CN219189099U - Tongs structure, transfer robot and welding system - Google Patents

Abstract

The utility model relates to the technical field of automatic welding, in particular to a gripper structure, a transfer robot and a welding system. The tongs structure includes: a support part; the clamping part is arranged on the supporting part and is provided with a working state for grabbing the workpiece and a non-working state for not grabbing the workpiece; the magnetic attraction part is fixedly arranged on the supporting part and is provided with a working state for sucking the workpiece and a non-working state for not sucking the workpiece; according to the utility model, the clamping part and the magnetic part are arranged on the supporting part, the clamping part and the magnetic part stably grab the workpiece to form positioning, the grabbing mode of the gripper structure can be correspondingly selected according to the type of the workpiece to be processed, the grabbing and positioning of various different types of workpieces can be satisfied by only using one gripper structure, various different positioning tools are not required, the replacement process of the positioning tools is avoided, the problem of poor generality caused by single positioning mode of the positioning tools in the prior art is effectively solved, and the universality of the positioning structure is improved.

Description

Tongs structure, transfer robot and welding system

Technical Field

The utility model relates to the technical field of automatic welding, in particular to a gripper structure, a transfer robot and a welding system.

Background

The small-piece automatic welding workstation can weld various different small-sized workpieces, and the welding robot is arranged in the small-piece automatic welding workstation and can automatically finish welding after the small-sized workpieces are positioned.

At present, workpieces in the existing small automatic welding work stations are usually positioned by using positioning tools, different types of workpieces need to be positioned by using special positioning tools, when the types of welded workpieces are switched, the positioning tools need to be correspondingly replaced, the types of the workpieces processed in the small automatic welding work stations are usually more, the positioning tools need to be manually switched, the processing sites are difficult to manage due to the various positioning tools, and the manual switching of the positioning tools is labor-consuming, so that the problem of poor universality caused by single positioning mode still exists in the positioning tools of the existing workpieces.

Disclosure of Invention

Therefore, the technical problem to be solved by the utility model is to overcome the defect of poor universality caused by single positioning mode of the positioning tool in the prior art, thereby providing a gripper structure, a transfer robot and a welding system.

In order to solve the above problems, the present utility model provides a grip structure including: a support part; the clamping part is arranged on the supporting part and is provided with a working state for grabbing the workpiece and a non-working state for not grabbing the workpiece; the magnetic attraction part is fixedly arranged on the supporting part and is provided with a working state for sucking the workpiece and a non-working state for not sucking the workpiece; one of the clamping part and the magnetic attraction part is in an operating state, and the other of the clamping part and the magnetic attraction part is in a non-operating state.

Optionally, the clamping part comprises a plurality of clamping jaws and driving members which are correspondingly arranged, the driving members drive the corresponding clamping jaws to clamp or open, and/or the magnetic attraction part comprises a plurality of electromagnetic members.

Optionally, the clamping part is provided with at least one first workpiece detector, the first workpiece detector is suitable for detecting whether the clamping part clamps the workpiece, and/or the magnetic part is provided with at least one second workpiece detector, and the second workpiece detector is suitable for detecting whether the magnetic part clamps the workpiece.

The utility model also provides a transfer robot comprising: robot main part and foretell tongs structure, the rotatable setting of tongs structure is in the robot main part.

The present utility model also provides a welding system comprising: the transfer robot.

Optionally, the welding system further comprises a centering platform for centering the workpiece, the centering platform is arranged at one side of the transfer robot, and the transfer robot is suitable for grabbing the transferred workpiece after being placed on the centering platform for centering.

Optionally, the centering platform includes bottom plate and a plurality of baffle, and the bottom plate personally submits the angle setting with the level, and a plurality of baffles are fixed to be set up on the bottom plate top surface and form a plurality of centering stations.

Optionally, the welding system further comprises a feeding mechanism and a plurality of material frames, the feeding mechanism is arranged on one side of the carrying robot, the feeding mechanism is suitable for conveying the material frames, a plurality of workpieces are placed in each material frame, and the workpieces in the material frames are identical or different.

Optionally, the welding system further comprises a control part and a workpiece identification device, the feeding mechanism is provided with a grabbing station, the workpiece identification device is arranged above the grabbing station, the control part is respectively electrically connected with the workpiece identification device and the transfer robot, the workpiece identification device is suitable for identifying workpieces in the material frame, and the control part controls the transfer robot to act according to the workpieces identified by the identification device.

Optionally, the welding system further comprises a blanking mechanism, the blanking mechanism is arranged on one side of the carrying robot, the blanking mechanism is suitable for conveying the material frames, a plurality of workpieces which are welded are placed in each material frame, and the workpieces in the material frames are identical or different.

The utility model has the following advantages:

1. the clamping part and the magnetic attraction part are arranged on the supporting part, the clamping part and the magnetic attraction part stably grab the workpiece to form positioning, the gripper structure has multiple grabbing modes, the grabbing modes can be correspondingly selected according to the type of the workpiece to be processed, the gripper structure can be used for grabbing and positioning the workpieces of multiple different types, multiple different positioning tools are not needed, the replacement process of the positioning tools is avoided, the problem that the positioning tools in the prior art are poor in positioning mode singly causes universality is effectively solved, and the universality of the positioning structure is improved.

2. The driving piece drives two pairs of clamping jaws arranged at intervals by two arm pressing cylinders, the clamping process can basically cover all the use scenes needing to be clamped, the electromagnetic piece is a plurality of electro-permanent magnets, and the magnetic attraction process is more sensitive and controllable.

3. The clamping part is provided with at least one first workpiece detector, the magnetic part is provided with at least one second workpiece detector, and the first workpiece detector and the second workpiece detector can judge whether the clamping part and the magnetic part are provided with workpieces or not, so that the grabbing process of the clamping part and the magnetic part is more reliable, and the invalid grabbing process caused by the fact that the clamping part or the magnetic part cannot grab the workpieces is prevented.

4. Because the workpiece identification device is used for positioning the position of the workpiece, positioning deviation can exist inevitably, the centering platform is arranged for carrying out secondary positioning on the workpiece, errors generated by positioning of the visual detection device can be effectively eliminated, and positioning accuracy is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 shows a three-dimensional schematic of a grip structure of an embodiment of the present utility model;

FIG. 2 illustrates a schematic top view of a welding system of an embodiment of the present utility model;

FIG. 3 illustrates a front schematic view of the welding system of FIG. 2;

FIG. 4 shows a schematic view of a first workpiece of the gripper structure of FIG. 1;

FIG. 5 shows a schematic view of a second workpiece of the gripper structure of FIG. 1;

FIG. 6 shows a schematic drawing of a gripping of a third workpiece of the gripper arrangement of FIG. 1;

FIG. 7 shows a schematic view of gripping a fourth workpiece of the gripper structure of FIG. 1;

FIG. 8 shows a schematic drawing of a gripping of a workpiece five of the gripper arrangement of FIG. 1;

FIG. 9 shows a schematic drawing of a gripping of a workpiece six of the gripper arrangement of FIG. 1;

FIG. 10 shows a schematic view of gripping a workpiece seven of the gripper structure of FIG. 1;

FIG. 11 shows a schematic view of the gripping of workpiece eight of the gripper arrangement of FIG. 1;

FIG. 12 shows a schematic view of gripping of a work piece nine of the gripper structure of FIG. 1;

FIG. 13 shows a schematic view of the gripping of the workpiece ten of the gripper structure of FIG. 1;

FIG. 14 shows a schematic view of gripping an eleventh workpiece of the gripper structure of FIG. 1;

FIG. 15 shows a schematic view of a gripping of a workpiece twelve of the gripper arrangement of FIG. 1;

FIG. 16 shows a gripping schematic of a workpiece thirteen of the gripper structure of FIG. 1;

FIG. 17 shows a schematic view of a gripping of a work piece fourteen of the gripper structure of FIG. 1;

FIG. 18 shows a gripping schematic of a workpiece fifteen of the gripper structure of FIG. 1;

FIG. 19 shows a gripping schematic of a workpiece sixteen of the gripper structure of FIG. 1;

FIG. 20 shows a schematic view of a gripping of a seventeen workpiece of the gripper structure of FIG. 1;

fig. 21 shows a schematic view of gripping a workpiece eighteen of the gripper structure of fig. 1.

Reference numerals illustrate:

10. a support part; 21. a clamping jaw; 22. a driving member; 23. a first workpiece detector; 31. an electromagnetic member; 32. a second workpiece detector; 40. a connecting flange; 50. a robot main body; 60. a feeding mechanism; 61. a material frame; 62. an identification device; 63. a control unit; 70. centering the platform; 80. a welding robot; 81. a welding gun assembly; 82. a gun cleaner; 83. a wire feeding bracket; 90. and a blanking mechanism.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

As shown in fig. 1, the grip structure of the present embodiment includes: the clamping part is arranged on the supporting part 10 and is provided with an operating state for grabbing a workpiece and a non-operating state for not grabbing the workpiece; the magnetic attraction part is fixedly arranged on the supporting part 10 and has a working state of sucking the workpiece and a non-working state of not sucking the workpiece; one of the clamping part and the magnetic attraction part is in an operating state, and the other of the clamping part and the magnetic attraction part is in a non-operating state.

The gripper structure of this embodiment is applied, set up on supporting part 10 and press from both sides and get the portion and inhale the portion with magnetism, press from both sides and inhale the portion stable snatch the work piece after forming the location, the gripper structure has multiple snatch the form, snatch the form and can correspond the selection according to the work piece type of wanting to process, only use a gripper structure can satisfy snatching and location of multiple different grade type work piece, need not to use multiple different location frock, the change process of location frock has been avoided, the location frock location mode among the prior art has effectively been solved singly leads to the poor problem of commonality, the versatility of location structure has been promoted.

Specifically, in order to prevent the gripping portion and the magnetic portion from interfering with each other to affect the respective gripping process, the gripping portion and the magnetic portion are disposed on opposite sides of the support portion 10, and meanwhile, a connecting member is fixedly connected to the support portion 10, so as to facilitate connection of the gripper structure with the moving frame or the robot.

Preferably, the connection is a connection flange 40.

As shown in fig. 4 to 21, the gripping modes of eighteen workpieces are respectively, and it should be noted that the gripping modes are not limited to eighteen workpieces, but as many gripping modes of different workpieces as possible are illustrated, and two gripping positions of the gripper structure are illustrated in fig. 4.

In this embodiment, the clamping portion includes a plurality of clamping jaws 21 and driving members 22 that are correspondingly disposed, the driving members 22 drive the corresponding clamping jaws 21 to clamp or open, and/or the magnetic attraction portion includes a plurality of electromagnetic members 31, the clamping jaws 21 are used when the workpiece is suitable for clamping by the clamping jaws 21, the electromagnetic members 31 are used when the workpiece is suitable for sucking by the electromagnetic members 31, and the grabbing form is changeable and can be applied to welding of a plurality of different types of workpieces.

Specifically, the specific form and number of the clamping jaws 21 and the driving members 22 are not limited, and one driving member 22 may correspondingly drive a pair of clamping jaws 21, or one driving member 22 may correspondingly drive a plurality of pairs of clamping jaws 21, and the driving member 22 may be a driving member such as an electric driving cylinder, a pneumatic driving cylinder, an oil cylinder, or the like, so that clamping of the clamping jaws 21 can be reliably driven.

Preferably, the driving member 22 drives two pairs of clamping jaws 21 arranged at intervals for two arm pressing cylinders, the clamping process of the clamping jaws can cover all the use scenes needing clamping, and the electromagnetic member 31 is a plurality of electro-permanent magnets, so that the magnetic attraction process of the electromagnetic member is more sensitive and controllable.

In this embodiment, at least one first workpiece detector 23 is disposed on the clamping portion, the first workpiece detector 23 is adapted to detect whether a workpiece is clamped on the clamping portion, and/or at least one second workpiece detector 32 is disposed on the magnetic portion, the second workpiece detector 32 is adapted to detect whether a workpiece is clamped on the magnetic portion, and the first workpiece detector 23 and the second workpiece detector 32 can determine whether a workpiece is clamped on the clamping portion and the magnetic portion, so that the grabbing process of the clamping portion and the magnetic portion is more reliable, and an ineffective grabbing process caused by that the clamping portion or the magnetic portion fails to grab the workpiece is prevented.

Specifically, the specific number and positions of the first workpiece detector 23 and the second workpiece detector 32 are not limited, and the first workpiece detector 23 may be provided on the holding jaw 21, or may be provided on one side of the holding jaw 21 alone, and the second workpiece detector 32 may be provided on the electromagnet 31. The device can also be fixed on the electromagnetic piece 31 through a layer of a bracket alone, so that whether a workpiece exists or not can be reliably detected without interfering with the grabbing process.

The utility model also provides a transfer robot comprising: the robot body 50 and the above-mentioned gripper structure, the gripper structure is rotatably provided on the robot body 50.

Specifically, the transfer robot further comprises a plurality of rocker arms capable of swinging or rotating, and the gripper structure is arranged on the rocker arm at the outermost end, so that the gripping range is wider, and meanwhile, the flexibility of the gripping angle is improved.

As shown in fig. 2 to 3, the present utility model also provides a welding system including: the transfer robot. It will be appreciated that as an alternative embodiment, trusses may also be used for loading and a positioner for workpiece positioning

In this embodiment, the welding system further includes a centering platform 70 for centering the workpiece, the centering platform 70 is disposed on one side of a handling robot, the handling robot is suitable for grabbing the workpiece after centering on the centering platform 70, the handling robot cooperates with the centering platform 70 to perform secondary positioning on the grabbed workpiece, so as to ensure positioning accuracy of an automatic welding process and meet automatic welding requirements.

In this embodiment, the centering platform 70 includes a bottom plate and a plurality of baffles, the bottom plate and the horizontal plane form an angle setting, the baffles are fixedly arranged on the top surface of the bottom plate and form a plurality of centering stations, when the workpiece is located on the bottom plate, the workpiece slides on the bottom plate by gravity and is matched with the corresponding centering stations for centering, and workpieces of different types can be centered through different centering stations, so that the universality of the centering platform 70 is improved.

In this embodiment, the welding system further includes a feeding mechanism 60 and a plurality of material frames 61, the feeding mechanism 60 is disposed at one side of the carrying robot, the feeding mechanism 60 is suitable for conveying the material frames 61, a plurality of workpieces are placed in each material frame 61, the workpieces in the plurality of material frames 61 are identical or different, the feeding mechanism 60 is matched with the plurality of material frames 61, the feeding of a plurality of workpieces can be completed in one feeding process, and compared with the previous feeding and positioning processes of a single workpiece, the feeding efficiency is greatly improved. In order to enable the transfer robot to perform the transfer work normally, the discharging mechanism 90 needs to be provided within the operating range of the transfer robot.

Specifically, the specific structure of the feeding mechanism 60 is not limited, and the feeding mechanism may be a moving platform driven by a telescopic cylinder, or may be a circulating conveying line, where the conveying line may be a belt conveying line, a chain conveying line, a double-layer double-speed chain conveying line, a roller conveying line, or the like, and the material frame 61 may be reliably conveyed, and the workpieces in the material frame 61 may be the same type, or may be different types, so as to reduce the recognition process of the welding system, and the workpieces in one material frame 61 are all the same type.

In this embodiment, the welding system further includes a control portion 63 and a workpiece recognition device 62, the feeding mechanism 60 has a gripping station, the workpiece recognition device 62 is disposed above the gripping station, the control portion 63 is electrically connected with the workpiece recognition device 62 and the transfer robot, the workpiece recognition device 62 is suitable for recognizing workpieces in the material frame 61, the control portion 63 controls the transfer robot to act according to the workpieces recognized by the recognition device 62, the workpiece recognition device 62 can recognize workpiece types and position information in the material frame 61, and feeds the recognized information back to the control portion 63, the control portion 63 issues a corresponding instruction, so that the transfer robot uses a corresponding gripping end to grip the workpieces, the recognition process rapidly and greatly improves production efficiency, manual positioning and placing are not needed, and an automatic gripping and positioning process is realized. It will be appreciated that, as an alternative embodiment, the workpiece identification device 62 and centering platform 70 may be omitted and the workpiece position manually precisely located to reduce errors in the gripping process.

Specifically, the workpiece identifying device 62 is a visual detecting device, and can shoot a picture of a workpiece in the material frame 61 and identify the workpiece, the workpiece identifying device 62 is fixedly installed on one side of the feeding mechanism 60 through an installation rod, the top of the installation rod is bent towards the feeding mechanism 60 to form an installation position, the workpiece identifying device 62 is fixedly arranged on the installation position, and positioning deviation cannot exist due to the fact that the visual detecting device is used for positioning the position of the workpiece, so that the centering platform 70 is used for performing secondary positioning on the workpiece, errors generated by positioning of the visual detecting device can be effectively eliminated, and positioning accuracy is improved.

Specifically, the feeding mechanism 60 is further provided with a feeding station, the workpieces after being assembled are stacked in the material frame 61, the material frame 61 is placed in the feeding station, then the workpieces are conveyed to the grabbing station for processing through the feeding mechanism 60, the unwelded paired workpieces can be stacked in the material frame 61 manually or can be stacked in the material frame 61 through a stacking robot, and the material frame 61 can be conveyed to the feeding station through a conveying belt, an AGV trolley, an RGV trolley or a manual conveying mode.

In this embodiment, the welding system further includes a welding robot 80 and a welding gun assembly 81, and the welding gun assembly 81 is disposed at an end of the welding robot 80, and is capable of performing multi-angle and multi-time welding on a workpiece clamped by a carrier robot.

Specifically, a gun cleaner 82 and a wire feeding bracket 83 are arranged on one side of the welding robot 80, a welding wire cylinder is further arranged on one side of the wire feeding bracket 83, the welding wire cylinder is matched with the wire feeding bracket 83, a wire feeding pipe is connected to the upper end of the wire feeding bracket 83, the wire feeding bracket 83 is connected to the wire feeding machine on the welding robot 80 through the wire feeding pipe so as to convey welding wires to the gun assembly 81, and the gun cleaner 82 is used for cleaning the welding gun assembly 81 at the end part of the welding robot 80.

In this embodiment, the welding system further includes a blanking mechanism 90, the blanking mechanism 90 is disposed on one side of the handling robot, the blanking mechanism 90 is suitable for conveying the material frames 61, a plurality of workpieces which are welded are placed in each material frame 61, and the workpieces in the material frames 61 are the same or different.

Specifically, the specific structure of the discharging mechanism 90 is not limited, and the feeding may be performed by a moving platform driven by a telescopic cylinder, or may be performed by a circulating conveyor line, and the conveyor line may be a belt conveyor line, a chain conveyor line, a double-layer double-speed chain conveyor line, a roller conveyor line, or the like, so that the material frame 61 may be reliably conveyed. In order to enable the transfer robot to perform the transfer work normally, the discharging mechanism 90 needs to be provided within the operating range of the transfer robot.

The following describes the way in which the welding system of the present embodiment is used:

the workpieces to be welded are loaded into the material frame 61 in pairs; the material frame 61 is transported to one side of a feeding station of the feeding mechanism 60 through an AGV trolley; the material frame 61 is manually conveyed to a feeding station and conveyed to a grabbing station; the recognition device 62 recognizes the workpiece information and the workpiece position in the feedback material frame 61, and the transfer robot grips the workpiece in a corresponding gripping manner; the carrying robot puts the workpiece on the centering platform 70 for secondary centering; the carrying robot grabs the workpiece on the centering platform 70 for welding; the transfer robot places the welded workpiece in the material frame 61 on the blanking mechanism 90; when the feeding frame 61 of the feeding mechanism 90 is full, the feeding mechanism 90 moves the feeding frame 61 outwards by one station, and at the moment, the carrying robot grabs the empty feeding frame 61 of the feeding mechanism 60 and places the empty feeding frame 61 at the feeding station of the feeding mechanism 90; and (5) circulating the steps to perform automatic welding.

From the above description, it can be seen that the above-described embodiments of the present utility model achieve the following technical effects:

1. the clamping part and the magnetic attraction part are arranged on the supporting part 10, the clamping part and the magnetic attraction part stably grab the workpiece to form positioning, the gripper structure has multiple grabbing modes, the grabbing modes can be correspondingly selected according to the type of the workpiece to be processed, the grabbing and positioning of the workpieces of multiple different types can be met by only using one gripper structure, multiple different positioning tools are not needed, the replacement process of the positioning tools is avoided, and the universality of the positioning structure is improved.

2. The welding system further comprises a centering platform 70 for centering the workpiece, the transfer robot is matched with the centering platform 70, and the grabbed workpiece is subjected to secondary positioning, so that the positioning accuracy of the automatic welding process is ensured, and the automatic welding requirement is met.

3. The welding system further comprises a feeding mechanism 60 and a plurality of material frames 61, the feeding mechanism 60 is matched with the material frames 61, the feeding of a plurality of workpieces can be completed in one feeding process, and compared with the previous feeding and positioning processes of a single workpiece, the feeding efficiency is greatly improved.

4. The welding system further comprises a control part 63 and a workpiece recognition device 62, the workpiece recognition device 62 can recognize the type and the position information of the workpiece in the material frame 61, the recognized information is fed back to the control part 63, the control part 63 gives corresponding instructions, so that the transfer robot can grasp the workpiece by using the corresponding grasping ends, the production efficiency is greatly improved in the recognition process, manual positioning and placement are not needed, and automatic grasping and positioning are realized.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.

Claims (10)

1. A gripper structure, comprising:

a support (10);

the clamping part is arranged on the supporting part (10) and is provided with an operating state for grabbing a workpiece and a non-operating state for not grabbing the workpiece;

the magnetic attraction part is fixedly arranged on the supporting part (10) and is provided with a working state for sucking the workpiece and a non-working state for not sucking the workpiece;

wherein one of the clamping part and the magnetic part is in the working state, and the other of the clamping part and the magnetic part is in the non-working state.

2. Grip structure according to claim 1, characterized in that the gripping part comprises several correspondingly arranged gripping jaws (21) and driving members (22), the driving members (22) driving the corresponding gripping jaws (21) to grip or open and/or the magnetic part comprises several electromagnetic members (31).

3. The gripper structure according to claim 1 or 2, characterized in that the gripping part is provided with at least one first workpiece detector (23), the first workpiece detector (23) being adapted to detect whether the gripping part grips the workpiece, and/or the magnetic part is provided with at least one second workpiece detector (32), the second workpiece detector (32) being adapted to detect whether the magnetic part grips the workpiece.

4. A transfer robot, comprising: a robot body (50) and a gripper structure according to any one of claims 1 to 3, which gripper structure is rotatably arranged on the robot body (50).

5. A welding system, comprising: the transfer robot of claim 4.

6. The welding system according to claim 5, characterized in that the welding system further comprises a centering platform (70) for centering the workpiece, the centering platform (70) being arranged on one side of the handling robot, the handling robot being adapted to grip the handled workpiece after centering on the centering platform (70).

7. The welding system of claim 6, wherein the centering platform (70) comprises a base plate disposed at an angle to the horizontal and a plurality of baffles fixedly disposed on a top surface of the base plate and forming a plurality of centering stations.

8. The welding system according to claim 6, further comprising a feeding mechanism (60) and a plurality of material frames (61), the feeding mechanism (60) being arranged on one side of the handling robot, the feeding mechanism (60) being adapted to convey the material frames (61), a plurality of the workpieces being placed in each material frame (61), the workpieces in the plurality of material frames (61) being identical or different.

9. The welding system according to claim 8, characterized in that the welding system further comprises a control part (63) and a workpiece recognition device (62), the feeding mechanism (60) has a gripping station, the workpiece recognition device (62) is arranged above the gripping station, the control part (63) is electrically connected with the workpiece recognition device (62) and the transfer robot, respectively, the workpiece recognition device (62) is adapted to recognize the workpiece in the material frame (61), and the control part (63) controls the transfer robot to act according to the workpiece recognized by the recognition device (62).

10. The welding system according to claim 8, further comprising a blanking mechanism (90), the blanking mechanism (90) being arranged on one side of the handling robot, the blanking mechanism (90) being adapted to convey the material frames (61), a plurality of the workpieces being welded being placed in each material frame (61), the workpieces in a number of the material frames (61) being identical or different.

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