Abstract:
An hydrostatic tool system including a tool assembly having a hydrostatic tool holder for holding a rotating tool, for example a machine or cutting tool. The hydrostatic tool system may also include a tool storage system, a tool transport system and a tool drive system. The hydrostatic tool system may also include an hydraulic coupler for hydraulically connecting the hydrostatic tool holder to a pressurizing or depressurizing source. The hydrostatic tool system may also include a system controller.

Description:
[0001]    This application claims the benefit of U.S. Provisional Application No. 60/269,620, filed Feb. 15, 2001. 
     
    
     
       BACKGROUND OF THE INVENTION  
         [0002]    The present invention relates to machine tools, and more specifically, to an automated tool storage and handling device.  
         SUMMARY OF THE INVENTION  
         [0003]    The present invention is directed to a hydrostatic tool system including a tool assembly having a hydrostatic tool holder for holding a rotating tool, for example a machine or cutting tool. The hydrostatic tool system may also include a tool storage system, a tool transport system and a tool drive system. The hydrostatic tool system may also include an hydraulic coupler for hydraulically connecting the hydrostatic tool holder to a pressurizing or depressurizing source. The hydrostatic tool system may also include a system controller.  
           [0004]    Each tool assembly includes a hydrostatic tool holder having an inner sleeve nested within an outer sleeve which cooperate in such a manner as to form a gap between the outer circumferential surface of the inner sleeve and the inner circumferential surface of the outer sleeve. A chamber is defined by the gap between the inner and outer sleeves, the nesting configuration of the bulkheads and flanges of the inner and outer sleeves and the nesting configuration of the flanges of the inner and outer sleeves. The inner sleeve includes an inner bore configured to concentrically engage a machine spindle. The outer sleeve includes an outer circumferential surface configured to concentrically engage a rotatable tool. In one preferred embodiment of the invention, the hydrostatic tool holder outer sleeve includes an hydraulic fitting which permits the introduction, pressurization and extraction of the hydraulic fluid into the chamber between the inner sleeve and the outer sleeve. The hydraulic fitting may be configured as an hydraulic test point including a poppet valve. The hydraulic test point is configured to releasably engage and hydraulically communicate with an hydraulic coupler which, in turn, communicates hydraulically with a pressurized source of hydraulic fluid. The inner and outer sleeves of the hydrostatic tool holder deflect slightly under hydrostatic fluid pressure to engage both the spindle and the rotating tool.  
           [0005]    The hydrostatic tool holder also includes a collar which is configured for gripping engagement by a pair of articulated clamping arms of the tool transport system and a pair of opposing fingers of a tool clamp of the tool storage system.  
           [0006]    The hydrostatic tool system may also include a tool storage system. In one preferred embodiment of the invention, the tool storage system is configured as a turret including a plurality of tool assembly receivers. The turret is mounted on a shaft and a plurality of tool assembly receivers are connected to the turret. Each tool assembly receiver is configured to hold and support a tool assembly. The turret may be rotated and indexed to any selected position corresponding to a selected tool assembly. The tool storage system may include hydraulic, pneumatic, electrical or mechanical means to rotate and index the turret, for example a pneumatic rotary actuator. In one preferred embodiment of the invention, the turret is rotated by a rotary actuator, such as a model manufactured by Bimba Manufacturing Company, model No. PTF-196325 rotary actuator 325° with position feedback. Indexing or stopping turret rotation at a selected position is accomplished by a pneumatic stop cylinder such as the model No. M171-DBZ cylinder, 1½″ bore and 1½″ stroke, block mount cylinder, manufactured by the Bimba Manufacturing Company.  
           [0007]    In the alternative, the tool storage system may feature a linear configuration wherein the tool assemblies are arranged side by side in sequence. Similarly, the tool storage system may feature a stacked configuration wherein the tool assemblies are arranged one above another or side by side. For instance, the tool storage system may include stacked rows or stacked turrets as desired.  
           [0008]    In one preferred embodiment of the invention, the tool assembly receivers are configured as tool clamps. Each tool clamp includes a pair of opposing fingers. Each clamp is biased towards a closed position. A tool assembly may be forced against the clamp thereby gaining entry into the tool clamp. The spring bias creates ample compressive holding force to maintain the tool assembly securely in position at the tool storage system. In another preferred embodiment of the invention, the tool assembly receivers are configured as “dummy” spindles. In this embodiment of the invention, a tool assembly may be placed down on the “dummy” spindle with essentially the same motion employed by the tool transport system for placing the tool assembly on the motor driven spindle.  
           [0009]    The hydrostatic tool system according to the present invention may also include a tool transport system. The tool transport system includes, generally, a tool assembly pick and place member for retrieving a tool assembly from the tool storage system and for placing the tool assembly on a motor driven spindle and a tool transport device for transporting the tool assembly between the tool storage system and a motor driven spindle. The tool transport system may also include a system for pressurizing the hydrostatic tool holder. The tool transport system may also include a system for the de-pressurization and extraction of hydraulic fluid from the hydrostatic tool holder.  
           [0010]    In one preferred embodiment of the invention, the tool transport system includes a primary frame mounted to a carriage which may be advanced along an X axis by a horizontal travel actuator between the tool storage system and a motor driven spindle. The horizontal travel actuator may be configured as a rodless cylinder including a piston and a carriage slidable along an outer circumferential surface of a cylinder tube, the piston and the carriage each include magnets, allowing the piston to move the carriage along the cylinder tube by the attraction force between the magnets. A force transmitted to the piston, for instance fluid pressure, causes the piston to travel through the tube and is transmitted to the carriage through magnetic attraction thereby advancing the carriage along the cylinder tube. In one preferred embodiment of the invention, the rodless cylinder is a model TA-MS4D-2½B×2S-OSM, 2½″ bore by 2″ stroke rodless cylinder manufactured by TRD.  
           [0011]    In another embodiment, the tool transport system includes a primary frame mounted to a rotatable carriage, which selectively rotates about a substantially vertical axis by operation of a rotational motion actuator and locates between two or more stations, a first station wherein a tool assembly is retrieved or placed at a tool storage system and a second station wherein the tool assembly is placed on a motor driven spindle. One such rotational motion actuator is manufactured by Bimba Manufacturing Company, model No. Q107221, 150° and 1-{fraction (1/16)}″ bore.  
           [0012]    In one preferred embodiment of the invention, the tool transport system includes a lifting cylinder having a substantially vertical lifting capacity attached to the primary frame. A head frame assembly is attached to the lifting cylinder and is movable with the substantially vertical travel of the lifting cylinder along a Y axis. A clamping arm cylinder is also attached to the head frame assembly. A clamp arm frame is attached to the clamping arm cylinder and is movable with the substantially vertical travel of the clamping arm cylinder along a Y axis. A pair of articulated clamping arms are attached to the clamp arm frame and are actuated by the clamping arm cylinder. In one preferred embodiment of the invention, both the lifting cylinder and the clamping arm cylinder are of the double end type, wherein the piston is held stationary within a frame and the cylinder travels within the frame. In one preferred embodiment of the invention, the lifting cylinder includes a TRD model No. TA-MS4D-3¼B×6S-OSM, 3¼″ bore and 6″ stroke double ended cylinder and the clamping arm cylinder includes a TRD model No. TA-MS4D-2½B×2S-OSM, 2½″ bore and 2″ stroke double ended cylinder. In another preferred embodiment of the invention, the lifting cylinder includes a TRD model No. TA-MS4D-2½B×7S-OSM, 2½″ bore and 7″ stroke double ended cylinder.  
           [0013]    When the lifting cylinder is actuated in an upward direction, the head frame assembly moves vertically upward along the Y axis, and when the lifting cylinder is actuated in a downward direction, the head frame assembly moves vertically downward along the Y axis. When the clamping arm cylinder is actuated in an upward direction, first and second articulated clamping arms move to an open position, and when the clamping arm cylinder is actuated in a downward direction, first and second articulated clamping arms move to a closed or clamping position in gripping articulation.  
           [0014]    In one preferred embodiment of the invention, the tool transport system includes an hydraulic coupler. The hydraulic coupler includes an inlet and an outlet. The hydraulic coupler hydraulically communicates with a pressurized source for an hydraulic fluid. In the preferred embodiment of the invention, the hydraulic coupler is configured to achieve hydraulic energization and de-energization of the hydrostatic tool holder in a substantially leak free manner.  
           [0015]    The hydraulic coupler may be configured as a poppet actuator assembly and includes a poppet actuator inserted within an actuator cap. The poppet actuator is configured as a stem having a longitudinal axis and a central bore. The stem includes a first orifice which extends through the side wall of the stem at or near the first end of the stem and a second orifice which extends through the side wall of the stem at or near the second end of the stem. The stem extends longitudinally through a seal which seats in the actuator cap. The actuator cap includes a central bore including a seat for receiving the seal. The actuator cap attaches to an arm comprising a portion of the head frame assembly and moves vertically upward and downward along the Y axis, with the vertical travel of the lifting cylinder. The poppet actuator assembly also includes an hydraulic test point having a poppet valve. One such test point, the Minicheck® Test Point Coupling, is manufactured by the Schroeder Co. The poppet valve is spring loaded and biased towards a closed position. The hydraulic test point is oriented such that the poppet valve opens against pressure exerted by the poppet actuator stem thus permitting passage of hydraulic fluid past the valve. A more complete description of the operation of the coupler is set forth below in the detailed embodiment section.  
           [0016]    In the preferred embodiment of the invention, a controller device including a control circuit operates and controls the various functions of the hydrostatic tool system. The controller device may be configured as a standalone or a networked personal computing device. The controller operates and controls any or all of the various functions of the hydrostatic tool system including selection of tool, rotation of the turret, travel of the carriage, actuation of the lifting and clamping cylinders, energization and de-energization of the hydraulic coupler and associated source for pressurized hydraulic fluid, operation of the spindle motor and operation of any associated workpiece feed mechanism. 
       
    
    
     DESCRIPTION OF THE DRAWINGS  
       [0017]    [0017]FIG. 1 is a representative front view of a hydrostatic tool system;  
         [0018]    [0018]FIG. 2 is a representative front view of a tool assembly held by a tool storage system and a tool transport system;  
         [0019]    [0019]FIG. 3 is a representative front view of a tool assembly held by a tool storage system and a tool transport system;  
         [0020]    [0020]FIG. 4 is a representative side view of a tool assembly held by a tool storage system and a tool transport system;  
         [0021]    [0021]FIG. 5 is a representative front view of a tool storage system and a tool assembly held by a tool transport system;  
         [0022]    [0022]FIG. 6 is a representative top view of a tool storage system and a tool assembly held by a tool transport system;  
         [0023]    [0023]FIG. 7 is a representative front view of a tool assembly held by a tool transport system and positioned for placement on a spindle;  
         [0024]    [0024]FIG. 8 is a representative front view of a tool assembly held by a tool transport system being positioned for placement on a spindle;  
         [0025]    [0025]FIG. 9 is a representative side view of a tool assembly held by a tool transport system being positioned for placement on a spindle;  
         [0026]    [0026]FIG. 10 is a representative side view of a tool assembly positioned on a spindle;  
         [0027]    [0027]FIG. 11 is a representative front view of a tool assembly positioned on a spindle and an hydraulic coupler coupled to the hydrostatic tool holder;  
         [0028]    [0028]FIG. 12 is a representative side view of a tool assembly positioned on a spindle and an hydraulic coupler coupled to the hydrostatic tool holder;  
         [0029]    [0029]FIG. 13 is a representative front view of a tool assembly positioned on a spindle and released by the tool transport system;  
         [0030]    [0030]FIG. 14 is a representative front view of a tool assembly positioned on a spindle and released by the tool transport system;  
         [0031]    [0031]FIG. 15 is a representative exploded side cutaway view of a hydrostatic tool holder;  
         [0032]    [0032]FIG. 16 is a representative assembled side cutaway view of a tool assembly including a hydrostatic tool holder;  
         [0033]    [0033]FIG. 17 is a representative exploded side cutaway view of an hydraulic coupler;  
         [0034]    [0034]FIG. 18 is a representative side cutaway view of an hydraulic coupler coupled to the hydraulic fitting of a hydrostatic tool holder;  
         [0035]    [0035]FIG. 19 is a representative side cutaway view of an hydraulic coupler disengaged from the hydraulic fitting of an hydrostatic tool holder;  
         [0036]    [0036]FIG. 20 is a representative schematic of an hydrostatic tool system including a controller according to the present invention;  
         [0037]    [0037]FIG. 21 is a representative front view of a hydrostatic tool system;  
         [0038]    [0038]FIG. 22 is a representative side view of a hydrostatic tool system;  
         [0039]    [0039]FIG. 23 is a representative top view of a hydrostatic tool system; and  
         [0040]    [0040]FIG. 24 is a representative top view of a hydrostatic tool system. 
     
    
     DETAILED DESCRIPTION  
       [0041]    Referring to FIG. 1, hydrostatic tool system  10  is shown including tool assembly  18 , tool storage system  40 , and tool transport system  50 . Hydrostatic tool system  10  also includes drive system  11  including spindle  12  connected to motor  13  by belt  14 . FIGS.  10  - 14  show hydraulic coupler  70  and FIG. 20 shows system controller  100 .  
         [0042]    [0042]FIGS. 2 through 14 depict sequentially the following steps, assemblies and systems: tool assembly  18 A is held in tool storage system  40  for retrieval by tool transport system  50 , (FIGS. 2 through 4); tool assembly  18 A is held by first and second articulated clamping arms  60 A and  60 B for transport to spindle  12 , (FIGS. 5 through 7); and tool assembly  18 A is placed on spindle  12  by tool transport system  50  (FIGS. 8 through 14).  
         [0043]    Referring to FIGS. 4 through 6, tool storage system  40  is shown including turret  41 . Turret  41  is supported by and rotates on turret shaft  42 . As seen in FIG. 6, turret  41  includes a plurality of tool clamps  43 A through  43 D attached to and extending from turret  41 . As seen in FIG. 6, tool storage system  40  is shown supporting tool assemblies  18 B,  18 C and  18 D in tool clamps  43 B,  43 C and  43 D. FIGS. 1, 4 and  5  show rotary actuator  45  connected to turret shaft  42  for advancing turret  41 . FIG. 6 shows turret  41  advancing to a selected orientation to present a selected tool clamp  43 A from which tool assembly  18 A has been removed by tool transport system  50 .  
         [0044]    Referring to FIGS. 2 through 14, tool transport system  50  will be described in further detail. FIGS. 2 through 14 show tool transport system  50  including carriage  51  to which primary frame  55  is attached. Carriage  51  is propelled in either a forward direction F or reverse direction R along an X axis by horizontal travel actuator  52 . As shown, horizontal travel actuator  52  is configured as a rodless cylinder. Carriage  51  travels in response to the travel of a piston of the rodless cylinder and a magnetic attraction between the piston of the rodless cylinder and carriage  51 .  
         [0045]    Tool transport system  50  also includes primary frame  55  connected to carriage  51 . As shown in FIGS.  4 ,  9 , 10  and  12 , primary frame  55  supports lifting cylinder  53 . Head frame assembly  56  is attached to lifting cylinder  53  and is movable with the travel of lifting cylinder  53  along a Y axis. Clamping arm cylinder  57  is attached to head frame  61 . Clamping arm cylinder  57  supports clamp arm frame  59 . As seen in FIGS. 5, 7,  8 ,  11 ,  13 , and  14 , first and second head frame arms  63 A and  63 B are attached to and extend forward from head frame assembly  56 . Second head frame arm  63 B, similar to first head frame arm  63 A, is also shown to advantage in FIGS. 4 and 9.  
         [0046]    Tool transport system  50  also includes first and second articulated clamping arms  60 A and  60 B. As seen in FIGS. 7, 8,  11 ,  13 , and  14 , first and second articulated clamping arms  60 A and  60 B include upper sub-arms  66 A and  66 B and lower sub-arms  67 A and  67 B. Upper sub-arms  66 A and  66 B are pivotably connected to lower sub-arms  67 A and  67 B at connector pivot points  58 A and  58 B. Upper ends of first and second articulated clamping arms  60 A and  60 B are pivotably connected to clamp arm frame  59  at clamp arm pivot points  62 A and  62 B. Lower ends of first and second lower sub-arms  67 A and  67 B are pivotably connected to first and second head frame arms  63 A and  63 B at clamp arm pivot points  64 A and  64 B. In the embodiment shown, gripping articulation between the lower ends of lower sub-arms  67 A and  67 B is achieved when clamping arm cylinder  57  travels down as shown in FIG. 11. Release of gripping articulation between the lower ends of lower sub-arms  67 A and  67 B occurs when clamping arm cylinder  57  is actuated for travel in an upward direction as shown in FIG. 13.  
         [0047]    Referring to FIG. 15, hydrostatic tool holder  20  includes inner sleeve  21  nested within outer sleeve  22 . Collar  23  is threadedly engageable with outer sleeve threaded end  68 . Hydraulic fitting  32  is threadedly engageable with outer sleeve bulkhead  96 .  
         [0048]    Referring to FIG. 16, tool assembly  18 A includes hydrostatic tool holder  20  having inner sleeve  21  nested within outer sleeve  22  forming gap  24 . Chamber  69  is defined by gap  24  between outer circumferential surface  26 , shown in FIG. 15, of inner sleeve  21  and inner circumferential surface  25 , shown in FIG. 15, of outer sleeve  22 . Collar  23  includes gripping flange  99  which provides a gripping and lifting member for gripping, lifting, supporting and placing tool assembly  18 A. Hydraulic fitting  32  is threadedly engageable with outer sleeve bulkhead  96 . Chamber  69  is further defined by the nesting and mating configuration of inner sleeve flange  36  and outer sleeve flange  37 , which are sealed against pressure loss by o-ring  39  and are connected by screw  38 , as shown in FIG. 16. Referring to FIGS. 16,18 and  19 , chamber  69  is further defined by the nesting and mating configuration of inner sleeve bulkhead  65  formed at upper end of inner sleeve  21  and outer sleeve bulkhead  96  formed at upper end of outer sleeve  22 . Bleed hole  97  extends through inner sleeve bulkhead  65  and outer sleeve bulkhead  96 . Relief port assembly  98  provides a means for manually releasing hydrostatic pressure from hydrostatic tool holder  20  if required.  
         [0049]    Inner sleeve  21  includes inner bore  27 , as shown in FIG. 15, which is configured to concentrically engage spindle  12 , as shown in FIG. 16. As shown in FIG. 15, outer sleeve  22  includes outer circumferential surface  28  configured to concentrically engage cutting tool  16 , as shown in FIG. 16. Inner sleeve  21  and outer sleeve  22  deflect when hydraulic pressure is exerted within chamber  69  to firmly engage both spindle  12  and cutting tool  16 .  
         [0050]    Hydraulic fluid  35  may be introduced into and pressurized within chamber  69  through hydraulic fitting  32 . In one preferred embodiment of the invention, outer sleeve  22  includes hydraulic fitting  32  which permits introduction, pressurization and extraction of hydraulic fluid  35  into chamber  69 . In the embodiment shown in FIG. 16, hydraulic fitting  32  is configured as hydraulic test point  33  including poppet valve  34  and poppet spring  31  which biases poppet valve  34  towards a closed position. Hydraulic test point  33  is configured to releasably engage and hydraulically communicate with hydraulic coupler  70 , as shown in FIGS.  17 - 19 .  
         [0051]    Referring to FIGS. 16, 18 and  19 , hydrostatic tool holder  20  includes collar  23  including gripping flange  99  which provides a gripping and lifting member for gripping, lifting, supporting and placing tool assembly  18 A. Gripping flange  99  is configured for engagement with first and second articulated clamping arms  60 A and  60 B of tool transport system  50 , as shown in FIG. 5, and first and second opposing fingers  46 A and  46 B of tool clamp  43 A of tool storage system  40 , as shown in FIG. 6.  
         [0052]    As seen in FIGS. 10 through 14, hydrostatic tool system  10  includes hydraulic coupler  70 . As shown in FIG. 17, hydraulic coupler  70  hydraulically communicates with hydraulic pump  73  for hydraulic fluid  35 . Referring to FIGS. 17 through 19, poppet actuator assembly  75  allows transfer of hydraulic fluid  35  from hydraulic pump  73  to and from hydrostatic tool holder  20 .  
         [0053]    Referring to FIGS. 17 through 19, hydraulic coupler  70  includes poppet actuator assembly  75  including poppet actuator  76  inserted within actuator cap  77 . As shown in FIG. 17, poppet actuator  76  is configured having stem  78  having center bore  79 . Stem  78  includes first orifice  80  which extends through a side wall of stem  78  at or near a first end of stem  78  and hydraulically communicating with center bore  79 . Stem  78  also includes second orifice  83  which extends through a side wall of stem  78  at or near a second end of stem  78  and hydraulically communicating with center bore  79 . Stem  78  extends longitudinally through seal  84  which seats in actuator cap  77 . Actuator cap  77  includes actuator cap center bore  87  including actuator cap seat  86  for receiving seal  84 .  
         [0054]    Referring to FIGS. 17 through 19, poppet actuator assembly  75  also includes hydraulic test point  90  including poppet valve  91  slideably disposed within test point housing  93 . Poppet valve  91  includes poppet valve spring  92  which biases poppet valve  91  towards a closed position. Hydraulic test point  90  is oriented such that poppet valve  91  opens against pressure exerted by poppet actuator stem  78  permitting passage of hydraulic fluid  35  past poppet valve  91 . Ninety degree elbow  94  is attached at the end of flexline  95  which attaches to an inlet end of test point housing  93 . Flexline  95  attaches at a second end to hydraulic pump  73  for hydraulic fluid  35 . Test point housing  93  threadedly engages actuator cap  77  and actuator cap  77  threadedly engages actuator cap housing  85 . As shown in FIGS. 10 and 12, actuator cap housing  85  attaches to arm  89 , which in turn is attached to and extends from head frame assembly  56  and moves in substantially vertical upward and downward travel along the Y axis with travel of lifting cylinder  53 . Referring to FIGS. 18 and 19, hydrostatic tool holder  20  is shown positioned on spindle  12  and hydraulic coupler  70  is shown together with the upper coupling portion of tool assembly  18 A, specifically, hydraulic fitting  32  of hydrostatic tool holder  20 .  
         [0055]    In the preferred embodiment of the invention, and referring to FIG. 20, system controller  100  includes processing device  110  and input  102 . Power source  103  provides power as needed to the various systems. System controller  100  operates and controls various functions, devices, assemblies and systems of hydrostatic tool system  10  including compressor  104 . System controller  100  controls selection of cutting tool assembly  18  by actuation of turret drive  45  and rotation of turret  41 . System controller  100  controls horizontal travel by actuation and control of horizontal travel actuator  52  and travel of carriage  51 , actuation and control of lifting cylinder  53  and clamping arm cylinder  57  and thereby the gripping articulation between the lower ends of lower sub-arms  67 A and  67 B when clamping arm cylinder  57  extends or retracts, and the raising and lowering of tool assembly  18  and hydraulic coupler  70 . System controller  100  also controls energization of hydraulic pump  73 , operation of spindle drive motor  13  and operation of any associated workpiece feed mechanism, (not shown). System controller  100  may be configured as a stand alone or a networked personal computing device.  
         [0056]    As previously mentioned, FIGS. 2 through 14 depict a sequence of the following steps involving the referenced assemblies and systems: tool assembly  18 A supported in tool storage system  40  for retrieval by tool transport system  50 , (FIGS. 2 through 4); tool assembly  18 A is held by first and second articulated clamping arms  60 A and  60 B for transport to spindle  12 , (FIGS. 5 through 7); and tool assembly  18 A placed on spindle  12  by tool transport system  50  (FIGS. 8 through 14).  
         [0057]    In operation, a plurality of cutting tool assemblies  18  are stored for selection and use at tool storage system  40 . Tool storage system  40  includes turret  41  mounted on turret shaft  42 . As seen in FIG. 6, turret  41  includes a plurality of tool clamps  43 A through  43 D attached to and extending from turret  41 . Tool storage system  40  is shown supporting tool assemblies  18 A,  18 B and  18 C in tool clamps  43 A,  43 B and  43 C. FIG. 1 shows rotary actuator  45  connected to turret shaft  42  for advancing turret  41  to a selected orientation to present a selected tool assembly  18  for pickup by tool transport system  50 , or a selected tool clamp  43 A through  43 D for placement or storage of tool assembly  18  by tool transport system  50 . Tool selection is made by controller  100 . Turret  41  is rotated by operation of turret drive  45  as required to position a selected cutting tool assembly  18  for picking and transport.  
         [0058]    Referring to FIG. 4, primary frame  55  is propelled along carriage  51  in an X axis towards tool storage system  40 . Referring to FIG. 2, tool transport system  50  has positioned first and second articulated clamping arms  60 A and  60 B directly above collar  23  of the selected cutting tool assembly  18 A.  
         [0059]    Referring to FIGS. 3 and 4, first and second articulated clamping arms  60 A and  60 B have achieved gripping articulation about collar  23  of the selected cutting tool assembly  18 A. Gripping articulation is achieved by first and second articulated clamping arms  60 A and  60 B by movement of clamping arm cylinder  57  in a downward direction. Clamp arm frame  59 , which is attached to clamping arm cylinder  57 , also moves in a downward direction relative to first and second head frame arms  63 A and  63 B applying a downward force to upper sub-arms  66 A and  66 B which are pivotably connected to lower sub-arms  67 A and  67 B at connector pivot points  58 A and  58 B (as shown in FIG. 6).  
         [0060]    Referring to FIGS. 5 through 7, once selected cutting tool assembly  18 A is grasped by first and second articulated clamping arms  60 A and  60 B, carriage  51  initiates movement away from turret  41 . Carriage  51  continues travel until cutting tool assembly  18 A is positioned over spindle  12  as shown in FIG. 7.  
         [0061]    Referring to FIGS. 8 and 9, cutting tool assembly  18 A is lowered along the Y axis and placed on spindle  12  by actuation of lifting cylinder  53 . As seen in FIG. 9, lifting cylinder  53  lowers and the connected head frame assembly  56  lowers as well, setting tool assembly  18 A on spindle  12 .  
         [0062]    Referring to FIGS. 10 through 12, head frame assembly  56  continues downward travel by operation of lifting cylinder  53  and hydraulic coupler  70  is moved into coupling engagement with hydraulic fitting  32  of cutting tool assembly  18 A.  
         [0063]    Referring to FIG. 18, hydraulic coupler  70  is shown engaging hydraulic fitting  32  of hydrostatic tool holder  20 . FIG. 18 is typical of coupling engagement for the purpose of either energizing or de-energizing hydrostatic tool holder  20 . Opposing ends of poppet actuator stem  78  act against hydraulic test point  33  and poppet valve  34  of hydrostatic tool holder  20  and poppet valve  91  of poppet actuator assembly  75  opening poppet valves  34  and  91  to permit flow of hydraulic fluid  35  from hydraulic pump  73  through hydraulic coupler  70  to hydrostatic tool holder  20 . As shown in FIG. 18, when hydraulic coupler  70  is engaged to hydraulic fitting  32  as shown, hydraulic communication is permitted between hydraulic pump  73  for hydraulic fluid  35 , shown in FIG. 17, and chamber  69  of hydrostatic coupler  20 , shown in FIG. 18, through first orifice  80 , second orifice  83  and center bore  79  of stem  78 .  
         [0064]    Following hydrostatic energization of hydrostatic tool holder  20 , hydraulic coupler  70  is lifted away from hydraulic fitting  32  of tool holder  20 , as shown in FIG. 19, by vertical up movement of lifting cylinder  53 , as shown in FIGS. 13 and 14. Gripping articulation between the lower ends of lower sub-arms  67 A and  67 B is released as clamping arm cylinder  57  moves vertically up, as shown in FIG. 13, releasing collar  23  of cutting tool assembly  18 A. First and second articulated clamping arms  60 A and  60 B lift away from collar  23  of cutting tool assembly  18 A as lifting cylinder  53  continues upward travel, as shown in FIGS. 13 and 14.  
         [0065]    Cutting tool assembly  18  is now ready for operation. A substantially reverse order operation is followed to remove, transport and store cutting tool assembly  18 . To de-energize hydrostatic tool holder  20 , hydraulic coupler  70  is moved into coupling engagement with hydraulic fitting  32  of hydrostatic tool holder  20 . As this occurs, the opposing ends of poppet actuator stem  78  act against poppet valve  34  of hydrostatic tool holder  20  and poppet valve  91  of poppet actuator assembly  75  opening valves  34  and  91 , permitting flow of hydraulic fluid  35  from the hydrostatic tool holder  20  through hydraulic coupler  70 .  
         [0066]    Referring to FIGS. 21 through 24, another preferred embodiment of hydrostatic tool system  210  is shown to advantage. Hydrostatic tool system  210  is nearly identical to hydrostatic tool system  10  as shown in FIG. 1, with the exception that motion of tool transport system  250  is rotational as opposed to linear. Referring to FIG. 21, it will be seen that hydrostatic tool system  210  includes tool assembly  218 , tool storage system  240 , tool transport system  250 , hydraulic coupler  270 , and system controller  206 . Hydrostatic tool system  210  also includes drive system  211  including spindle  212  connected to motor  213  by drive belt  214 . Drive system  211  may also include tensioner  215  for tensioning drive belt  214 .  
         [0067]    Tool storage system  240  is shown including turret  241 . As seen in FIG. 21, turret  241  is supported by and rotates on turret shaft  242 . Turret shaft  242  is supported by thrust bearings  246  and  247 . As seen in FIGS. 23 and 24, turret  241  includes a plurality of “dummy” spindles  243 A through  243 D attached to and extending from turret  241 . Preferably, dummy spindles  243 A through  243 D are undersized in circumference compared to spindle  212 , to permit ease of placement of a tool assembly on the dummy spindle. Rotary actuator  245  is connected to turret shaft  242  for advancing turret  241  to a selected orientation to present a selected tool assembly  218 A for removal from tool storage system  240  by tool transport system  250 . Referring to FIG. 23, tool assembly  218 A is shown supported on turret  241  located in position on “dummy” spindle  243 A. Pneumatic stop cylinder  248  provides a means for stopping rotation of turret  241  at the selected location.  
         [0068]    Referring to FIGS. 21 and 22, another preferred embodiment of tool transport system  250  is shown including carriage  251  to which primary frame  255  is attached. Carriage  251  is rotatable about a substantially vertical axis L, on shaft assembly  265 , by transport system rotary actuator  252 . Shaft assembly  265  is supported by thrust bearings  262  and  264 . Carriage  251  is rotatable from a first position wherein clamping arms  260 A and  260 B are positioned over tool storage system  240 , as seen in FIG. 23, and a second position wherein first and second articulated clamping arms  260 A and  260 B are positioned over spindle  212 , as seen in FIG. 24.  
         [0069]    In the embodiment shown, rotary actuator  245  for tool storage system  240  and transport system rotary actuator  252  are configured as a pneumatic rotary actuator of the double rack and pinion gear type.  
         [0070]    As shown in FIG. 22, tool transport system  250  also includes primary frame  255  connected to carriage  251 . Primary frame  255  supports lifting cylinder  253 . Head frame assembly  256  is attached to lifting cylinder  253  and is movable with the travel of lifting cylinder  253  along a Y axis. Clamping arm cylinder  257  is attached to head frame  261 . Clamping arm cylinder  257  supports clamp arm frame  259 . As seen in FIG. 21, tool transport system  250  also includes first and second articulated clamping arms  260 A and  260 B. In the embodiment shown, as with the previously described tool transport system  50 , FIGS. 1 through 14, gripping articulation between clamping arms  260 A and  260 B is achieved when clamping arm cylinder  257  travels down. Release of gripping articulation occurs when clamping arm cylinder  257  is actuated for travel in an upward direction.  
         [0071]    While this invention has been described with reference to the detailed embodiments, this is not meant to be construed in a limiting sense. Various modifications to the described embodiments as well as the inclusion or exclusion of additional embodiments will be apparent to persons skilled in the art upon reference to this description. It is therefore contemplated that the appended claims will cover any such modifications or embodiments as fall within the true scope of the invention.