded part, is arranged in parallel with the welding robot and is located between the two carrying robots distributed in the second direction at intervals. The carrying robot is used for carrying the to-be-welded part between the material area and the transition table and used for carrying the to-be-welded part to the welding station corresponding to the fixed welding device. The welding line can adapt to production of existing products and introduction of similar or different products in the future, different products correspond to different production processes and different procedures, the production cost is reduced, the equipment utilization rate is increased, and meanwhile the welding quality can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of welding, in particular to a flexible multi-product automatic welding line. Background Art

[0002] In the automotive manufacturing industry, product upgrades and replacements are relatively fast, and there are many product varieties. Product forms, structural dimensions, and manufacturing processes are diverse. Manufacturing units have many personalized customization requirements for product automatic production. Most of the automatic equipment required for product manufacturing is non-standard equipment customized according to specific needs. Such non-standard equipment often has poor compatibility and insufficient flexibility of the welding line body. It can only weld multiple products with a high number of welding points and high product similarity, and cannot complete the welding of multiple products with a large difference in the number of welding points and products. If users need to manufacture multiple products, they need to purchase multiple non-standard equipment, which will greatly increase production costs and the utilization rate of a single non-standard equipment is low.

[0003] Therefore, there is an urgent need to propose a highly flexible automatic welding line, which can adapt to the production of existing products and the introduction of future similar or different products. Different products correspond to different production processes and different programs, which can reduce production costs, improve the utilization rate of equipment, and at the same time improve welding quality. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a flexible multi-product automatic welding line, which can adapt to the production of existing products and the introduction of future similar or different products. Different products correspond to different production processes and different programs, which can reduce production costs, improve the utilization rate of equipment, and at the same time improve welding quality.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] The utility model discloses a flexible multi-product automatic welding line, including: a plurality of welding robots, which are spaced apart along a first direction; a plurality of handling robots, which are spaced apart along the first direction, and a plurality of the handling robots are distributed on both sides of the welding robots along a second direction; a plurality of fixed welding devices, which are spaced apart along the first direction and are correspondingly arranged with the plurality of handling robots; a material area, on which a positioning fixture for carrying a component to be welded and a sensing device for identifying the component to be welded are provided; a transition table, which is used for caching the component to be welded, is arranged in parallel with the welding robots, and is located between two handling robots spaced apart along the second direction; wherein: the handling robots are used for handling the component to be welded between the material area and the transition table, and for handling the component to be welded to a welding station corresponding to the fixed welding device.

[0007] In some embodiments, the plurality of handling robots are divided into two groups, and the two groups of handling robots are spaced apart along the second direction. Each group of handling robots includes a plurality of handling robots spaced apart along the first direction; the plurality of fixed welding devices are divided into two groups, and the two groups of fixed welding devices are spaced apart along the second direction. Each group of fixed welding devices includes a plurality of fixed welding devices spaced apart along the first direction.

[0008] In some specific embodiments, the material area includes a plurality of first material areas and a plurality of second material areas. The plurality of first material areas and the plurality of second material areas are arranged in one-to-one correspondence and are respectively located on both sides of the plurality of welding robots along the second direction; wherein: the plurality of first material areas are arranged corresponding to one group of the handling robots, and one handling robot is provided between two adjacent first material areas; the plurality of second material areas are arranged corresponding to one group of the handling robots, and one handling robot is provided between two adjacent second material areas.

[0009] In some embodiments, the welding robot includes a spot welding robot and a spot welding torch mounted on the spot welding robot; the flexible multi-product automated welding line further includes a fixed grinder disposed adjacent to the welding robot, and the fixed grinder is used for grinding the spot welding torch.

[0010] In some embodiments, the positioning fixture includes: a fixture frame mounted on the material area; a first positioning unit provided on the fixture frame and used for positioning the component to be welded; a first automatic clamping unit mounted on the fixture frame and used for clamping the component to be welded after positioning; a first detection unit mounted on the fixture frame and used for detecting whether the component to be welded is in place.

[0011] In some embodiments, the handling robot includes a robot body and a handling gripper. A robot-side gun changer is provided on the robot body. The handling gripper includes a gripper body and a gripper-side gun changer. The gripper-side gun changer is detachably connected to the robot-side gun changer, and the gripper body is used for grasping or releasing the component to be welded.

[0012] In some specific embodiments, the gripper body includes: a gripper frame mounted on the gripper-side gun changer; a second positioning unit provided on the gripper frame and used for positioning the component to be welded; a second automatic clamping unit mounted on the gripper frame and used for clamping the component to be welded after positioning; a second detection unit mounted on the gripper frame and used for detecting whether the component to be welded is in place.

[0013] In some embodiments, the flexible multi-product automated welding line further includes a plurality of zeroing devices, which are arranged in one-to-one correspondence with a plurality of welding robots and are used to correct the initial positions of the welding robots.

[0014] In some embodiments, the flexible multi-product automated welding line further includes a guardrail that encloses a working area. The welding robot, the handling robot, the material area, and the transition table are all arranged in the working area. A safety light curtain is provided at a position corresponding to the material area in the working area, and the working area further includes at least one normally closed safety door.

[0015] In some embodiments, the flexible multi-product automated welding line further includes a plurality of movable grinders, which are arranged in one-to-one correspondence with a plurality of fixed welding devices, and the movable grinders are used to grind the fixed welding devices.

[0016] The beneficial effects of the flexible multi-product automated welding line of the present utility model are as follows: During the actual working process, after the parts to be welded are transported to the material area, welding can be performed using a welding robot or handling can be performed using a handling robot according to process requirements. On the one hand, the handling robot can realize the flow of the parts to be welded on the entire flexible multi-product automated welding line. On the other hand, it can transport the parts to be welded to a position corresponding to the fixed welding device for welding. Different sensing devices on the material area are used to identify different parts to be welded. On the one hand, it realizes the functions of detecting whether there are missing or leaking parts of the parts to be welded, and can also prevent errors and reverse installation. On the other hand, it can also identify the types of parts to be welded, so as to realize different transportation processes and different welding procedures for different products. Thus, through the sensing devices on the material area, this flexible multi-product automated welding line can identify the types of parts to be welded, adjust different transportation processes and welding procedures, so as to adapt to the production of existing products and the introduction of future similar or different products, expand the compatibility range of the automated welding line, reduce production costs, improve equipment utilization rate, and at the same time improve welding quality.

[0017] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the flexible multi-product automated welding line of the present utility model;

[0019] Figure 2 is a component flow diagram when the flexible multi-product automated welding line of the present utility model welds the first type of part to be welded;

[0020] Figure 3 It is the component flow diagram when the second component to be welded is welded by the flexible multi-product automatic welding line of the present utility model;

[0021] Figure 4 It is the component flow diagram when the third component to be welded is welded by the flexible multi-product automatic welding line of the present utility model.

[0022] Reference numerals:

[0023] 10. Welding robot;

[0024] 20. Handling robot;

[0025] 30. Fixed welding device;

[0026] 41. First material area; 42. Second material area;

[0027] 50. Transition table; 60. Guardrail; 70. Safety light curtain;

[0028] 80. Normally closed safety door; 90. Movable grinding device; 100. Control cabinet. Detailed implementation manners

[0029] The present utility model will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that for the convenience of description, only parts related to the present utility model are shown in the drawings, rather than all structures.

[0030] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0031] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but are in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is lower than that of the second feature.

[0032] In the description of this embodiment, the orientation or positional relationships such as "upper", "lower", "right", etc. are based on the orientation or positional relationships shown in the drawings. They are only for the convenience of description and simplifying the operations, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0033] The present utility model discloses a flexible multi-product automatic welding line, as Figures 1 - 4 shown. The flexible multi-product automatic welding line includes a plurality of welding robots 10, a plurality of handling robots 20, a plurality of fixed welding devices 30, a material area and a transfer table 50. The plurality of welding robots 10 are spaced apart along a first direction. The plurality of handling robots 20 are arranged at intervals along the first direction, and the plurality of handling robots 20 are all distributed on both sides of the welding robots 10 along a second direction. The plurality of fixed welding devices 30 are arranged at intervals along the first direction and are correspondingly arranged with the plurality of handling robots 20. The material area is provided with a positioning fixture for carrying the parts to be welded and a sensing device for identifying the parts to be welded. The transfer table 50 is used for caching the parts to be welded, is arranged in parallel with the welding robots 10, and is located between two handling robots 20 spaced apart along the second direction. The handling robots 20 are used for transporting the parts to be welded between the material area and the transfer table 50, and for transporting the parts to be welded to the welding stations corresponding to the fixed welding devices 30.

[0034] It can be understood that during the actual working process, after the parts to be welded are transported to the material area, welding can be performed by using the welding robots 10 or handling can be performed by using the handling robots 20 according to the process requirements. On the one hand, the handling robots 20 can realize the circulation of the parts to be welded on the entire flexible multi-product automatic welding line. On the other hand, the handling robots 20 can transport the parts to be welded to the positions corresponding to the fixed welding devices 30 for welding. Different sensing devices on the material area can thus identify different parts to be welded. On the one hand, it realizes the functions of detecting whether there are missing or leaking parts of the parts to be welded, and can also prevent errors and reverse installation. On the other hand, it can also identify the types of the parts to be welded so as to realize different transportation processes and different welding procedures corresponding to different products. Thus, this flexible multi-product automatic welding line, through the sensing device on the material area, can identify the types of the parts to be welded to adjust different transportation processes and welding procedures, so as to adapt to the production of existing products and the introduction of future similar or different products, expand the compatible range of the automatic welding line, reduce production costs, improve the utilization rate of equipment, and at the same time can improve the welding quality.

[0035] It should be noted that both the welding robot 10 and the handling robot 20 are provided with a control cabinet 100 electrically connected thereto for automatic control. The structure and specific control program of the control cabinet 100 can be selected according to actual needs, and no specific type of the control cabinet 100 is selected herein. The control cabinet 100 can be a centralized or distributed controller. For example, the controller can be a single microcontroller or composed of multiple distributed microcontrollers, and a control program can run in the microcontroller.

[0036] Reference Figure 1 As shown, the multiple handling robots 20 are divided into two groups, and the two groups of handling robots 20 are spaced apart along the second direction. Each group of handling robots 20 includes multiple handling robots 20 arranged at intervals along the first direction; the multiple fixed welding devices 30 are divided into two groups, and the two groups of fixed welding devices 30 are spaced apart along the second direction. Each group of fixed welding devices 30 includes multiple fixed welding devices 30 arranged at intervals along the first direction. It can be understood that dividing the multiple handling robots 20 into two groups and dividing the multiple fixed welding devices 30 into two groups and arranging them at intervals along the second direction respectively can adjust the working state of the handling robots 20 according to actual needs during the actual working process to realize the function of welding one to-be-welded component while transporting another to-be-welded component, which is beneficial to improving work efficiency.

[0037] Reference Figure 1 As shown, the material area includes multiple first material areas 41 and multiple second material areas 42. The multiple first material areas 41 and the multiple second material areas 42 are arranged in one-to-one correspondence and are located on both sides of the multiple welding robots 10 along the second direction respectively; wherein: the multiple first material areas 41 are arranged corresponding to one group of handling robots 20, and a handling robot 20 is provided between two adjacent first material areas 41; the multiple second material areas 42 are arranged corresponding to one group of handling robots 20, and a handling robot 20 is provided between two adjacent second material areas 42. It can be understood that during the actual working process, the first material area 41 can be used as a loading position or an unloading position, and the second material area 42 can also be used as a loading position or an unloading position. One of the multiple first material areas 41 can be used as a loading position, and the other first material area 41 can be used as an unloading position. One of the multiple second material areas 42 can be used as a loading position, and the other second material area 42 can be used as an unloading position. Thus, the loading position and the unloading position can be selected according to the welding requirements of the to-be-welded component, thereby improving the compatibility of the flexible multi-product automatic welding line.

[0038] Reference Figure 1As shown, the welding robot 10 includes a spot welding robot and a spot welding torch mounted on the spot welding robot; the flexible multi-product automated welding line further includes a fixed grinding device (not shown in the figure) disposed adjacent to the welding robot 10, and the fixed grinding device is used to grind the spot welding torch. It can be understood that during the actual working process, the fixed grinding device can grind the spot welding torch according to the actual process requirements, which is beneficial to improving the welding quality. It should be added that the spot welding robot can select the robotic arm structure in the prior art according to actual needs, and the structure of the fixed grinding device is in the prior art and will not be elaborated here.

[0039] Optionally, the positioning fixture includes a fixture frame, a first positioning unit, a first automatic clamping unit, and a first detection unit. The fixture frame is installed in the material area. The first positioning unit is provided on the fixture frame and is used to position the component to be welded. The first automatic clamping unit is installed on the fixture frame and is used to clamp the component to be welded after positioning. The first detection unit is installed on the fixture frame and is used to detect whether the component to be welded is in place. It can be understood that during the actual working process, when the component to be welded is installed on the fixture frame, it is pre-positioned by the first positioning unit. When the first detection unit detects that the component to be welded is installed at the specified position, it is then clamped by the first automatic clamping unit, so as to ensure that the component to be welded is held at the specified position.

[0040] Optionally, the first positioning unit includes a first positioning block and / or a first positioning pin. During the actual working process, the component to be welded can be pre-positioned by multiple first positioning blocks, or the first positioning pin can be inserted into the hole and groove structure on the component to be welded for pre-positioning. The number, type, and arrangement of the first positioning units can all be designed according to actual needs. The first automatic clamping unit can be a clamping cylinder or an electric gripper, and the structure of the first automatic clamping unit can be selected from the prior art. The first detection unit can be selected according to actual needs and can be an infrared sensor, a photoelectric switch, or other sensing structures.

[0041] Optionally, the handling robot 20 includes a robot body and a handling gripper. A robot-side gun changer is provided on the robot body. The handling gripper includes a gripper body and a gripper-side gun changer. The gripper-side gun changer is detachably connected to the robot-side gun changer. The gripper body is used to grasp or release the component to be welded. It can be understood that the handling gripper and the robot body are detachably connected through the gripper-side gun changer and the robot-side gun changer. During the actual working process, multiple types of handling grippers can be equipped for each robot body. When it is necessary to replace the handling gripper, the robot body can automatically replace the handling gripper according to actual needs, which is beneficial for the flexible multi-product automated welding line to be compatible with various sizes and types of components to be welded.

[0042] Optionally, the gripper body includes a gripper frame, a second positioning unit, a second automatic clamping unit and a second detection unit. The gripper frame is installed on the gripper side gun changing plate. The second positioning unit is provided on the gripper frame and is used to position the part to be welded. The second automatic clamping unit is installed on the gripper frame and is used to clamp the positioned part to be welded. The second detection unit is installed on the gripper frame and is used to detect whether the part to be welded is in place. It can be understood that in the actual working process, when the gripper body moves to a position corresponding to the part to be welded under the drive of the robot body, the second positioning unit performs pre-positioning. When the second detection unit detects that the part to be welded is positioned at a designated position on the gripper frame, the second automatic clamping unit clamps it, thereby ensuring that the part to be welded is stably grasped by the gripper body. When releasing the part to be welded, the second automatic clamping unit is released, and the part to be welded can be separated from the carrying gripper under the action of gravity.

[0043] Optionally, the second positioning unit includes a second positioning block and / or a second positioning pin. In the actual working process, the parts to be welded can be pre-positioned by multiple second positioning blocks, or by inserting the second positioning pin into the hole structure on the parts to be welded for pre-positioning. The number, type and arrangement of the second positioning units can be designed according to actual needs. The second automatic clamping unit can be a clamping cylinder or an electric clamp, and the structure of the second automatic clamping unit can be selected from the prior art. The second detection unit can be selected according to actual needs, and can be an infrared sensor, a photoelectric switch or other sensing structure.

[0044] Optionally, the flexible multi-product automated welding line further includes a plurality of zeroing devices (not shown), which are arranged one by one with the plurality of welding robots 10 and are used to correct the initial position of the welding robots 10. It is understandable that the specific structure of the zeroing device is prior art, and there is no need to describe the structure of the zeroing device in detail. Correcting the initial position of the welding robot 10 by the zeroing device is conducive to improving the welding accuracy.

[0045] Optional, reference Figure 1 As shown, the flexible multi-product automated welding line also includes a guardrail 60, which encloses a working area. The welding robot 10, the handling robot 20, the material area and the transition platform 50 are all arranged in the working area, and a safety grating 70 is provided at a position of the working area corresponding to the material area. The working area also includes at least one normally closed safety door 80.

[0046] Optionally, the flexible multi-product automated welding line further includes a plurality of movable grinders 90, which are arranged in one-to-one correspondence with the plurality of fixed welding devices 30, and the movable grinders 90 are used to grind the fixed welding devices 30. It can be understood that during the actual working process, the movable grinders 90 can grind the fixed welding devices 30 according to actual process requirements, which is beneficial to improving the welding quality. It should be added that the structure of the movable grinder 90 is a prior art and will not be elaborated here.

[0047] During the actual production process of the flexible multi-product automated welding line of this embodiment, if there are many previous welding points and few subsequent welding points of the finished product, welding is carried out according to the Figure 2 process; if there are few previous welding points and many subsequent welding points of the finished product, welding is carried out according to the Figure 3 process. If the finished product is a left-right symmetric product, welding is carried out according to the Figure 4 process.

[0048] The advantages of the flexible multi-product automated welding line of this embodiment are as follows:

[0049] First: The position of the positioning fixture can be quickly switched to adapt to different product spot welding or manual loading and unloading.

[0050] Second: Different sensing devices on the material area can not only identify different parts to be welded, but also identify whether there are missing or leaking parts of the parts to be welded, and prevent errors and reverse installation.

[0051] Third: Different products correspond to different production processes and different programs, preventing problems such as missed welding, false welding, and repeated welding during the welding process.

[0052] Fourth: It can adapt to the production of existing products and the introduction of future similar or different products, and is convenient for debugging with less cost.

[0053] Fifth: By switching the positioning fixtures of different parts to be welded, the switching between parts to be welded is realized, and the welding robot 10 and the fixed welding device 30 are shared, reducing the upfront investment.

[0054] In the description of this specification, the descriptions referring to terms such as "some embodiments", "other embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0055] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present utility model. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. A flexible multi-product automated welding line, characterized in that: include: A plurality of welding robots (10), wherein the plurality of welding robots (10) are distributed at intervals along a first direction; a plurality of transport robots (20), wherein the plurality of transport robots (20) are arranged at intervals along the first direction, and the plurality of transport robots (20) are distributed on both sides of the welding robot (10) along the second direction; a plurality of fixed welding devices (30), wherein the plurality of fixed welding devices (30) are arranged at intervals along the first direction and are arranged corresponding to the plurality of transport robots (20); A material area, on which a positioning fixture for carrying parts to be welded and a sensor device for identifying the parts to be welded are provided; A transition platform (50), the transition platform (50) is used to buffer the parts to be welded, and is arranged in parallel with the welding robot (10), and is located between two transport robots (20) spaced apart along the second direction; wherein: The transport robot (20) is used to transport the parts to be welded between the material area and the transition table (50), and is used to transport the parts to be welded to a welding station corresponding to the fixed welding device (30).

2. The flexible multi-product automated welding line according to claim 1 is characterized in that: The plurality of transport robots (20) are divided into two groups, the two groups of transport robots (20) are spaced apart along the second direction, and each group of transport robots (20) comprises a plurality of transport robots (20) spaced apart along the first direction; The plurality of fixed welding devices (30) are divided into two groups. The two groups of fixed welding devices (30) are spaced apart along the second direction. Each group of fixed welding devices (30) comprises a plurality of fixed welding devices (30) spaced apart along the first direction.

3. The flexible multi-product automated welding line according to claim 2 is characterized in that: The material area comprises a plurality of first material areas (41) and a plurality of second material areas (42), the plurality of first material areas (41) and the plurality of second material areas (42) are arranged in one-to-one correspondence and are respectively located on both sides of the plurality of welding robots (10) along the second direction; wherein: A plurality of the first material areas (41) are arranged corresponding to a group of the transport robots (20), and one transport robot (20) is arranged between two adjacent first material areas (41); A plurality of the second material areas (42) are arranged corresponding to a group of the handling robots (20), and one handling robot (20) is arranged between two adjacent second material areas (42).

4. The flexible multi-product automated welding line according to claim 1, characterized in that: The welding robot (10) comprises a spot welding robot and a spot welding gun mounted on the spot welding robot; the flexible multi-product automated welding line also comprises a fixed grinder arranged adjacent to the welding robot (10), the fixed grinder being used for grinding the spot welding gun.

5. The flexible multi-product automated welding line according to claim 1, characterized in that: The positioning fixture comprises: A fixture frame, the fixture frame is installed in the material area; A first positioning unit, which is disposed on the fixture frame and is used to position the component to be welded; A first automatic clamping unit, which is installed on the clamp frame and is used to clamp the parts to be welded that have been positioned; A first detection unit is installed on the fixture frame and is used to detect whether the component to be welded is in place.

6. The flexible multi-product automated welding line according to claim 1, characterized in that: The transport robot (20) comprises a robot body and a transport gripper, wherein the robot body is provided with a robot side gun changing plate, and the transport gripper comprises a gripper body and a gripper side gun changing plate, wherein the gripper side gun changing plate is detachably connected to the robot side gun changing plate, and the gripper body is used to grab or put down the parts to be welded.

7. The flexible multi-product automated welding line according to claim 6, characterized in that: The gripper body comprises: A gripper frame, the gripper frame being mounted on the gripper-side gun changing plate; A second positioning unit, which is disposed on the gripper frame and is used to position the component to be welded; A second automatic clamping unit, which is installed on the gripper frame and is used to clamp the positioned component to be welded; A second detection unit is installed on the gripper frame and is used to detect whether the parts to be welded are in place.

8. The flexible multi-product automated welding line according to any one of claims 1 to 7, characterized in that: The flexible multi-product automated welding line also includes a plurality of zeroing devices, which are arranged in one-to-one correspondence with the plurality of welding robots (10) and are used to correct the initial positions of the welding robots (10).

9. The flexible multi-product automated welding line according to any one of claims 1 to 7, characterized in that: The flexible multi-product automated welding line also includes a guardrail (60), the guardrail (60) encloses a working area, the welding robot (10), the handling robot (20), the material area and the transition platform (50) are all arranged in the working area, and a safety grating (70) is provided at a position of the working area corresponding to the material area, and the working area also includes at least one normally closed safety door (80).

10. The flexible multi-product automated welding line according to any one of claims 1 to 7, characterized in that: The flexible multi-product automated welding line further comprises a plurality of movable grinders (90), wherein the plurality of movable grinders (90) are arranged in a one-to-one correspondence with the plurality of fixed welding devices (30), and the movable grinders (90) are used for grinding the fixed welding devices (30).

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