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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.