Reconfigurable robotic manufacturing cell

Abstract

Reconfigurable robotic manufacturing cells are disclosed. A manufacturing process employs reconfigurable robotic manufacturing cells that are capable of working together and still have the ability to be reconfigured to disconnect from other cells and handle multiple tasks. The reconfigurable robotic cells do not rely on any other robotic cells to complete work in process.

Description

[0001] Case Analysis

[0002] This application is a divisional application of Chinese invention patent application 202010820998.5, filed on August 14, 2020. Technical Field

[0003] This manual relates to configuring robot cells to improve the overall efficiency of the robot manufacturing process. Background Technology

[0004] Robotic manufacturing is a manufacturing process in which one or more robotic units are deployed to perform certain tasks during the process. Each robotic unit further includes at least one robot with at least one corresponding end effector. Optionally, the robotic unit also includes controllers, sensors, conveying systems, etc. Compared to manufacturing processes of the same product relying solely on manual labor, robotic manufacturing processes typically offer greater throughput and safety. Summary of the Invention

[0005] This specification describes technologies related to robotic manufacturing cells that can work together and still have the ability to be reconfigured to disconnect from other cells and handle multiple tasks.

[0006] Typically, an innovative aspect of the subject matter described in this specification can be embodied in a method comprising the following actions: each of a plurality of robot units, each including a set of end effectors, selects a selected set of end effectors from the set of end effectors to perform an assigned manufacturing process step, wherein: the assigned manufacturing process step is one of the manufacturing process steps in the manufacturing process; and the end effector set of each robot unit includes end effectors for forming the selected set for at least one of the manufacturing process steps; a manufacturing execution system communicating with each of the robot units receives data describing the progress of the manufacturing process; based on the received data, determines that a first robot unit performing a first manufacturing process step will be reconfigured to perform a second manufacturing process step different from the first manufacturing process step; and in response to the determination, instructs the first robot unit to be reconfigured from the selected first set of end effectors for performing the first manufacturing process step to the selected second set of end effectors for performing the second manufacturing process step.

[0007] These methods may further include: determining that a third robot unit performing a third manufacturing process step will be reconfigured to perform a second manufacturing process step different from the third manufacturing process step; and, in response to the determination, instructing the third robot unit to be reconfigured from a selected third set of end effectors for performing the third manufacturing process step to a selected second set of end effectors for performing the second manufacturing process step. These methods may further include: determining that the end effector set of the first robot unit includes end effectors for forming a selected set for the second manufacturing process step. These methods may further include: determining that the second manufacturing process step is within the working stroke of the first robot unit. These methods may further include: determining that instructing the first robot unit to perform the second manufacturing process step does not interfere with other robot units among the plurality of robot units. These methods may further include a sequence of manufacturing process steps, wherein the first manufacturing process step precedes the second manufacturing process step and the second manufacturing process step further precedes the third manufacturing process step. These methods may further include: providing sensor data to the manufacturing execution system by one or more sensors, wherein the manufacturing execution system determines the progress of the manufacturing process based on the sensor data. These methods may further include: in response to instructing the first robot unit to reconfigure from a selected first set of end effectors for performing the first manufacturing process step to a selected second set of end effectors for performing the second manufacturing process step, instructing a conveying system to reconfigure from delivering material to the first robot unit for processing through the first manufacturing process step to delivering material to the first robot unit for processing through the second manufacturing process step.

[0008] Other embodiments of this aspect include corresponding systems, apparatuses, and computer programs configured to perform actions of the method, which are encoded on a computer storage device.

[0009] Specific implementations of the subject matter described in this specification are possible to achieve one or more of the following advantages: Reconfigurable robotic manufacturing cells can work together and still have the ability to be reconfigured to disconnect from other cells and handle multiple tasks. Compared to conventional linear manufacturing processes, manufacturing processes employing reconfigurable robotic manufacturing cells typically achieve greater flexibility, less footprint, reduced buffering requirements, and a lower number of failures. Reconfigurable manufacturing processes also require fewer robotic manufacturing cells, making them more suitable for low- to medium-batch production, while allowing for greater variability in the number of configurations. In some cases, a reconfigurable robotic cell does not depend on any other robotic cell to complete the work in the process. The reconfigurable robotic cell selects the next available job (at any step that can be reached) and performs the necessary tasks.

[0010] Details of one or more embodiments of the subject matter described in this specification are set forth in the following drawings and description. Other features, aspects, and advantages of the subject matter will become apparent from the specification, drawings, and claims. Attached Figure Description

[0011] Figure 1 An example robotic manufacturing system is shown.

[0012] Figure 2 This shows an example format of end-effector data stored in a data store.

[0013] Figure 3 A flowchart illustrating an example process for reconfiguring a robotic manufacturing system is shown.

[0014] Figure 4 A flowchart is shown illustrating an example process for determining whether to reconfigure a robotic manufacturing system.

[0015] In the various figures, similar reference numerals and names indicate similar elements. Detailed Implementation

[0016] This specification describes a modular automated robotic manufacturing cell that comprises individual robotic units that work together while still possessing the ability to disconnect in the event of a failure or bottleneck. This modular automated robotic manufacturing cell is designed to offer flexibility and multi-part processing capabilities within each unit.

[0017] In operation, the system comprises multiple robot units, each reconfigurable to perform multiple manufacturing processing steps during the manufacturing process. Each robot unit includes a set of end effectors and is operable to select a chosen set of end effectors from this set to perform an assigned manufacturing processing step. The assigned manufacturing processing step is one of the manufacturing processes within the manufacturing process.

[0018] In some implementations, the manufacturing process includes a sequence of manufacturing processing steps, i.e., a first manufacturing processing step precedes a second manufacturing processing step in the sequence, and a second manufacturing processing step further precedes a third manufacturing processing step in the sequence, and so on.

[0019] Each robot cell's end effector set includes end effectors for forming a selected set for at least one of the manufacturing process steps. In some implementations, the robot cell includes end effectors for all manufacturing process steps. Alternatively, the robot cell includes end effectors for only one or some of the manufacturing process steps.

[0020] The system also includes a manufacturing execution system that communicates data with each of the robotic cells. The system is configured to receive data from one or more sensors. Based on the sensor data, the system determines the progress of the manufacturing process.

[0021] Based on the received data, the system determines that the first robotic unit performing the first manufacturing process step will be reconfigured to perform a second manufacturing process step different from the first. The system can make this determination in any of a variety of ways. For example, the system can determine from sensor data that the first robotic unit is idle. As another example, the system can determine from sensor data that there is a shortage of material delivered by the conveyor system to be processed by the first robotic unit in the first manufacturing process step.

[0022] In response to the affirmative confirmation, the system instructs the first robot unit to reconfigure from the selected first end effector set used to perform the first manufacturing process step to the selected second end effector set used to perform the second manufacturing process step. The first robot unit then performs the reconfiguration in association with the end effector change system.

[0023] In addition, the system instructs the conveying system to be reconfigured from delivering material to the first robot cell for processing through the first manufacturing step to delivering material to the first robot cell for processing through the second manufacturing step.

[0024] These features and additional characteristics will be described in more detail below.

[0025] Figure 1 An example robotic manufacturing system 100 is shown. The robotic manufacturing system 100 is an example of a system in which the following systems, components and technologies can be implemented.

[0026] Typically, a robotic manufacturing system is a manufacturing system that employs one or more robotic cells to perform specific manufacturing processes for certain products. Each robotic cell further comprises a robot. This robot can be any of a variety of robots suitable for the manufacturing process. For example, industrial robots with three or more axes are a common example of robots deployed in many manufacturing environments.

[0027] Typically, a manufacturing process comprises a sequence of manufacturing steps. That is, the first manufacturing step precedes the second, and the second precedes the third, and so on. In some implementations, although certain manufacturing steps are performed in a predetermined sequence, they are actually independent of each other. The corresponding positions of these steps in the predetermined sequence may be solely a result of economic or efficiency concerns. In these implementations, certain manufacturing steps can be performed in the sequence before some or all of their preceding steps are completed, without the risk of halting the overall manufacturing process.

[0028] In particular, Figure 1 In the example depicted, the robot manufacturing system 100 includes multiple robot cells (e.g., robot cell AN) and multiple corresponding sets of end effectors, such as end effector set AN. Although in Figure 1 The image depicts three robotic units, but the robotic manufacturing system 100 may include more or fewer robotic units.

[0029] Each robotic unit further includes a robot (not shown in the figures) and optionally, other peripheral devices such as power supplies and safety equipment. Each robot and its corresponding peripheral devices are operable to jointly perform certain manufacturing process steps. It should be noted that, for convenience, the manufacturing process steps described in this document are primarily described as being performed by robotic units rather than robots.

[0030] A robot cell (e.g., robot cell A) is operable to select a chosen set of end effectors from a corresponding set of end effectors (e.g., end effector set A) to perform an assigned manufacturing process step. The assigned manufacturing process step is one of the manufacturing process steps in the manufacturing process.

[0031] In some implementations, the robot cell uses an end effector changing system to select a chosen set of end effectors from a set of end effectors. The end effector changing system allows end effectors to be automatically coupled to or decoupled from the robot within the robot cell. In these implementations, some or all of the robot cell may also include a corresponding end effector changing system (not shown in the figures).

[0032] The robotic manufacturing system 100 includes a transport system 140. The transport system 140 handles the flow of products, components, and materials between different robotic cells during the manufacturing process. For example, the transport system 140 can transfer materials required for a manufacturing process step to a corresponding robotic cell configured to perform a specific manufacturing process step. As another example, the transport system 140 can transport products that have already been processed by a manufacturing process step to another robotic cell configured to sequentially perform subsequent manufacturing process steps.

[0033] System 100 includes a manufacturing execution system 110 that communicates data with each of a plurality of robot units 120A-N and a transport system 140. Manufacturing execution system 110 is configured to monitor and control the entire manufacturing process. In some embodiments, monitoring and control may optionally be performed in conjunction with other resource planning and process control systems (not shown in the figures).

[0034] System 100 further includes one or more sensors 150, which are communicatively coupled to manufacturing execution system 110. Example sensors may include laser distance sensors, photoelectric eyes, vision cameras, lighting, pneumatic and electric actuators, etc. The sensors can provide data describing the current state of the manufacturing process. The system then determines the progress of the manufacturing process based on the received sensor data. Although logically associated with manufacturing execution system 110, some or all of the sensors 150 may be mounted anywhere within robotic manufacturing system 100, including within robot cells 120A-120N and transport system 140.

[0035] During the manufacturing process, under certain circumstances, the manufacturing execution system 110 can determine whether to instruct the robot cell to reconfigure from performing a first manufacturing step to performing a second manufacturing step based on received sensor data. Example situations might include events such as equipment failure or production bottlenecks. See below for reference. Figure 3 and Figure 4 The determination of whether to instruct the robot cell performing the first manufacturing step to reconfigure to perform a second manufacturing process step that is different from the first manufacturing step is described in more detail.

[0036] Figure 2 This illustrates an example format of end effector data stored in data storage 200. Data storage 200 may be physically located in... Figure 1 In the manufacturing execution system 110. Alternatively, the data storage 200 may be a cloud data storage, which provides end-effector data to the transport system 140 via a data communication network.

[0037] Data storage 200 stores and manages data defined by one or more types of end effectors required to perform each manufacturing process step in a specific manufacturing process. For example, such as... Figure 2 As shown, each data entry can specify a list of one or more types of end effectors (e.g., "{E1}") required for a specific manufacturing process step (e.g., "MS1") within a specific manufacturing process. Example end effectors in the list can include fixtures, fastening tools, material removal tools, welding torches, etc.

[0038] Figure 3 A flowchart of an example process 300 for reconfiguring a robotic manufacturing system is shown. For convenience, process 300 is described as being executed by the robotic manufacturing system. For example, it is appropriately programmed according to this specification. Figure 1 The robotic manufacturing system 100 can execute process 300.

[0039] The system receives sensor data (302) describing the latest status of the manufacturing process. Example sensor data may include robot cell operating status, end effector information, raw material inventory levels, transport system tracking status, etc.

[0040] Based on the received sensor data, and as will be shown below relative to Figure 4 In more detail, the system determines whether to reconfigure the robot unit (304).

[0041] If the system determines that no robot cells need to be reconfigured, process 300 returns to step 302. That is, the system maintains the current robot cell configuration used to perform the manufacturing process. And the system continues to receive sensor data describing the latest state of the manufacturing process.

[0042] Alternatively, if the system determines that at least one robot cell needs to be reconfigured, the system continues to instruct the robot cells to be reconfigured (306). As a specific example, upon receiving sensor data indicating that the progress of a second robot cell performing a second manufacturing process step (such as MS2) is lagging behind other cells, the system determines that the first robot cell performing a first manufacturing process step (e.g., MS1) will be reconfigured to perform the second manufacturing process step. In particular, the second manufacturing process step differs from the first manufacturing process step and therefore requires at least one new end effector. In response to this determination, the system instructs the first robot cell to be reconfigured from a selected first end effector set (e.g., {E1} for performing the first manufacturing process step) to a selected second end effector set (e.g., {E2} for performing the second manufacturing process step).

[0043] In this specific example, in addition to reconfiguring the first robot unit, the system further determines that the third robot unit performing the third manufacturing process step MS3 will be reconfigured to perform the second manufacturing process step MS2. The third manufacturing process step is different from the first and second manufacturing process steps. In response to this determination, the system instructs the third robot unit to be reconfigured from the selected third end effector set {E3} for performing the third manufacturing process step to the selected second end effector set {E2} for performing the second manufacturing process step.

[0044] In some implementations, after confirming the feasibility of reconfiguring the robot cell but before sending instructions, the system further determines whether the end effector set of the first robot cell includes end effectors to form a selected set for a second manufacturing process step. This can be achieved by comparing sensor data describing the end effector set in each robot cell with data stored in [the system's database]. Figure 2 This determination is made by comparing the end-effector data in the data storage.

[0045] As another example, the system determines whether a second manufacturing process step is within the work envelope (i.e., range of motion) of the first robot cell. A particular manufacturing process step may be confined to a specific space within the system, i.e., a specific area on the transport system. Furthermore, the work envelope limits the space in which the robot cell can operate. In other words, the robot cell can only perform certain manufacturing process steps located within its operable space.

[0046] As another example, the system determines whether instructing the first robot cell to perform a second manufacturing process step would interfere with other robot cells in a plurality of robot cells. In other words, the system determines whether reconfiguring the first robot cell would risk disrupting the operation of other robot cells. Examples of disruption could include collisions between robots from different robot cells, or the depletion of raw material supply from a single cell to multiple robot cells.

[0047] After confirming the feasibility of reconfiguring the robot cell that performed the first manufacturing process step to perform the second manufacturing process step, the system continues to send the corresponding instructions.

[0048] After instructing the robot unit to reconfigure, the system further instructs the transport system to reconfigure accordingly (308). Referring again to the specific example described above, after instructing the first robot unit to reconfigure from performing a first manufacturing process step to performing a second manufacturing process step, the system also instructs the transport system to transfer materials (e.g., products, components, raw materials, etc.) that were to be processed by the first manufacturing process step to the first robot unit, which were then reconfigured to transfer materials that were to be processed by the second manufacturing process step to the first robot unit.

[0049] Then, process 300 returns to step 302, whereby the system continues to receive sensor data describing the latest state of the manufacturing process using one or more reconfigured robot cells and transport systems.

[0050] Figure 4 A flowchart of an example process 400 for determining whether to reconfigure a robotic manufacturing system is shown. For convenience, process 400 is described as being executed by the robotic manufacturing system. For example, it is appropriately programmed according to the specification. Figure 1 The robotic manufacturing system 100 can execute process 400.

[0051] Upon receiving sensor data describing the latest state of the manufacturing process, the system updates the data used to determine whether to perform a reconfiguration process (402). Overall, reconfiguring the robot cell aims to increase the utilization of the manufacturing equipment, which potentially leads to an improvement in overall manufacturing throughput.

[0052] The system determines whether a robot unit has been idle for an extended period of time (404). Specifically, the system determines whether any unit is not operating within a predetermined time period based on sensor data describing the operational status of each robot unit.

[0053] If the system makes an affirmative determination, it then executes an idle unit reconfiguration process (406). That is, the system determines to instruct the idle robot unit to reconfigure from performing the currently assigned manufacturing process step to performing a different manufacturing process step. The different manufacturing process step is one of the manufacturing processes in a manufacturing process that may or may not be performed by other robot units. In some embodiments, the system further determines to instruct the transport system to reconfigure from transferring material to the robot unit that would be processed through the currently assigned manufacturing process step to transferring material to the robot unit that would be processed through a different manufacturing process step.

[0054] The system determines whether the robot cell is lagging behind other cells (408). In particular, the system can make this determination in any of a variety of ways. For example, over a fixed time period, the system can compare the amount of work completed by the robot cell with the average amount of work completed by all robot cells, and determine that the robot cell is lagging behind if the amount of work completed by the robot cell is below the average.

[0055] As another example, for a fixed number of completed tasks, the system can compare the time taken by a single robot cell to the average time taken by all robot cells, and determine that the robot cell is lagging behind if the time taken is higher than the average. Specifically, in both examples, the amount of work completed by the robot cell can be defined using any appropriate metric, including the percentage of the entire manufacturing process completed, the amount of raw materials used, etc.

[0056] As another example, the system can maintain data defining the corresponding expected progress for each robot cell, and determine that the robot cell's progress is lagging if the actual progress of the robot cell does not meet the expected progress.

[0057] If the system makes an affirmative determination, it executes the lag unit reconfiguration process (410). That is, the system determines to instruct one or more other robot units to reconfigure from performing one or more other manufacturing process steps to performing the steps currently being performed by the lag unit. In some embodiments, the system further determines to instruct the transport system to perform a corresponding reconfiguration.

[0058] The system determines whether a particular robot cell has run out of raw materials (412). For example, the system may make this determination based on sensor data describing the raw material inventory level for each manufacturing process step being performed by the corresponding robot cell.

[0059] If the system makes a positive determination that the raw material inventory for the robot unit is below a predetermined level, the system executes a material depletion reconfiguration process (414). That is, the system determines to instruct the robot unit to reconfigure from performing the currently assigned manufacturing process step to performing a different manufacturing process step that does not use the depleted material. In some embodiments, the system further determines to instruct the transport system to perform a corresponding reconfiguration.

[0060] Although the flowchart depicts three determining steps (404, 408, and 412), in actual manufacturing, there may be more or less factors that could influence the reconfiguration decision. Therefore, there may be more or fewer steps in the iterations to determine whether to reconfigure the robotic manufacturing system.

[0061] At the end of the current iteration, if all the determination results in the previous steps are negative, the system maintains the current configuration (416), that is, the system determines that no robot unit will be reconfigured for this iteration.

[0062] The embodiments of the subject matter and operation described in this specification may be implemented using digital electronic circuits or computer software, firmware, or hardware, including the structures disclosed in this specification and their equivalents, or a combination thereof. Embodiments of the subject matter described in this specification may be implemented as one or more computer programs encoded on a computer storage medium for execution by a data processing apparatus or for controlling the operation of a data processing apparatus; that is, one or more modules of computer program instructions are implemented.

[0063] Computer storage media can be or are included in a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of these. Furthermore, although a computer storage medium is not a propagating signal, it can be a source or destination of computer program instructions encoded in an artificially generated propagating signal. The operations described herein can be implemented as operations performed by a data processing apparatus on data stored on one or more computer-readable storage devices or received from other sources.

[0064] The term "data processing apparatus" encompasses all kinds of devices, apparatuses, and machines for processing data, including, for example, programmable processors, computers, systems-on-a-chip (SoCs), or combinations thereof. Apparatus may include special-purpose logic circuitry, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits). In addition to hardware, apparatus may include code that creates an execution environment for the computer program, such as code constituting processor firmware, protocol stacks, database management systems, operating systems, cross-platform runtime environments, virtual machines, or combinations thereof. Apparatus and execution environments can implement various computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures.

[0065] A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and can be deployed in any form, including as a standalone program or as a module, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may, but does not necessarily, correspond to a file in a file system. It may be stored as a part of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program, or in multiple coordinating files (e.g., a file storing one or more modules, subroutines, or portions of code). A computer program can be deployed to execute on a single computer or on multiple computers located at a single site or distributed across multiple sites and interconnected by a communication network.

[0066] The processes and logic flows described in this specification can be executed by one or more programmable processors executing one or more computer programs to perform actions by manipulating input data and generating outputs. The processes and logic flows can also be executed by dedicated logic circuits, and the apparatus can also be implemented as dedicated logic circuits, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits).

[0067] As an example, processors suitable for executing computer programs include both general-purpose microprocessors and special-purpose microprocessors, as well as any one or more processors in any kind of digital computer. Typically, the processor receives instructions and data from read-only memory or random access memory, or both. Essential components of a computer are a processor for performing actions according to instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include, or be operatively coupled to, receiving data from or transferring data to one or more mass storage devices (e.g., magnetic disks, magneto-optical disks, or optical disks) for storing data, or both. However, a computer does not necessarily have to have such devices. Furthermore, a computer may be embedded in another device, such as a mobile phone, personal digital assistant (PDA), mobile audio or video player, game console, global positioning system (GPS) receiver, or portable storage device (e.g., a universal serial bus (USB) flash drive), etc. Devices suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as: semiconductor memory devices, like EPROM, EEPROM, and flash memory devices; disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROMs and DVD-ROMs. Processors and memory may be supplemented by dedicated logic circuitry or incorporated into dedicated logic circuitry.

[0068] While this specification contains numerous details of specific implementation, these should not be construed as limiting any feature or the scope that may be claimed, but rather as descriptions of features specific to particular embodiments of a particular invention. Certain features described in the context of individual embodiments in this specification may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments. Furthermore, although features may be described above as functioning in certain combinations and even initially claimed in this way, in some cases one or more features from the claimed combination may be removed from that combination, and the claimed combination may be for sub-combinations or variations thereof.

[0069] Similarly, although operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring such operations to be performed in the specific order shown or in sequential order, or requiring all illustrated operations to achieve the desired result. In some cases, multitasking and parallel processing can be advantageous. Furthermore, the separation of various system components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0070] Therefore, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific order or sequence shown to achieve the desired result. In some embodiments, multitasking and parallel processing can be advantageous.

Claims

1. A system for performing multiple manufacturing process steps, comprising: Multiple robot units, each of which can be configured to perform multiple manufacturing processing steps in the manufacturing process, wherein: Each robot unit includes a set of end effectors and is operable to select a selected set of end effectors from the set to perform an assigned manufacturing process step, wherein the assigned manufacturing process step is one of the manufacturing process steps in the manufacturing process; and The end effector set of each robot unit includes end effectors for forming a selected set for at least one of the manufacturing process steps; A manufacturing execution system that communicates data with each of the robot units, the manufacturing execution system being configured to: Receive data describing the state of the manufacturing process, the data describing the state of the robot unit for each robot unit configured to perform manufacturing processing steps; Based on the state of each robot unit in the robot unit described by the received data: It was determined that reconfiguring the first robot cell would increase the utilization rate of the manufacturing equipment; and In response to determining that reconfiguring the first robot unit would increase the utilization rate of the manufacturing equipment, it is determined that the first robot unit performing the first manufacturing process step will be reconfigured to perform a second manufacturing process step, wherein the second manufacturing process step is different from the first manufacturing process step; and In response to determining that the first robot unit performing the first manufacturing process step will be reconfigured to perform the second manufacturing process step, the first robot unit is instructed to be reconfigured from a selected first end effector set for performing the first manufacturing process step to a selected second end effector set for performing the second manufacturing process step.

2. The system according to claim 1, wherein, Determining that reconfiguring the first robot unit will increase the utilization of the manufacturing equipment includes determining that the second robot unit lags behind the first robot unit.

3. The system according to claim 1, wherein, Determining that reconfiguring the first robot unit will increase the utilization rate of the manufacturing equipment includes: determining that the first robot unit has been idle for more than a threshold time period.

4. The system according to claim 1, wherein, Determining that reconfiguring the first robot unit will increase the utilization rate of the manufacturing equipment includes determining that the raw materials for the first robot unit have been depleted.

5. The system according to claim 1, wherein, The determination that the first robot unit performing the first manufacturing process step will be reconfigured to perform a second manufacturing process step different from the first manufacturing process step further includes: The set of end effectors for the first robot unit is determined to include end effectors for forming the selected set for the second manufacturing process step.

6. The system according to claim 1, wherein, The manufacturing process includes a sequence of manufacturing processing steps, wherein the first manufacturing processing step precedes the second manufacturing processing step, and the second manufacturing processing step further precedes the third manufacturing processing step.

7. The system according to claim 1, further comprising: One or more sensors provide sensor data to the manufacturing execution system, wherein the manufacturing execution system determines the state of the robot unit based on the sensor data.

8. A method for performing multiple manufacturing processing steps, the method comprising: Each of a plurality of robot units, each comprising a set of end effectors, selects a chosen set of end effectors from the set of end effectors to perform an assigned manufacturing process step, wherein: The assigned manufacturing process step is one of the manufacturing process steps in the manufacturing process; and The end effector set of each robot unit includes end effectors for forming a selected set for at least one of the manufacturing process steps; The manufacturing execution system, which communicates with each of the robot units, receives data describing the state of the manufacturing process, the data describing the state of the robot unit for each robot unit configured to perform manufacturing processing steps; Based on the state of each robot unit in the robot unit described by the received data: It was determined that reconfiguring the first robot cell would increase the utilization rate of the manufacturing equipment; and In response to determining that reconfiguring the first robot unit would increase the utilization rate of the manufacturing equipment, it is determined that the first robot unit performing the first manufacturing process step will be reconfigured to perform a second manufacturing process step, wherein the second manufacturing process step is different from the first manufacturing process step; and In response to determining that the first robot unit performing the first manufacturing process step will be reconfigured to perform the second manufacturing process step, the first robot unit is instructed to be reconfigured from a selected first end effector set for performing the first manufacturing process step to a selected second end effector set for performing the second manufacturing process step.

9. The method according to claim 8, wherein, Determining that reconfiguring the first robot unit will increase the utilization of the manufacturing equipment includes determining that the second robot unit lags behind the first robot unit.

10. The method according to claim 8, wherein, Determining that reconfiguring the first robot unit will increase the utilization rate of the manufacturing equipment includes: determining that the first robot unit has been idle for more than a threshold time period.

11. The method according to claim 8, wherein, Determining that reconfiguring the first robot unit will increase the utilization rate of the manufacturing equipment includes determining that the raw materials for the first robot unit have been depleted.

12. The method according to claim 8, wherein, The determination that the first robot unit performing the first manufacturing process step will be reconfigured to perform a second manufacturing process step different from the first manufacturing process step further includes: The set of end effectors for the first robot unit is determined to include end effectors for forming the selected set for the second manufacturing process step.

13. The method according to claim 8, wherein, The manufacturing process includes a sequence of manufacturing processing steps, wherein the first manufacturing processing step precedes the second manufacturing processing step, and the second manufacturing processing step further precedes the third manufacturing processing step.

14. A non-tangible computer instruction storage system for storing instructions executable by a plurality of robot units and a manufacturing execution system, wherein the instructions, when executed, cause the plurality of robot units and the manufacturing execution system to perform operations including: Each of a plurality of robot units, each comprising a set of end effectors, selects a chosen set of end effectors from the set of end effectors to perform an assigned manufacturing process step, wherein: The assigned manufacturing process step is one of the manufacturing process steps in the manufacturing process; and The end effector set of each robot unit includes end effectors for forming a selected set for at least one of the manufacturing process steps; The manufacturing execution system, which communicates with each of the robot units, receives data describing the state of the manufacturing process, the data describing the state of the robot unit for each robot unit configured to perform manufacturing processing steps; Based on the state of each robot unit in the robot unit described by the received data: It was determined that reconfiguring the first robot unit would increase the utilization rate of the manufacturing equipment; as well as In response to determining that reconfiguring the first robot unit will increase the utilization rate of the manufacturing equipment, it is determined that the first robot unit performing the first manufacturing process step will be reconfigured to perform the second manufacturing process step, wherein the second manufacturing process step is different from the first manufacturing process step; and In response to determining that the first robot unit performing the first manufacturing process step will be reconfigured to perform the second manufacturing process step, the first robot unit is instructed to be reconfigured from a selected first end effector set for performing the first manufacturing process step to a selected second end effector set for performing the second manufacturing process step.

15. A system for performing multiple manufacturing process steps, comprising: Multiple robot units, each of which can be configured to perform multiple manufacturing processing steps in the manufacturing process, wherein: Each robot unit includes a set of end effectors and is operable to select a selected set of end effectors from the set to perform an assigned manufacturing process step, wherein the assigned manufacturing process step is one of the manufacturing process steps in the manufacturing process; and The end effector set for each robot unit includes end effectors for forming a selected set for at least one of the manufacturing process steps; and A conveying system that delivers materials to the robotic unit for processing according to corresponding assigned manufacturing steps; and A manufacturing execution system that communicates data with each of the robot units, the manufacturing execution system being configured to: Receive data describing the state of the manufacturing process, the data describing the state of the robot unit for each robot unit configured to perform manufacturing processing steps; Based on the states of each robot unit described by the received data, it is determined that a first robot unit reconfigured to perform a first manufacturing process step to perform a second manufacturing process step, wherein the second manufacturing process step is different from the first manufacturing process step, and the first robot unit is instructed to be reconfigured from a selected first end effector set for performing the first manufacturing process step to a selected second end effector set for performing the second manufacturing process step; and In response to instructing the first robot unit to reconfigure from a selected first set of end effectors for performing the first manufacturing process step to a selected second set of end effectors for performing the second manufacturing process step, the conveying system is instructed to reconfigure from delivering material to the first robot unit for processing through the first manufacturing process step to delivering material to the first robot unit for processing through the second manufacturing process step.

16. The system according to claim 15, wherein, Determining to reconfigure the first robot cell that performed the first manufacturing process step to perform the second manufacturing process step further includes: The set of end effectors for the first robot unit is determined to include end effectors for forming the selected set for the second manufacturing process step.

17. The system according to claim 15, wherein, Determining to reconfigure the first robot unit that performed the first manufacturing process step to perform the second manufacturing process step further includes: determining that the second robot unit lags behind the first robot unit.

18. The system according to claim 15, wherein, Determining to reconfigure the first robot unit that performed the first manufacturing process step to perform the second manufacturing process step further includes: determining that the first robot unit has been idle for more than a threshold time period.

19. The system according to claim 15, wherein, Determining to reconfigure the first robot unit that performed the first manufacturing process step to perform the second manufacturing process step further includes: determining that the raw materials for the first robot unit have been depleted.

20. The system according to claim 15, wherein, The manufacturing process includes a sequence of manufacturing steps, wherein the first manufacturing step precedes the second manufacturing step.

21. The system of claim 15, further comprising: One or more sensors provide sensor data to the manufacturing execution system, wherein the manufacturing execution system determines the progress of the manufacturing process based on the sensor data.

22. A method for performing multiple manufacturing processing steps, the method comprising: Each of a plurality of robot units, each comprising a set of end effectors, selects a chosen set of end effectors from the set of end effectors to perform an assigned manufacturing process step, wherein: The assigned manufacturing process step is one of the manufacturing process steps in the manufacturing process; and The end effector set of each robot unit includes end effectors for forming a selected set for at least one of the manufacturing process steps; The manufacturing execution system, which communicates with each of the robot units, receives data describing the state of the manufacturing process, the data describing the state of the robot unit for each robot unit configured to perform manufacturing processing steps; Based on the state of each robot unit in the robot unit described by the received data: The first robot unit, which performed the first manufacturing process step, is reconfigured to perform a second manufacturing process step, wherein the second manufacturing process step is different from the first manufacturing process step, and the first robot unit is instructed to be reconfigured from a selected first end effector set for performing the first manufacturing process step to a selected second end effector set for performing the second manufacturing process step; and In response to reconfiguring from a selected first set of end effectors for performing the first manufacturing process step to a selected second set of end effectors for performing the second manufacturing process step, the conveying system is instructed to reconfigure from delivering material to the first robot unit for processing the first manufacturing process step to delivering material to the first robot unit for processing the second manufacturing process step.

23. The method according to claim 22, wherein, Reconfiguring the first robot unit that performed the first manufacturing process step to perform the second manufacturing process step further includes: The set of end effectors for the first robot unit is determined to include end effectors for forming the selected set for the second manufacturing process step.

24. The method according to claim 22, wherein, Reconfiguring the first robot unit that performs the first manufacturing process step to perform the second manufacturing process step further includes: determining that the second robot unit lags behind the first robot unit.

25. The method according to claim 22, wherein, Reconfiguring the first robot unit that performed the first manufacturing process step to perform the second manufacturing process step further includes: determining that the first robot unit has been idle for more than a threshold time period.

26. The method according to claim 22, wherein, Reconfiguring the first robot unit that performed the first manufacturing process step to perform the second manufacturing process step further includes: determining that the raw materials for the first robot unit have been exhausted.

27. The method according to claim 22, wherein, The manufacturing process includes a sequence of manufacturing steps, wherein the first manufacturing step precedes the second manufacturing step.

28. The method of claim 22, further comprising: Sensor data describing the state of the manufacturing process is received from one or more sensors that provide sensor data to the manufacturing execution system.

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