工业机器人毕业论文外文翻译

工业机器人毕业论文外文翻译 ABSTRACT A workstation and method for processing a plurality of workpieces includes at least one material handling robot movable along a processing path for supporting a workpiece to be moved along the processing path. At least one station can be defined by at least one processing position adjacent the processing path for receiving workpieces to be processed when delivered and positioned by the at least one material handling robot. Interchangeable end effecters can be con-nected to the material handling robot for holding and sup-porting different configurations of workpieces. The material handling robot can disengage from the end effecter at the processing position, to allow engagement with a processing tool for performing additional processing operations on the workpiece. A flexible body workstation for assembling workpieces can use multiple robots and/or multiple fixtures for processing different workpiece configurations in any sequential order along two processing paths. RELATED APPLICATIONS The present application claims the benefit of pro-visional application Ser. No. 60/548,129 filed on Feb. 26, 2004 and Ser. No. 60/618,422 filed on Oct. 13, 2004. FIELD OF THE INVENTION The present invention relates to a flexible body workstation for assembling workpieces using multiple robots and multiple fixtures, and more specifically, the present invention provides welding workstations for auto-motive assembly lines having multiple independently work-ing welding robots and multiple fixtures for holding work-pieces. BACKGROUND OF THE INVENTION The efficiency of a welding workstation can be defined by the amount of time, normally a percentage, that a welding robot spends welding compared to the total time required for a particular repetitive cycle. The efficiency of the workstation relates to the amount of time that a welding robot takes to perform various welding operations compared to the total amount of time that the welding robot requires for a particular repetitive cycle. Idle time for a welding robot can occur when a new workpiece is loaded and prepared in a fixture. If the workstation has one welding robot and one fixture, the welding robot will stand idle as a completed part is unloaded from the fixture and a new workpiece is loaded onto the fixture. In the prior art, this problem was addressed by adding a second fixture at the workstation within reach of a single welding robot. In a workstation with two fixtures, the welding robot can complete welding operations at one fixture while workpieces are being loaded and unloaded at the second fixture. When the welding process is complete at the first fixture, the welding robot can move to the second fixture and immediately commence welding. The amount of time that a workpiece is positioned in a fixture while work is being performed compared to the total amount of time that a workpiece is positioned in a fixture corresponds to workpiece efficiency. The amount of time that a workpiece sits idle in a fixture reduces the overall operating capacity of the workstation by reducing through-put, normally reported in parts per hour or similar units for the overall assembly process. In a workstation having one fixture and one welding robot, the amount of time that a workpiece sits idle in the fixture is minimized because the welding robot immediately commences welding operations as soon as a workpiece is loaded and any other setup procedures are completed. However, in a workstation that has two fixtures and one welding robot, a workpiece is loaded onto one fixture, is setup, and then sits idle until the welding robot completes welding operations at the second fixture. Therefore, in a workstation having one fixture and one welding robot, the workpiece efficiency is maximized while in a workstation having two fixtures and one welding robot the welding efficiency is maximized. It is desirable to provide a workstation wherein the welding efficiency and the workpiece efficiency are both enhanced. SUMMARY OF THE INVENTION The present invention can include a single or a plurality of similar workstations positioned in sequence along an assembly line. A movable material handling transportation or transfer robot can be located in between adjacent workstations for moving workpieces from one workstation to the next. The present invention can also include a robot for processing the workpieces while held by the material handling transfer robot in between the adjacent workstations. The present invention includes a flexible body shop for assembling workpieces using a single or multiple robots and a single or multiple fixtures. The present invention includes movable material handling robots, and stationary material processing robots in combination at the flexible body workstation. The workstation can perform processing operations on multiple workpieces sequentially, and performs different processing operations through the workstation simultaneously. The material processing robots performing processing operations on the workpieces can be located adjacent the at least one processing path, or in between first and second processing paths and are independently movable relative to each other. The workpiece fixtures can be provided in the form of interchangeable end effecters connectable to the at least one material handling robot for holding and supporting different workpiece con-figurations by exchanging one interchangeable end effecter configuration for a different interchangeable end effecter workpiece configuration. The interchangeable end effecters can be geometry fixtures for different workpiece configurations to allow processing different workpiece configurations in any desired sequence by changing end effecters automatically to correspond to the next workpiece configuration to be processed. The present invention can include a plurality of similar workstations positioned in sequence along an assem?bly line. The at least one material handling robot can hand off a workpiece from a transfer position at one end of the processing path to another material handling robot for movement along another processing path for moving work?pieces from one workstation to the next and/or can position a workpiece at multiple workstations before transfer. The present invention can also include a material processing robot for processing the workpiece while being held by the material handling robot at the transfer position in between adjacent workstations. The present invention can provide an electronic control means for coordinating the movement of the material handling robots and/or the material processing robots. The electronic control means can be programmable for process?ing any mix of workpieces of different configurations in any sequential order. The electronic control means can present the appropriate interchangeable end effecter for connection to a material handling robot in order to move the workpiece along a corresponding processing path to a processing position adj acent the processing path for interaction with the material processing robot or robots located at the processing position. The electronic control means can signal each material handling robot when an exchange of interchange?able end effecters is necessary in order to process a different workpiece configuration during the next cycle of movement along the processing path. The material processing robot can be controlled with different programmable sequences for the various workpiece configurations to be processed in order to perform the necessary processing operations, by way of example and not limitation such as welding, in an efficient manner for the particular workpiece configuration being processed. Other objects, advantages and applications of the present invention will become apparent to those skilled in the art when the following description of the best mode contemplated for practicing the invention is read in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The description herein makes reference to the accompanying drawings wherein like reference numerals refer to like workpieces throughout the several views, and wherein: FIG. 1 is an overhead view of a workstation according to the present invention; FIG. 2 is a simplified perspective view of the workstation according to the present invention with a first material handling robot at a loading position, a second material handling robot at a processing position, and material processing robots located adj acent the processing position in between the first and second processing paths followed by the first and second material handling robots; And FIG. 3 is a simplified perspective view of the workstation according to the present invention with the first material handling robot moved into the processing position, the second material handling robot moved to the unloading position, and the material processing robot located adjacent the processing position in between the first and second processing paths. DESCRIPTION OF THE PREFERRED EMBODIMENT Referring now to FIGS. 1-3, the present invention includes a flexible body workstation 10 for assembling workpieces 12. The workstation 10 can include at least one material handling robot 14a, 14b movable along a process?ing path 16a, 16b for supporting a workpiece 12 to be moved along the processing path 16a, 16b. The workstation can include at least one station defined by at least one processing position adjacent the processing path 16a, 16b for receiving workpieces 12 to be processed when delivered and posi?tioned by the at least one material handling robot 14a, 14b. A stationary monument 18 can be provided if desired, for large workpieces to be processed. By way of example and not limitation, at least one material handling robot can include a first material handling robot 14a movable along a first processing path 16a for supporting a first workpiece 12a to be moved along the first processing path 16a, and a second material handling robot 14b movable along a second processing path 16b for sup?porting a second workpiece 12b to be moved along the second processing path 16b. At least one stationary monu?ment 18 can be provided, if desired for large workpieces, and can include a first stationary monument defining the processing position located between the first and second processing paths 16a, 16b. The at least one material han?dling robot 16a, 16b can be supported for movement along at least one overhead rail location and/or at least one floor supported rail location. At least one material processing robot 20a, 20b, 20e, 20d can be located adjacent the processing position for processing workpieces 12a, 12b to be processed after being delivered by the at least one material handling robot 14a, 14b traveling along the corresponding processing paths 16a, 16b. Each material handling robot 14a, 14b can include an interchangeable end effecter 22 connectable to the material handling robot 14a, 14b for holding and supporting different configurations of workpieces 12a, 12b. The interchangeable end effecter 22 can be provided for holding, supporting, locating and/or geometry fixturing the corresponding workpiece 12a, 12b to be processed with the corresponding material handling robot 14a, 14b at the processing position 18. The interchangeable end effecter 22 can be floor mountable by the corresponding material handling robot 14a, 14b at the processing position. The interchangeable end effecter can define a geometry fixture tool 24 for accurately posi-tioning the workpiece 12a, 12b to be processed with respect to the end effecter 22 thereby allowing the corresponding material handling robot 14a, 14b to accurately position the workpiece 12a, 12b and end effecter 22 in combination at the processing position in a predetermined location so that the material processing robots 20a, 20b, 20e, 20d can perform the processing operations with precise accurate positioning with respect to the workpiece. By way of example and not limitation, the material processing robots 20a, 20b, 20e, 20d can include welding robots for processing workpieces 12a, 12b of different configurations or body styles of automobiles to be assembled along the assembly line. The material processing robot 20a, 20b, 20e, 20d, can be supported from at least one overhead position and/or supported from at least one floor position. The present invention can include a method for processing a plurality of workpieces 12a, 12b. The method can include the steps of supporting a workpiece 12a, 12b to be moved along a processing path 16a, 16b with at least one material handling robot 14a, 14b movable along the processing path 16a, 16b. The method can include the step of receiving workpieces 12a, 12b to be processed that are delivered by the at least one material handling robot 14a, 14b at at least one station defined by at least one processing position adjacent the processing path 16a, 16b. A stationary monument 18 can be provided, if desired, for example to support a large workpiece for processing. By way of example and not limitation, the method according to the present invention can include the step of supporting a first workpiece movable along the first processing path 16a with a first material handling robot 14a, and supporting a second workpiece 12b to be moved along a second processing path 16b with a second material handling robot 14b movable along the second processing path 16b. The first workpiece 12a or second workpiece 12b can be supported for processing after being delivered by one of either the first and second material handling robots 14a, 14b at at least one station located between the first and second processing paths 16a, 16b. The method according to the present invention can include the step of processing the first and second workpieces 12a, 12b to be processed after being delivered by one of either the first and second material handling robots 14a, 14b with at least one material processing robot 20, 20b, 20e, 20d located adjacent the processing position. By way of example and not limitation, the at least one material processing robot 20a, 20b, 20e, 20d can include a welding robot. The method according to the present invention can include the step of holding and supporting different con-figurations of workpieces 12a, 12b with interchangeable end effecters 22 connectable to the first and second material handling robots 14a, 14b. Different workpiece configurations can be held, supported, transported, and accurately located with the interchangeable end effecters 22 and the corresponding material handling robots 14a, 14b at the processing position. The method according to the present invention can include the step of mounting one of the interchangeable end effecters 22 with respect to the processing position with the corresponding material handling robot 14a, 14b. If desired, the corresponding material handling robot can be disengaged from the end effecter 22 at the processing position, allowing the corresponding material handling robot to engage a processing tool, by way of example and not limitation, such as a weld gun, for performing additional processing operations on the workpiece to be processed located at the processing position. The method according to the present invention can include the step of accurately positioning the workpieces 12a, 12b to be processed with a respect to the end effecter 22 with a geometry fixture tool 24 incorporated into the interchangeable end effecter 22. The combination of the workpiece 12a, 12b held with the geometry fixture tool 24 incorporated into the interchangeable end effecter 22 can be accurately positioned at the processing position with the corresponding material handling robot 14a, 14b allowing precise operations to be performed by the material processing robots 20, 20b, 20e, 20d. When material handling robot 14a is in the processing position, the material processing robots 20a, 20b, 20e, 20d can begin the processing operations on the workpiece. If desired, the material handling robot 14a can disengage the end effecter 22 and pick up a processing tool for additional processing on the workpiece at the processing position. Simultaneously, the second material handling robot 14b can unload the carried workpiece at the unload or transfer position located at one end of the processing path 16b and return to the opposite end of the processing path 16b to a load or transfer position in order to carry a new unprocessed part to the processing position. An operator, or other automated equipment, can load the end effecter. The second material handling robot 14b can have exchanged end effecters, if necessary, in order to process a different configuration part from the workpiece previously carried along the second processing path 16b. After being loaded, the second material handling robot 14b goes to pounce and is ready to position parts for processing after the first material handling robot 14a is complete and clear from the processing position. Material handling robots 14a, 14b can alternatively hold a geometry fixture end effecter for precisely locating the workpiece with respect to the material processing robots 20a, 20b,20e,20d. By way of example and not limitation, the material processing robots 20a, 20b, 20e, 20d can be welding robots. High weld efficiencies, i.e. welding 34 out of 40 seconds, can be provided with a configuration as disclosed in the present invention. Station monuments can be used to locate the geometry fixture end effecter from both material handling robots 14a, 14b, if desired for processing large workpieces. The method of operation according to the present invention can include the following sequence. The material handling robot 14a can retrieve an end effecter tool for the particular model or configuration of workpiece to be processed or welded. The material handling robot 14a can move to the load position and can present the retrieved end effecter to an operator or other automated equipment for loading. The material handling robot 14a can move to a processing position or weld position, locating the retrieved end effecter tool with respect to a station with precise positioning for processing or welding. If required, the material handling robot 14a can disengage from the end effecter and pick up a processing tool such as a weld gun for additional processing to be performed on the workpiece, such as welding. The material handling robot 14a after the processing is complete can move to an unload station and can present the workpiece to an operator or other automated equipment, such as a downstream robot at the next workstation to unload. Storage bins can be provided for various configurations of end effecters for processing various configurations of workpieces along the processing paths. While material handling robot 14a is located at the processing position, material handling robot 14b can unload a completed processed workpiece, such as a complete welded part, can change end effecter for the next workpiece to be processed or part to be welded, and can be moved to the load station to present the retrieved end effecter to an operator or other automated equipment for loading. The material handling robot 14b then goes to pounce at the processing position after the material handling robot 14a is completely clear of the processing position. While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiments but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims, which scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures as is permitted under the law. 摘 要 一个工作站和 方法 快递客服问题件处理详细方法山木方法pdf计算方法pdf华与华方法下载八字理论方法下载 加工工件的多元化至少包括一个物料搬运机器人移动沿着加工路径支持工件移动沿着加工路径。至少一台可以定义至少一个加工位置相邻的处理路径接收待加工工件时交付和定位的至少一个材料处理机器人。可互换的末端的影响可以连接到物料搬运机器人持有和支持不同的配置工件。材料处理机器人可以脱离最终效应在加工位置，使接触与处理工具执行额外的加工操作的工件。一个灵活的身体工作站组装工件可以使用多个机器人和/或多个夹具加工不同工件的配置以任何顺序沿处理路径。 柔性体装配工件工作站 相关应用 本申请要求利益用于应用服务器。60 / 548129在2004年2月26日申报和编辑。在2004年10月13日申报。 领域的发明 本发明涉及一种柔性体工作站组装工件使用多个机器人和多个装置，更具体地说，本发明提供焊接工作站汽车装配线具有多个独立工作的焊接机器人和多个夹具夹持工件。 发明背景 效率的一个焊接工作站可以定义所需的时间，通常一个百分比，一个焊接机器人焊接相比花费的总时间需要一个特定的重复周期。工作站的效率涉及的时间量，焊接机器人以执行各种焊接操作相比，总时间量的焊接机器人需要一个特定的重复周期。空闲时间对于焊接机器人可以发生在一个新的工件在夹具加载和准备。如果有一个机器人焊接工作站和一个夹具，焊接机器人将闲置作为完成部分卸下从夹具和一个新的工件装上夹具。在现有技术中，这个问 题 快递公司问题件快递公司问题件货款处理关于圆的周长面积重点题型关于解方程组的题及答案关于南海问题 已经解决，再添加一个夹具在工作站内达成一个单一的焊接机器人。在一个工作站与夹具，焊接机器人可以完成焊接操作在一个夹具，工件被加载和卸载的夹具。当焊接过程完成在第一夹具，焊接机器人可以移动的夹具和立即开始焊接。 时间，一个工件定位在一个夹具工作正在进行比较的总时间，工件定位在一个夹具与工件效率。大量的时间，一个工件闲置在夹具降低整体运营能力的工作站通过减少产量，通常在每小时或类似单位的整体组装过程。在一个工作站有一个夹具和焊接机器人，大量的时间，工件在夹具闲置最小化由于焊接机器人立即开始焊接操作只要一工件装载和任何其它安装程序完成。然而，在一个工作站有一个固定装置和一个焊接机器人，工件装上一个夹具，设置，然后闲置，直到完成焊接机器人焊接操作的夹具。因此，在一个工作站有一个夹具和焊接机器人，工件效率最大化而在工作站有两场比赛，和一个焊接机器人焊接的效率最大化。最好是提供一个工作站，其中，焊接效率和工件效率均得到提高。 本发明的概要 本发明可以包括一个或多个类似的工作站在序列定位沿流水线。一个可移动的物料装卸运输或转让机器人可以位于相邻的工作站工件从一个工作站到下。本发明还可以包括一个机器人加工工件时举行的材料处理转移机器人之间的相邻的工作站。 本发明包括弹性体装配车间工件使用单个或多个机器人和一个或多个固定装置。本发明包括可移动的物料搬运机器人，和固定材料处理机器人组合灵活的身体工作站。工作站可以执行多个工件的加工操作顺序，并进行不同的加工业务，同时通过工作站。材料处理机器人执行加工操作的工件可以位于相邻的至少一个处理路径，或之间的第一和第加工路径和独立可移动彼此相对。工件夹具可以提供的形式影响互换结束连接到至少一个材料处理机器人持有和支持不同工件配 置一个交换可互换年底效应配置不同的可互换年底效应工件配置。可互换的一端可固定影响几何不同工件的配置允许加工不同工件的配置，在任何既定的顺序改变端自动对应的影响下被加工工件配置。 本发明可以包括多个类似的工作站在序列定位沿流水线。至少在一种材料处理机器人可以切换从一个工件转移位置，在一端的处理路径到另一个材料处理机 或位置，工件在多个工作站器人运动路径另一个加工工件从一个工作站到下和/ 前转移。本发明还可以包括材料处理机器人的工件加工而正在举行的物料搬运机器人在转移位置在相邻工作站。 本发明可以提供一个电子控制手段协调运动的物料搬运机器人和/或材料处理机器人。电子控制的手段，可处理的可编程混合不同工件的配置以任何顺序。电子控制手段可以提出适当的可互换年底效应连接到物料搬运机器人在移动沿工件相应的加工路径位置相邻的处理的处理路径相互作用的材料处理机器人或机器人在加工位置。电子控制手段可以信号每个物料搬运机器人当交换可互换年底的影响是必要的，以便处理不同的工件配置在一个周期运动沿着加工路径。材料处理机器人可以控制不同的可编程序列的各种工件的配置处理以便进行必要的加工业务，以举例方式，不限制，如焊接，以有效的方式为特定的配置被处理工件。 其他对象，优势和本发明的应用将成为明显的是那些在艺术技能时，以下描述的最佳模式，考虑为实践本发明一起阅读所附图纸。 图纸简要说明 描述本作附图其中像参考数字指像工件的几点看法，并在其中:图1是一个架空查看一个工作站，根据目前的发明;图2是一个简化的观点认为工作站根据本发明具有一第一材料处理机器人在装载位置，另一个物料搬运机器人在加工位置，材料处理机器人位于相邻的加工位置之间的第一和第加工路径其次是第一材料搬运机器人;和[ 0013 ]图3是一个简化的观点认为工作站根据本发明的第一材料处理机器人移动到加工位置，二物料搬运机器人移动到卸货的位置，和材料处理机器人位于相邻的加工位置之间的第一和第加工路径。 说明首选的体现 现在参照图形。1，本发明包括一个灵活的身体工作站10装卸工件12。工作站10可以包括至少一个材料处理机器人14a，14b移动沿着加工路径改为支持工件，其中12个是沿着加工路径16，第。工作站可以包括至少一个基站的至少一个加工位置相邻的处理路径16，其中接收12进行处理时，交付和定位的至少一个材料处理机器人14，14。固定纪念碑18可提供如果需要的话，对大型工件进行处理。 举例的方式，而不是限制，至少有一个材料处理机器人可以包括第一材料处理机器人14移动沿着第一个加工路径以及用于支撑第一工件12是沿着第一个加工路径条，及第二物料搬运机器人分别移动沿处理路径第二支持一个工件的是沿着加工路径第二。至少有一个固定的纪念碑18可以提供，如果需要对大型工件，并可以包括一个第一固定纪念碑位于确定的位置之间的第一和第16加工路径，其中。至少一个材料处理机器人16，其中可以是对运动的支持，至少有一个沿架空轨道位置和/或至少一层支持的轨道位置。 至少 有一个材料加工机器人20A，20B，20E，20D可以位于相邻的加工位置， 12A，12B将被至少一个物料搬运机器人14A交付后处理加工工件14B沿相应处理路径16A，16B。每个物料搬运机器人14A，14B可以包括可互换的最终效果器22连接的物料搬运机器人14A，举办和支持不同配置的工件12A，12B，14B。控股，配套，定位和/或几何夹具相应的工件12A，12B要与相应的物料搬运机器人14A，14B在处理第18位处理，可以提供可互换的最终效应器22。可以互换的最终效果器22楼由相应的物料搬运机器人14A，在加工位置14B挂载。可互换的最终效果器可以定义一个几何方面的最终效应器22，从而使相应的物料搬运机器人14A，14B，准确定位工件的12A，12B和最终效果器处理的准确定位工件的12A，12B夹具工具24 22日在预定位置的加工位置，使材料加工机器人20A，20B，20E，20D可以执行工件的精确定位准确的加工业务组合。材料加工机器人20A，20B，20E，20D的例子，而不是限制的方式，可以包括焊接机器人加工工件的12A，12B不同的配置或沿流水线组装汽车车身造型。材料加工机器人20A，20B，20E，20D，可支持至少一个开销的位置和/或至少一个楼层位置的支持。 本发明可以包括加工多个工件12A，12B的方法。该方法可以包括步骤支持工件12A，12B移动沿加工路径16A，16B至少有一个物料搬运机器人14A，14B沿加工路径16A，16B动产。该方法可以包括接受12A，12B，被加工工件是至少有一个物料搬运机器人14A，至少有一个站至少有一个加工位置相邻的处理路径 16B定义14B交付的一步。可以提供一个固定的纪念碑18，如果需要的话，16A， 例如支持大型工件进行处理。 例如，不限制的方式，根据本发明的方法可以包括支持第一个工件沿加工路径与第一物料搬运机器人14A16A动产，并支持第二个工件12B是一步沿着第二物料搬运机器人沿加工路径16B14B动产第二个加工路径16B。第一工件12A或第二工件12B可以支持处理后的第一和第二的物料搬运机器人14A，14B交付至少有一站位于第一和第二的加工路径，16A，16B之间。根据本发明的方法可以包括加工工件处理后，被交付了第一和第二的物料搬运机器人14A，14B至少有一个材料加工机器人2012A，12B的第一和第二的步骤，20B，20E，20D毗邻的加工位置。至少有一个材料加工机器人20A，20B，20E，20D的例子，而不是限制的方式，可以包括焊接机器人。 根据本发明的方法可以包括控股和支持12A，，互换月底的的12B 效果器22连接的第一和第二的物料搬运机器人14A，14B工件的不同配置的步骤。可以持有不同的工件配置，支持，运输，位于互换年底效果器22和相应的物料搬运机器人14A，14B，在加工位置准确。根据本发明的方法可以包括安装步骤互换年底效果器方面的加工位置与相应的物料搬运机器人14A，14B22。如果需要的话，相应的物料搬运机器人可以从22月底效应器脱开，在加工位置，使相应的物料搬运机器人从事加工工具，方式的例子，并没有限制，如焊枪，执行额外位于加工位置对工件的加工业务处理。根据本发明的方法可以包括12A，12B，要以尊重最终效果器与几何夹具工具纳入互换效应器22月底2422处理的准确定位工件的一步。在加工位置，与相应的物料搬运机器人14A，14B允许由材料加工机器人进行精确的操作，可以准确定位，结合工件12A，12B举行几何夹具工具纳入到互换的最终效果器2224 20，20B，20E，20D。 当物料搬运机器人14A是在加工位置，材料加工机器人20A，20B，20E，20D可以开始对工件的加工业务。如果需要，可以脱离材料搬运机器人14A效应器22日结束，拿起额外加工工件的加工位置的加工工具。同时，第二物料搬运机器人14B的可以进行工件的卸货港位于一端的加工路径16B卸载或转移位置，并 返回到另一端的处理路径16B负载或转让的位置，以便携带新的未加工的一部分加工位置。操作员，或其他自动化设备，可以加载最终效应器。第二物料搬运机器人14B交换结束效果器，如果有必要，为了处理不同配置的一部分，从以前一起进行二次加工路径16B工件。被加载后，第二物料搬运机器人14B去猛扑，并准备到零件加工的位置后，第一物料搬运机器人14A是完整和明确的处理位置。 ，14B，也可以精确定位工件材料加工机器人20A，20B，20E，物料搬运机器人14A 20D举行一个几何的夹具年底效应器。材料加工机器人20A，20B，20E，20D的例子，而不是限制的方式，可以是焊接机器人。高的焊接效率，即焊接40秒34，可提供配置本发明披露。站古迹可以从两个物料搬运机器人14A，14B用于定位几何夹具最终效果器，如果用于加工大型工件所需。 根据本发明的操作方法可以包括以下序列。物料搬运机器人14A可以检索为最终效应器工具特定型号或配置的工件进行处理或焊接。物料搬运机器人14A可以移动到负载的位置，并可以提交检索的最终效果器装载操作员或其他自动化设备。物料搬运机器人14A可以移动到加工位置或焊接位置，定位方面与加工或焊接的精确定位站检索的最终效果器工具。如果需要，可以脱离材料搬运机器人14A从末端效应器，并拿起加工工具，如如焊接的工件，必须执行一个额外的处理，焊缝枪。机器人14A的材料后加工处理完成后可以移动到装卸站和操作员或其他自动化设备，如在未来工作站的下游机器人卸载，可呈现工件。储物箱，可提供各种配置为年底效果器的加工工件沿加工路径的各种配置。虽然坐落在处理位置，物料搬运机器人14A物料搬运机器人14B可以卸载已完成处理的工件，如一个完整的焊接部分，最终效果器可以改变未来的工件进行处理或部分进行焊接，并能移动到负载站提出检索年底，效果器来装载操作员或其他自动化设备。物料搬运机器人14B，然后去加工位置猛扑后物料搬运机器人14A是完全明确的处理位置。 虽然本发明已是目前被认为是最实用和首选的体现，这是可以理解该发明不局限于披露的体现，但与此相反，旨在包括各种修改和追加的索赔，这是给予最广泛的解释，以涵盖所有这些修改和等效结构，根据法律允许的范围内的精神和范围包括等同安排。