Abstract:
The invention is a quick connect coupling apparatus in the form of a test module for use in a robotic work performing application which accomplishes testing of an end effector in an offline location such that the integrity of each pneumatic circuit can be independently verified and any pneumatic components found leaking may be replaced at the offline location rather than result in downtime during production use.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
   Not applicable. 
   FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
   Not applicable. 
   REFERENCE TO A SEQUENCE LISTING 
   Not applicable. 
   BACKGROUND OF THE INVENTION 
   1. Field of the Invention 
   This invention is related to a quick connect coupling apparatus and, more particularly to a quick connect coupling test apparatus for quickly connecting and/or disconnecting a tool or the like to or from a robot arm and to test the functioning of the tools attached to the robotic arm. 
   2. Description of the Prior Art 
   With the use of industrial robots flexible automated tooling systems have become an indispensable part of modern manufacturing. Whether assembling automotive vehicles, kitchen appliances, or computers, flexible automated tooling systems incorporating robots perform many manufacturing tasks tirelessly in hostile environments, and with high precision and repeatability. In particular, robots have found great utility in machining and welding operations for building automobile bodies, engines, chassis and drive train components. Flexible automated tooling is particularly helpful in sheet metal stamping operations where large automotive body panels must be moved through sequential stamping operations accurately and rapidly. 
   In many manufacturing applications, flexible automated tooling utilizing robots are programmed to accomplish a variety of tasks. For example, in automotive manufacturing operations, a robot may be utilized to manipulate parts through various machining operations such as grinding, cutting, shaping, or welding of metals. Specifically, in automotive vehicle body building operations, robots, using quick disconnect couplers with attached tooling, are used to move larger workpieces from station to station in stamping operations and to convey welding tools to various locations or into different orientations so that different tasks may be accomplished. In applications where different tooling needs to be used for the different parts being manufactured on the same production line, a quick disconnect coupler tool changer is used to mate different tools to the robot arm. One half of the tool changer, called the master or base module, is permanently affixed to a robot arm. The other half, referred to as a tool module or end effector, is fixed to each tool that the robot is programmed to utilize. The variety of tool modules that are required for a robot to perform these various tasks are generally stored on a tool rack or stand which is located off-line near the robot so that the robot can be programmed to make the appropriate tool changes and adapt the correct tool for the specific manufacturing task, as required. 
   In instances where a robot is programmed to repeatedly perform a single task, it is possible to manually change the tool mounted on the robot during down time of the production line as the robot is being reprogrammed to perform a new task. However, in the performance of a sequence of tasks, the manual change of tools is not efficient and the robot must therefore be enabled to automatically switch tools between sequential manufacturing runs. Even in instances where the robot is programmed to repeatedly perform a single task, the various parts traveling down the production line may change and accordingly, the robot is required to obtain a new end effector in order to enable the robot to perform its tasks on this new part. 
   Various tool mounts or connectors have been developed for mounting the master module to the tool module. The locking of the tool module to the master module is accomplished through various means. For example, some tool mounts use ball members, others spring members. Still, others utilize radial actuation rods or arc shaped locking members. In order for the robot to change tools and perform another function, the robotic arm places a coupled tool module member and its attached tool in a tool support rack containing a plurality of tool modules, having attached tooling to perform different functions, and disengages the locking mechanism which locks the tool module to the master module. The robotic arm then backs the master module away from the first tool module and then moves into registry with another tool module member with its associated tool member attached, located on the same tool support rack. Once the robotic master module is correctly aligned with the new tool module, the robotic arm moves the master module into engagement with the new tool module member and locks the tool module securely to the master module. The robot then removes the assembled master and tool modules from the tool support rack and into proper orientation to perform work by the attached tool on the workpiece. 
   Both master modules and tool modules include a plurality of pneumatic tubes and passages to secure the various connections between the source of power and the electrical and pneumatic components that utilize the power source. With all of these connections having to be verified secure, in order for the system to operate correctly, maintenance is always required to the various electrical and pneumatic components to maintain the secure connections. A slight variation in alignment can seriously damage the pneumatic feed nozzles or seals that form the pneumatic connection between the master or base module and the tool module. In some applications, to ensure a good seal between the pneumatic components, deep sockets on one member that receive protruding pneumatic nozzles on the opposite member are required so as to properly seal the pneumatic passages between the robotic arm and the tool module. Further, electrical connections must also be verified secure in order to provide power to the various tools attached to the tool module. Therefore, the robotic arm must move the base module in a very precise linear motion in order to effect the connection and disconnection when changing the tool module or end effectors. Any twisting or rolling of the tool module member would result in damage to the internal electrical components or pneumatic feed nozzles or seals, resulting in malfunctioning of the tool attached to the tool module. The accuracy demands require careful programming of the motion of the robot. Further, any hysteresis in the equipment motion, slight movement of the rack used to support the tool carrier member, or slight variance can result in improper alignment of the tool mount and damage the electrical components or pneumatic connections between the master module and tool module, again, resulting in partial or complete failure of the functioning of the end effector and its associated tooling. 
   With the electrical and pneumatic connections having to be verified secure, in order for the flexible automated tooling to function properly, maintenance is always required to insure the security of the connections in view of the hostile environment, as well as the precise alignments required in order to connect the master and tool modules. Naturally, any form of maintenance that will reduce the production rate is unacceptable. Accordingly, what is required is an off-line test procedure to verify the integrity of the electrical and/or pneumatic connections and feed passages of the various end effectors and associated tooling without interfering with the production capacity of the flexible automation system. 
   SUMMARY OF THE INVENTION 
   The invention is a quick connect test coupling apparatus which is intended to be used off-line to test the integrity of the seals, as well as to test the functionality of the attached tool, connection tubes, lines, pneumatic nozzles, sockets or electrical connections on quick connect coupling tool modules for robotic applications. 
   The invention is a test module which has been manufactured to replicate the physical characteristics of the master module in the actual manufacturing operation. The test module consists of a base member or locating plate which incorporates on one end face at the center thereof, a locking mechanism in order to lock the base member to the tool module. The preferred embodiment shows a locking arrangement with the use of three ball members locking into an undercut groove in the tool module, but could just as easily be spring members or arc shaped locking members. Since the locking features of the master module to the tool module could be accomplished through various means, it is intended that the test module also utilizes complimentary features to those of the tool module. Accordingly, the test module of the present invention has at the center thereof, a hand operated threaded shaft having at one end thereof a circular disk with a tapered peripheral surface which is attached to the shaft that is driven downwards by a hand knob attached to the threaded shaft. As the threaded shaft is turned clockwise, the balls move rapidly outward, in a ball cage, transverse to the axis of the threaded shaft to lock three ball members into an undercut groove of the tool module. At the periphery of the locating plate are a plurality of pneumatic feed inlets which are arranged to compliment the pneumatic passages bored through the tool module. The pneumatic feed inlets are surrounded by circular seals and through internal passages interconnect the pneumatic feed inlets with a source of power which is used to actuate the end effector or tools attached to the tool module. Each passage includes individual shutoff valves for isolating each pneumatic circuit. The number of circuits used will be a function of the application. Accordingly, the various applications may demand as many as ten (10) or more separate circuits while some applications may only utilize half such circuits in order to accomplish the desired function of the tool attached to the tool module. In addition, some of the passage connections can provide power for electrical connections to operate the tool attached to the tool module. 
   The hand knob at the upper face of the locating plate or base member is turned clockwise and through the threaded shaft located in the base member lowers the tapered disk, at the opposite end thereof, against the ball members so as to force the ball members in a radially outwardly direction and lock into the undercut grooves of the tool module. This action locks the two members together and simultaneously brings the circular seal surrounding each of the pneumatic inlets in line with the respective seats on the tool module to seal thereagainst so as create a sealed passage from the base member to the tool itself attached to the tool module. To test each of the pneumatic circuits the locating plate is attached to a source of air which can create a vacuum and is controlled by the use of a shutoff valve located on the top surface of the locating plate or base member. Each of the individual pneumatic circuits has its own independent shutoff valve mounted on the surface of the base member. As set forth above, each of the pneumatic circuits used can be individually isolated through the use of the individual shutoff valve located on the top surface of the locating plate. To assist in the proper orientation of the test module with the tool module, two tapered locator pins are found on either side of the locking arrangement so as to ensure proper alignment between the test module and the tool module when the test module is attached to the tool module and thereby ensure proper alignment and sealing of the circular seals of each of the pneumatic inlets with the circular seats circumscribing the passages through the tool module. 
   Once the test module is attached to the tool module, each individual circuit can be tested individually by placing all of the shutoff valves to a closed position. Since the circuits are numbered, their number is associated with the specific end effector on the tool and accordingly, in order to test the sealing status of the nozzles, tubing, as well as pneumatic cups each circuit is opened one at a time and a gauge can be used in each circuit to determine the value of the vacuum that is drawn as each of the individual shutoff valves are opened so that the sealing status of each of the pneumatic circuits can be individually determined. If the circuit has lost some sealing capacity, it is readily evident from the absolute value of the vacuum that is read for each circuit and therefore the seals in the circuit or connections thereof can be easily checked and corrected to maintain the appropriate vacuum on each of the vacuum cups of the tool. It is understood that although the preferred embodiment selected utilizes an attached tool that is referred to as a pick and place end effector, the invention proposes to test the functionality of the flexible automated tooling regardless of the type of tool attached as an end effector. For example, if a grinder is used the test module can be used to test the functionality of the grinder. Should fingers be used, as the tool, the test module can test the proper functioning of the fingers or determine whether any excessive wear has occurred and requires a tool change due to excessive wear. In other words, the use of a pick and place application using vacuum cups is not to be considered a limitation on the type of end effector tool with which the test module could be used to verify the proper functionality of the flexible automated tooling associated with robotic end effectors. 
   As a result of the ability to isolate each of the circuits of the quick connect coupling, the integrity of each pneumatic circuit as well as the functionality of the attached tool is easy to check while the tool module with the appropriate tools attached thereto is located on the tool support rack located adjacent and within reach of the robot. 
   It is an object of the present invention to provide a tool module for a quick connect coupling which will at all times be free from leaks and be able to determine the functionality of the end effector tool when the tool module is attached to the master module of the robot to accomplish its work function efficiently during the manufacturing of workpieces. 
   It is still another object of the present invention to provide a simple and quick verification of all of the functional features of a tool module for a quick connect/disconnect coupling and ensures that such features will be accomplishable efficiently and effectively without any leaks in any of the pneumatic components or malfunctions of the attached end effector tool. 
   It is still another object of the present invention to provide a robot end effector that reduces the maintenance cost of a quick connect coupling and is more reliable thus reducing down time of a manufacturing line. 
   It is yet a further object of the present invention that the electrical and pneumatic connections of the tool module of a quick disconnect coupling as well as the function of the end effector tool itself can be properly tested without interfering with the flexible automation tooling of the robotic application along a production line. 
   These objects and other features, aspects, and advantages of this invention will be more apparent after a reading of the following detailed description, appended claims, and accompanying drawings. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIG. 1  is a side view of a programmable robotic Flexible Automation Station illustrating the tool support rack and wherein the robot has attached one of the three different pick and place tools for performing work on various parts; 
       FIG. 2  is a fragmentary perspective view of a robot arm having a tool module of a quick connect/disconnect tool changer with the test module connected to the tool module to verify the integrity of each component, i.e. seals, connecting tubes, electrical connections, etc. of each tool function; 
       FIG. 3  is a plan view of one face of a typical tool module against which a test module is intended to be mounted; 
       FIG. 4  is a perspective view illustrating the top face of the test module of the invention; 
       FIG. 5  is a perspective view illustrating the opposing or bottom face of the test module of the invention; and 
       FIG. 6  is a plan view of the bottom face of the test module with the seals surrounding each pneumatic inlet and the locking mechanism (ball cage) details removed in order to illustrate the internal fluid passages. 
   

   DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     FIG. 1  illustrates a typical flexible automation work station  10  as may be used in a wide variety of manufacturing applications. The specific configuration of connectors, actuators, linkages, and the like are made very broadly depending upon the application and the particular design of the robot. Generally, the robot consists of a base  12  and an arm  14  that is supported by the base  12  through a series of connecting linkages  16 . Secured to the terminal end of the arm  14  is a quick connect/disconnect tool changer or coupler  18 . The quick connect/disconnect tool changer  18  includes a pair of mating modules, a master or base module  20 , and a tool module  22 . The master module  20  is adapted to be secured to the terminal end of the arm  14  while the tool module  22  is adapted to be coupled to the master module  20  when in use, and typically includes a tool or end effector  24 , such as in this preferred embodiment of a pick and place mechanism shown in  FIG. 1 . It is understood that although the preferred embodiment selected utilizes an attached tool  24  that is referred to as a pick and place end effector, the invention proposes to test the functionality of the flexible automated tooling regardless of the type of tool  24  attached as an end effector  24 . For example, if a grinder is used the test module can be used to test the functionality of the grinder. Should fingers be used, as the tool  24 , the test module can test the proper functioning of the fingers or determine whether any excessive wear has occurred and requires a tool change due to excessive wear. In other words, the use of a pick and place application using vacuum cups is not to be considered a limitation on the type of end effector or tool  24  with which the test module could be used to verify the proper functionality of the flexible automated tooling associated with robotic end effectors  24 . The robot may accommodate a variety of tools  24  with each tool  24  having its own individual tool module  22  secured thereto and wherein each of the individual tool modules  22  are adapted to connect to the master module  20  supported on the terminal end of the arm  14 . 
   Quick connect/disconnect tool changers or couplers  18  increase the versatility of flexible automation. Any manufacturing operation wherein a change of tooling is contemplated can take advantage of quick connect/disconnect tool changers or couplers  18  to increase the efficiency of the operation. In the preferred embodiment such versatility permits the robots to be utilized to perform a variety of manufacturing operations. Quick connect/disconnect tool changers  18 , in addition to mechanically coupling various tools  24  to arms  14 , additionally supply utilities from the robot to the tool  24  attached as an end effector  24  to the arm  14 . The utilities may include electrical power, pressurized air, hydraulic fluid, control and communication signals, and the like. According to the present invention, as illustrated in  FIG. 1 , the robot is adapted to provide a source of pressure so as to enable the creation of a vacuum (not shown) available at the flexible automation work station  10  and convey that source of pressure through the quick connect/disconnect tool changer  18  to the pick and place mechanism to enable the tool  24  to pick up a workpiece and carry that workpiece to a work performing station (not shown) located near the robot. If the end effector  24  requires power the source of power can also be conveyed through the quick connect/disconnect tool changer  18  and to the end effector or tool  24 . After the work has been performed, in the preferred embodiment, the tool  24  picks up the workpiece and the robot loads it on a conveyor to carry it to the next workstation. In other applications, the quick connect/disconnect tool changer  18  may include electrical contacts designed, arranged, and selectively mated so as to effectively transfer an electrical current from the master module  20  to the tool module  22  and the tool  24 . Since the invention is limited to a test module for verifying the functionality of the end effector tooling and in the preferred embodiment the integrity of the seals of the various fluid ports and connections for transferring fluid to the tool, i.e. vacuum cups, the remaining disclosure will be specific to the application of attaching a pneumatic tool which only utilizes a source of pressure. Such disclosure is not intended to be limiting since it has been herein above that a person skilled in the art can apply the features of the invention to any end effector to test the functionality thereof. 
   In such application, the robot will be directed to a specific location to, by the use of a vacuum, pick up a workpiece, and transfer the workpiece to a workstation where work will be performed on the workpiece. The robot is thereafter again programmed to lift the workpiece on which work has been performed and carry the workpiece to the next operation or perhaps to a conveying line which will carry the workpiece to a subsequent operation for additional work to be performed on the workpiece. 
   As indicated above, different parts may be conveyed and handled on the same line. Therefore, to accommodate the various changes in parts, a staging or tool support rack  30  is mounted within the vicinity of the robot such that when different parts are conveyed, the robot can be programmed to deposit on the tool support rack  30 , the current tool  24  attached to the tool module  22  and master module  20 , uncouple this current tool module  22  and associated tool  24  and then move the master module  20  attached to the arm  14  to another tool  26  or  28  located on the tool support rack  30  in order to attach and pick up the tool module  22  with a different tool  26  or  28  attached so that the newly attached tool module  22  and associated tool  26  or  28  can be used to perform work on a different part that is programmed to be conveyed along the production line to perform work thereon. 
   As can be understood by a person skilled in the art, the environment in which this robotic application operates is quite hostile. The importance of the newly attached tool module  22  and associated tool  26  or  28  functioning properly when it is programmed to be attached to the arm  14  is vital. Any malfunction whatsoever as a result of prior damage to the seals, the vacuum cups or associated lines can result in improper placement of the new part to be conveyed for work to be performed on the part. Further, misalignment of parts could result in the production of scrap. Accordingly, it is of utmost importance that the seals, associated electrical or fluid lines, and vacuum suction cups  68  on each of the pick and place mechanisms at all times function properly in order to produce parts within acceptable tolerance variations. 
   As shown in  FIGS. 2-6 , the invention is a test module  31  for a quick connect coupling which is intended to function the same as the master module  20  while the tools  24 ,  26 ,  28  are mounted on the tool support rack  30  so as to enable testing of the various vacuum suction cups  68  on each tool  24 ,  26 ,  28  during such time when the tool  24 ,  26 ,  28  is not in use. With the various pneumatic sealed connections between the arm  14 , master module  20 , tool module  22 , as well as each tool  24 ,  26 ,  28 , in a hazardous environment, any of these connections are subject to damage as a result of malfunction of any piece of equipment associated with the flexible automation work station  10 , work performing devices or conveyor equipment. Such damage could create a loss of vacuum to any one of the vacuum suction cups  68  associated with the tool  24 ,  26 ,  28 . Accordingly, the test module  31  has been manufactured to connect with a tool module  22  not in use by the robot and functions to test for any leaks in the pneumatic circuits in the tool module  22  and associated seals, connecting tubes or vacuum cups. 
   The test module  31  consists of a base member or locating plate  32  having a top end face  34  and bottom end face  36  which, at the center of the locating plate  32 , is a locking mechanism  38  to lock the test module  31  to the tool module  22 . The nature of the locking mechanism  38  that is used is not necessarily pertinent since the locking of the tool module  22  to the master module  20  as pointed out in the prior art, can be accomplished through the use of ball members, spring members, radial actuation rods, or arc shaped locking members. Accordingly, any one of these means could be used in the invention providing it securely locks the test module  31  to the tool module  22 . 
   In the preferred embodiment, a ball and groove locking mechanism  38  is shown which provides for a threaded screw  40  mounted through the locating plate  32  of the test module  31  having attached thereto, at one end thereof, a hand knob  42  with the opposite end being attached to a cylindrical disk  44  having a 45 degree circumferentially chamfered edge  45  along its peripheral edge. The cylindrical disk  44  extends from the bottom end face  36  of the locating plate  32  and is surrounded by a ball cage  46  mounted to the bottom end face  36  of the locating plate  32 . The ball cage  46  has three ball windows  48  in which are located three roller balls circumferentially located at 120 degrees from each other. The three roller balls communicate with the 45 degree circumferentially chamfered edge  45  of the cylindrical disk  44  so that when the hand knob  42  is turned clockwise, the three roller balls travel radially outward to lock into an undercut groove  52  in the tool module  22  as shown in  FIG. 3 . Turning the hand knob  42  counter clockwise allows the three roller balls to move radially inwards within the three ball windows  48  to unlock the test module  31  from the tool module  22 . To assist in proper alignment of the test module  31  with the tool module  22 , upon assembly, two tapered locator pins  54  extend from the bottom end face  36 . These two tapered locator pins  54  are aligned with two alignment holes  56  in the tool module  22  to insure proper alignment when the test module  31  and tool module  22  are assembled. Proper alignment is important to avoid damage to the seals surrounding the pneumatic feed inlets  58  in the locating plate  32  as is discussed hereinafter. 
   Along the periphery of the locating plate  32  is a plurality of pneumatic feed inlets  58  which are arranged to compliment the pneumatic passages  60  of the tool module  22  shown in  FIG. 3 . Here again, the number of pneumatic feed inlets  58  will vary as a function of the work performed by the tool  24 ,  26 ,  28  attached to the tool module  22 . In the case of the preferred embodiment each pair of vacuum suction cups  68  would normally be in communication with an individual pneumatic feed inlet  58 . The pneumatic feed inlets  58  are surrounded by circular resilient seals  62  mounted on the bottom end face  36  of the locating plate  32  and through internal passages  64  in the locating plate  32 , as shown in  FIG. 6 , interconnect the pneumatic feed inlets  58  with the inlet port  66  which is connected to the source of power or pressure (not shown) so as to provide a sealed alignment between the test module  31  and the tool module  22 . The internal passages  64  required to connect the pneumatic feed inlets  58  together, as well as to the source of pressure are internal to the locating plate  32 , as clearly shown in  FIG. 6 . These internal passages  64  have been bored into the locating plate  32  so as to isolate each of the feed circuits for the vacuum suction cups  68  that are found on the tool  24 ,  26 ,  28 . This is accomplished by providing a permanent seal  70  at the end of each internal passage  64  where the internal passage  64  intersects with the outer periphery of the locating plate  32 . Directly in communication with these internal passages  64 , is the inlet port  66  for a source of pressure (not shown). A standard air hose coupler  72  is mounted in the inlet port  66  to attach to the source of pressure (not shown). 
   A shutoff valve  74  communicates with the internal passage  64  so as to enable control of the source of pressure between the various circuits in the test module  31 . Also, each of the active circuits of the test module  31  are equipped with its own shutoff valve  76  to enable isolation of each individual circuit for test purposes. 
   When it is desired to test the integrity of all pneumatic passages  60  including the seals as well as the functionality of the attached tool  24 ,  26 ,  28 , the test module  31  is aligned by the use of the tapered locator pins  54  with a tool module  22  located on the tool support rack  30  and attached thereto by turning the hand knob  42  clockwise which locks the test module  31  to the tool module  22 . Upon establishing the locked connection, a source of pressure is attached to the standard air hose coupler  72  screwed into the inlet port  66  of the locating plate  32 . The shutoff valve  74 , is placed in a closed position to avoid any fluid transfer to any of the pneumatic circuits within the test module  31 . All of the shutoff valves  76  to each of the individual circuits are placed in a closed position prior to the testing. After the test module  31  is locked to the tool module  22 , the circular resilient seals  62  of each circuit are in sealed contact with the seats  80  made in the pneumatic passages  60  of the tool module  22 . Each individual circuit can be independently tested by simply opening the shutoff valve  74  and one at a time opening and closing each shutoff valve  76  for each independent circuit and obtain a reading for the vacuum present within each circuit and at the tool  24 ,  26 ,  28 , i.e. vacuum suction cup  68 . A vacuum gauge may be used within each circuit individually or a baffle may be used to cover each of the vacuum suction cups  68  mounted on the tool  24 ,  26 ,  28  and a reading can be made by a vacuum gauge attached to the tool  24 ,  26 ,  28  to determine whether any of the nozzles, seals, pneumatic tubing, or pneumatic cups have developed a leak as a result of damage or build-up of dirt on a seal which may interfere with the specified vacuum that should be found within each individual circuit. This can also be checked by placing a baffle across the opening of each of the vacuum suction cups  68  on the tool  24 ,  26 ,  28  and by the use of a vacuum gauge mounted near the inlet port  66  or anywhere within the sealed internal passages  64 . Any loss of pressure within an individual circuit can quickly be corrected by isolating the source of the pressure leak and by replacing any seal between the tool  24 ,  26 ,  28  and the test module  31 , or the tubing connections between the tool module  22  and the actual tool  24 ,  26 ,  28  whereat the vacuum is generated using a venturi for each individual vacuum suction cup  68  or set of vacuum suction cups  68 . If a noticeable drop in vacuum occurs, the function of the end effector  24 ,  26 ,  28  will be detrimentally affected and the tool  24 ,  26 ,  28  can either be sent to the tool room for repair or a quick fix can be made when the tool  24 ,  26 ,  28  is on its tool support rack  30  and not in use by the robot. After obtaining an acceptable vacuum reading within a circuit or when the end effector  24 ,  26 ,  28  again performs its functional purpose, the shutoff valve  76  is closed and the process is repeated for a separate pneumatic circuit and associated end effector  24 ,  26 ,  28 . 
   After sequentially checking each of the pneumatic circuits, by closing each shutoff valve  74 ,  76  for the test module  31  and one at a time opening and closing each shutoff valve  74 ,  76  the integrity of the tool or end effector  24 ,  26 ,  28  for each circuit of the tool  24 ,  26 ,  28  can be quickly verified to ensure that the tool  24 ,  26 ,  28  is ready to perform its function the next time that the robot is programmed to use it. Accordingly, the test module  31  provides a simple and convenient means to determine the sealing status of each of the pneumatic circuits as well as the functionality of each end effector or tool  24 ,  26 ,  28  while not in use so as to insure that there will be no leak in the pneumatic circuits of the tool  24 ,  26 ,  28  or malfunction of the end effector  24 ,  26 ,  28  when the robotic application is programmed to use the tool  24 ,  26 ,  28 . The use of the test module  31  guarantees that a tool  24 ,  26 ,  28  will always be functioning properly within the specification limits to allow the robot to accomplish the work on the specific parts that are conveyed along the production line. The test module  31  ensures that there will be no down time or interruption of the production line as a result of damage or malfunction of the end effector  24 ,  26 ,  28  or with anyone of the pneumatic components associated with the various tools  24 ,  26 ,  28  that are stored on the tool support rack  30 . 
   It is understood that the above is a description of the preferred embodiment of the invention and that various modifications and improvements may be made without departing from the spirit of the invention disclosed herein. The scope of protection afforded is to be determined by the claims which follow.