Patent Publication Number: US-2023150146-A1

Title: Method and Apparatus for Automated Transforming Tooling Systems

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a continuation of U.S. patent application Ser. No. 16/747,253, filed on Jan. 20, 2020, which claims the benefit of U.S. Provisional Patent Application No. 62/793,977 filed on Jan. 18, 2019, the entire contents of all of which are herein incorporated by reference as if fully set forth in this description. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to automated transforming tooling systems, and more particularly, a method and apparatus for automated transforming tooling systems having automated tool changers that automatically adjust to different workpiece structures when shuttling workpieces to successive workstations. 
     BACKGROUND 
     In the manufacturing industry, such as the automotive industry, various manufacturing and assembly operations are performed on numerously configured workpieces. Such operation not only involve manufacturing and assembly operations being performed on the workpieces, but such operations also require handling and shuttling the workpieces between work stations. In one such example, sheet metal panels may be formed and shaped by stamping the sheet metal panels in stamping presses. The stamping presses typically include numerous, successive workstations that progressively stamp various shapes into the sheet metal panels until the workpiece reaches its final form. Each workstation of the stamping press provides a press die having a top and bottom press die. The bottom press die receives one or more workpieces in a complementary, supportive manner while the top press die is lowered onto the workpiece and the bottom press die with force to stamp a form or shape into the workpiece. The top press die may be lifted and lowered to engage the workpiece and the bottom press die numerous times until the final shape is formed into the workpiece. Once the desired shape of the workpiece is obtained for the particular stamping press workstation, the workpiece is moved to the next successive stamping press workstation where further forms and shapes are stamped into the workpiece. 
     Various automated handling and tooling designs have been developed to shuttle the workpieces between successive manufacturing and assembly workstations. For instance, in stamping presses, one or more transfer press bars or rails may be located adjacent to or overhead of the stamping press dies to move the workpieces between stamping press workstations. Automated manipulators, such as robotic arms, may also be utilized to shuttle the workpieces between stamping press workstations. Both transfer press bars and automated manipulators have tooling assemblies attached thereto wherein the tooling assemblies are designed to engage and disengage the workpieces for moving the workpieces between stamping press workstations. The transfer press bars are typically designed to cycle back and forth in dedicated vertical and horizontal directions such that the transfer press bars can transfer the workpieces between adjacent stamping press workstations. Automated manipulators may utilize multiple degrees of programmable movement for moving the workpieces between stamping press workstations. Either way, once the tooling assemblies engage the workpiece, the transfer press bars or the automated manipulators raise the workpiece from the bottom press die and move the workpiece to an adjacent stamping press workstation where the workpiece is loaded into the bottom press die. Once the tooling assemblies release the workpiece into the bottom press die, the transfer press bars or the automated manipulator cycle back to the previous stamping press workstation where the cycle begins again with the next workpiece. 
     In order to accommodate the many types of manufacturing and assembly operations, the tooling assemblies can take on many different configurations. In continuing with the stamping press example, the tooling assemblies may be connected to the transfer press bar or the automated manipulator at one end of the tooling assembly while having an end effector tool, such as a vacuum cup or a gripper, connected to the opposite end of the tooling assembly. The tooling assemblies are preferably designed with flexibility and adjustability in mind so that the tooling assemblies can adjust the position of the end effector tools to properly engage the workpiece. Previous tooling assemblies have utilized various sections of tubing interconnected by various rigid mounts for fixturing a variety of workpieces, but such designs typically provide little or no adjustment in the tooling assembly. Other designs have utilized extrusions, slide mounts, ball mounts, and serrated teeth thereby allowing the sections of the tubing to be adjusted in various directions, including linearly and radially. However, such designs have a limited amount of flexibility and range in that such designs typically only provide one degree or axis of adjustment. 
     Although the tooling assemblies may be adjusted to have their end effector tooling properly engage the workpiece, adjusting numerous tooling assemblies for a particular workpiece is a timely and tedious process. Thus, most tooling assemblies and their associated end effector tooling are commonly left in a predetermined position, such that when the stamping press dies are exchanged to form different shaped workpieces, the tooling assemblies and their end effector tooling are also exchanged for different positioned tooling assemblies and end effector tooling as opposed to adjusting the position of the same tooling assemblies and end effector tooling. Different positioned tooling assemblies and end effector tooling are then typically created for each shaped workpiece. The tooling assemblies are removably connected to the transfer rails or the automated manipulators to provide for simple and quick replacement of the tooling assemblies and the end effector tooling. However, since a different set of tooling assemblies and end effector tooling must be maintained for each differently shaped workpiece, numerous tooling assemblies and end effector tooling must be purchased, stored, and maintained, thereby creating inefficiencies in an industrial environment. 
     It would be desirable to provide an automated transforming tooling system that adjusted for any configuration of workpiece without having to purchase, store, and maintain multiple sets of prepositioned tooling assemblies and end effector tooling. 
     SUMMARY 
     The present disclosure provides an automated transforming tooling system apparatus for shuttling a workpiece to and from an industrial operation having a workstation for complementarily engaging and securing the workpiece. The workstation has at least one holder for removably securing at least one end effector tool to the workstation. At least one transfer bar is positioned adjacent the workstation and movable with respect to the workstation, and at least one automated transforming tooling assembly is connected to the at least one transfer bar wherein the at least one automated transforming tooling assembly has a plurality of links adjustably connected by motorized joints to automatically position the automated transforming tooling assembly in a predetermined position. An automated tool changer is connected to a free end of each of the at least one automated transforming tooling assembly, and the automated tool changer releasably engages the at least one end effector tool between a disengaged position, wherein the at least one end effector tool is disengaged from the automated tool changer and secured in the at least one holder of the workstation, and an engaged position, wherein the at least one end effector tool is engaged by the automated tool changer such that the at least one automated transforming tooling assembly moves toward the workpiece to allow the at least one end effector tool to engage the workpiece and move the workpiece to and from the workstation through the movement of the transfer bar. A manipulator is connected to the transfer bar for moving the transfer bar between predetermined positions. A central processing unit communicates with the at least one transforming tooling assembly, and the central processing unit controls the operation of the motorized joints to determine the position of the links. The at least one transforming tooling assembly each has clutches to lock and unlock the motorized joints from moving prior to, during, and after the movement of the motorized joints. An automated tool changing device releasably connects each of the at least on one transforming tooling assembly to the end effector tool. The automated tool changing device has a quick-change tooling receiver connected to each of the at least one transforming tooling assembly and a quick-change tooling adapter connected to the end effector tooling wherein the quick-change tooling receiver and the quick-change tooling adapter may releasably engage one another to releasably connect the end effector tooling to the at least one transforming tooling assembly. The at least one holder on the workstation has an L-shaped bracket with an open-ended slot for removably receiving and holding the end effector tooling. A recess is formed within the workstation wherein at least a portion of the L-shaped bracket is disposed within the recess. The manipulator may comprise a programmable robotic arm. 
     The present disclosure also provides an automated transforming tooling system method for shuttling a workpiece to and from an industrial operation. The method includes complementarily engaging and securing the workpiece to a workstation; securing at least one end effector tool in a holder connected to the workstation; movably positioning at least one transfer bar with respect the workstation; connecting at least one automated transforming tooling assembly to the at least one transfer bar wherein the at least one automated transforming tooling assembly has a plurality of links adjustably connected by motorized joints to automatically position the automated transforming tooling assembly in a predetermined position; connecting an automated tool changer to a free end of each of the at least one automated transforming tooling assembly, and releasably engaging the automated tool changer to the at least one end effector tool between a disengaged position, wherein the at least one end effector tool is disengaged from the automated tool changer and secured in the at least one holder of the workstation, and an engaged position, wherein the at least one end effector tool is engaged by the automated tool changer such that the at least one automated transforming tooling assembly moves toward the workpiece to allow the at least one end effector tool to engage the workpiece and move the workpiece to and from the workstation through the movement of the transfer bar. 
     The method further provides connecting a manipulator to the transfer bar for moving the transfer bar between predetermined positions; communicating signals from a central processing unit to the at least one transforming tooling assembly for controlling the operation of the motorized joints and determining the position of the links; providing the at least one transforming tooling assembly with clutches to lock and unlock the motorized joints from moving prior to, during, and after the movement of the motorized joints; releasably connecting an automated tool changing device to each of the at least on one transforming tooling assembly and to the end effector tool; the automated tool changing device having a quick-change tooling receiver connected to each of the at least one transforming tooling assembly and a quick-change tooling adapter connected to the end effector tooling wherein the quick-change tooling receiver and the quick-change tooling adapter may releasably engage one another to releasably connect the end effector tooling to the at least one transforming tooling assembly; providing the at least one holder on the workstation with an L-shaped bracket having an open-ended slot for removably receiving and holding the end effector tooling; forming a recess within the workstation wherein at least a portion of the L-shaped bracket is disposed within the recess; and providing a programmable robotic arm as the manipulator. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present disclosure is best understood from the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, according to common practice, the various features of the drawings are not to-scale. On the contrary, the dimensions of the various features are arbitrarily expanded or reduced for clarity. 
         FIG.  1    is a perspective view of an automated transforming tooling system having side transfer press rails with transforming tooling assemblies disengaged from the end effector tools and workpieces: 
         FIG.  2    is a perspective view of the automated transforming tooling system having side transfer press rails with the transforming tooling assemblies engaged with the end effector tools and workpieces; 
         FIG.  3    is a side perspective view of the transforming tooling assemblies and the end effector tools of the automated transforming tooling system; 
         FIG.  4    is a side plan view of the automated tool changing device of the automated transforming tooling system; 
         FIG.  5    is a perspective view of the automated transforming tooling system shown in  FIG.  1   ; 
         FIG.  6    is a perspective view of an automated transforming tooling system utilizing an overhead transfer press rail; 
         FIG.  7    is a perspective view of an automated transforming tooling system of  FIG.  6    utilizing an overhead transfer press rail with the transforming tooling assemblies engaging the end effector tools in the L-shaped brackets on the bottom press die; 
         FIG.  8    a perspective view of an automated transforming tooling system of  FIG.  6    utilizing an overhead transfer press rail with the transforming tooling assemblies disengaged from the end effector tools in the L-shaped brackets on the bottom press die; 
         FIG.  9    is a perspective view of the automated transforming tooling system on an overhead transfer rail with the tooling assemblies and end effector tools engaged with the workpieces; and 
         FIG.  10    is a perspective view of an automated transforming tooling system utilizing a transfer press rail connected to a robotic manipulator. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure provides an automated transforming tooling system method and apparatus to accommodate the manufacturing, assembling, and handling of variously configured workpieces for various types of industrial operations. Although the present disclosure references an automated transfer press assembly, the present disclosure is not limited to an automated transfer press assembly, but rather, the present disclosure may be utilized in conjunction with any manufacturing, assembling, or handling operation that benefits from the use of an automated transforming tooling system as provided in the present disclosure. 
     With reference to  FIGS.  1 - 10   , the present disclosure provides a method and apparatus for an automated transforming tooling system  100  having an automatic tool changing device  112 . The automated transforming tooling system  100  may be utilized within an industrial stamping press (not shown), although the automated transforming tooling system  100  may be utilized in conjunction with any type of industrial operation. In the industrial stamping press, a workpiece  106  is stamped into progressive shapes and forms within at least one stamping press workstation  102  of the stamping press. The automated transforming tooling system  100  may be utilized in conjunction with at least one transfer press rail or bar  108  wherein at least one automated transforming tooling assembly  110  is connected to the transfer press rail  108 . The automated transforming tooling assembly  110  may be removably connected to end effector tooling  114  using the automatic tool changing device  112 . The end effector tooling  114  removably engages the workpiece  106  for transferring the workpiece  106  between the stamping press workstations  102  of the stamping press upon the transfer press rail  108  cyclically moving between adjacent stamping press workstations  102 . Although the present disclosure describes the automated transforming tooling system  100  and automated tooling changing device  112  being utilized in an industrial stamping press, it should be noted that the present disclosure is not limited to industrial stamping presses or transfer presses, but rather, the automated transforming tooling system  100  could be utilized in any industrial environment or application where the present disclosure would be advantageous, such as industrial applications that require various positioning of the end effector tooling  114  for handling and transporting various shaped workpieces  106 . 
     The method and apparatus of the automated transforming tooling system  100  of the present disclosure may be utilized in conjunction with the stamping press, wherein the stamping press has consecutive and progressive stamping press workstations  102 . Each stamping press workstation  102  provides a stamping press die having a bottom press die  104  and a top press die (not shown). The bottom press die  104  has a configuration that complementarily receives the workpiece  106 . The workpiece  106  may be fabricated from sheet metal panels or other similar materials wherein the sheet metal panels can be configured and formed into a predetermined shape through the stamping process. However, it should be noted that the workpiece  106  could be fabricated in different configurations and from different materials should the automated transforming tooling system  100  be utilized in conjunction with other industrial operations besides stamping. When the workpiece  106  is positioned in the bottom press die  104 , the top press die moves toward and presses against the workpiece  106  and the bottom press die  104  with force which is commonly referred to as “stamping”. The top press die has a shape formed therein that complementarily engages the bottom press die  104  to stamp the desired shape into the workpiece  106 . The pressing of the top press die onto the workpiece  106  and the bottom press die  104  may occur once or numerous times until the desired shape of the workpiece  106  is obtained. Once the desired shape of the workpiece  106  is obtained for the particular stamping press workstation  102 , the workpiece  106  is then transferred to an adjacent stamping press workstation  102  wherein the workpiece  106  is again stamped in a similar manner as previously described. This process continues through consecutive and progressive stamping press workstations  102  until the final form of the workpiece  106  is obtained. 
     To shuttle the workpiece  106  between successive stamping press workstations  102 , automated transforming tooling assemblies  110  are connected to the at least one transfer press rail  108 . The position of the transfer press rail  108  may assume different configurations. For instance, in a non-limiting disclosure, a tandem pair of the transfer press rails  108  may be substantially parallel and positioned on opposite sides of the bottom press die  104 , as shown in  FIGS.  1 - 5   , a single transfer press rail  108  may be mounted overhead of the bottom press die  104 , as shown in  FIGS.  6 - 8   , or a single transfer bar or transfer press rail  140  may be connected to a robotic manipulator  142  for three axis movement of the single transfer press rail  140  to and from the bottom press die  104 , as shown in  FIG.  10   . In the configuration having the pair of transfer press rails  108 , each of the automated transforming tooling assemblies  110  are mounted on interior, opposing sides of the adjacent pair of the transfer press rails  108 . In the configuration have a single, overhead transfer press rail  108 , the transfer press tooling assemblies  110  are mounted on opposite sides of the single overhead transfer press rail  108 . In the configuration attached to the robotic manipulator  142 , the automated transforming tooling assemblies  110  may be mounted to the bottom  144  of the transfer press rail  140 . The automated transforming tooling assemblies  110  removably engage the workpiece  106 , and the transfer press rails  108  cycle or move the automated transforming tooling assemblies  110 , along with the workpiece  106 , between adjacent stamping press workstations  102 . 
     In order for the automated transforming tooling assemblies  110  to engage the workpiece  106  in a desired location on the workpiece  106 , the automated transforming tooling assemblies  110  have a base  116  that is fixedly connected to a side  119  of the transfer press rail  108  or the bottom  144  of the transfer press rail  140 . Electrical and pneumatic lines (not shown) may extend through and inside the transfer press rails  108 ,  140  and connect to electrical and pneumatic fittings (not shown) in the base  116  of the automated transforming tooling assemblies  110 . Electric and pneumatic lines may extend through the automated transforming tooling assemblies  110  to the end effector tooling  114 . The electrical and pneumatic lines are connected to a supply of electrical power and pressurized air to provide the automated transforming tooling assemblies  110  and the end effector tooling  114  with the appropriate electrical and pneumatic power. Access to the electrical and pneumatic lines may be provided through access plates  120  and boxes  122  located on the outer sides  124  of the transfer press rail  108 . 
     To provide accurate positioning and strong support of the end effector tooling  114 , the automated transforming tooling assembly  110  provides a plurality of links or arms  126  that are rotatably connected at their ends by joints  128 , as similarly described and incorporated by reference therein to U.S. Pat. No. 10,124,486. The links  126  and the joints  128  start at the base  116  and extend outward from the transfer press rail  108 ,  140  where the automated transforming tooling assembly  110  is connected to the end effector tooling  114  for engaging the workpiece  106 . Each joint  128  is automatically positioned by a motor (not shown) that is disposed within and associated with each joint  128 . The motor provides rotational adjustment of the links  126  at the joints  128  to provide multi-axis positioning of the end effector tooling  114  at the end of the automated transforming tooling assembly  110 . In a non-limiting disclosure, the automated transforming tooling assembly  110  has five links  126  and five motorized joints  128 , but the number of links  126  and joints  128  is not limiting. The motors may be controlled by a central processing unit (CPU), programmable controller, or a computer (not shown) to allow controlled positioning of the joints  128  and the links  126  thereby providing a predetermined position of the end effector tooling  114 . Software may be utilized in conjunction with the CPU, programmable controller, or computer to provide predetermined coordinates or positioning of the links  126  and the joints  128  of the automated transforming tooling assembly  110  corresponding with the position of the end effector tooling  114  for each configured workpiece  106 . Since the joints  128  may be kept in the same position for a number of operation cycles, the joints  128  each include a releasable clutch (not shown) that is disengaged to allow adjustment of the joints  128  by using their respective motors, and then engaged to prevent movement at the joints  128  in between adjustments to its position. The automated transfer press tooling assemblies  110  allow for automatic positioning of the joints  128  thereby allowing the end effector tooling  114  to be accurately positioned at a predetermined position and held rigidly over a large number of operation cycles so that the end effector tooling  114  is placed with a high degree of precision. This accurate positioning of the automated transfer press tooling assemblies  110  allows for use of the automatic tooling changing device  112 , as will be described later, as well as the loading and unloading of the workpiece  106  to and from the bottom press die  104  of the stamping press workstations  102 . 
     In order to change the end effector tooling  114  for various shapes and forms of workpieces  106 , the automatic tool changing device  112  provides for the automatic changing of the end effector tooling  114  on the free end of the automated transforming tooling assembly  110 . The automatic tool changing device  112  provides a quick-change tooling receiver  118  on the free end of the automated transforming tooling assembly  110  opposite the base  116 . The quick-change tooling receiver  118  releasably engages a quick-change tooling adapter  117  on the end effector tooling  114  to allow the desired end effector tooling  114  to be engaged with the automated transforming tooling assembly  110  for the proper workpiece  106 . Since each different shaped workpiece  106  requires its own shaped stamping press dies, the bottom press die  104  is designed to hold and store the end effector tooling  114  required to engage the particular workpiece  106  associated with the stamping press die. Although the drawings of the present disclosure show the end effector tooling  114  being held and stored by the bottom press die  104 , it should be noted that the top press die may also or alternatively hold and store one or more of the end effector tooling  114 . Thus, when the stamping press dies are exchanged in the stamping press workstation  102  to produce a different shaped workpiece  106 , the end effector tooling  114  necessary to engage and secure the workpiece  106  by the automated transforming tooling assembly  110  is secured to or stored in the bottom press die  104  and/or the top press die. This allows the automated transforming tooling assembly  110  to engage the end effector tooling  114  upon the presentation of a new stamping press die in the stamping press workstation  102  of the stamping press. 
     The end effector tooling  114  may be stored in or secured to the bottom press die  104  using several different configurations. In a first embodiment of the automated tool changing device  112  as seen in  FIGS.  1 - 4   , a substantially L-shaped bracket  130  has a long side  131  of the L-shaped bracket  130  connected to an outer surface of the bottom press die  104  such that a short side  133  of the L-shaped bracket  130  extends outward away from the bottom press die  104 . The short side  133  of the L-shaped bracket  130  has an open-ended slot  132  formed therein for receiving and holding a quick-change tooling adapter  117  connected to the end effector tooling  114 . In a non-limiting disclosure, the short side  133  of the L-shaped bracket  130  defining the open-ended slot  132  may secure the quick-change tooling adapter  117  on the end effector tooling  114  in the open-ended slot  132  by providing a friction fit, a snap fit, or a spring bias fit between the L-shaped bracket  130  and the quick-change tooling adapter  117  on the end effector tooling  114 . The end effector tooling  114  need only be raised and lowered into the open-ended slot  132  when unloading and loading the end effector tooling  114  into the L-shaped bracket  130  on the bottom press die  104 . 
     When the end effector tooling  114  is secured and stored by the L-shaped bracket  130 , the end effector tooling  114  is exposed outside of the bottom press die  104 . A pair of closed ended slots  134  are formed in the short side  133  of the L-shaped bracket  130  and are positioned on each side of the open-ended slot  132 , wherein the close ended slots  134  are open toward the transfer press rails  108 ,  140 . The quick-change tooling receiver  118  mounted on the end of the automated transforming tooling assembly  110  has a pair of locating rods  136  that extend along the sides of the quick-change tooling receiver  118  to engage the close ended slots  134  in the L-shaped bracket  130 . The closed ended slots  134  receive the locating rods  136  on the quick-change tooling receiver  118  to assist in positioning the quick-change tooling receiver  118  relative to the quick-change tooling adapter  117  on the end effector tooling  114  stored on the L-shaped bracket  130 . The quick-change tooling adapter  117  and the quick-change tooling receiver  118  have a male/female coupling such that the quick-change tooling receiver  118  and the quick-change tooling adapter  117  can easily engage and disengage the end effector tooling  114  to and from the automated transforming tooling assembly  110 . In a non-limiting disclosure, the quick-change tooling receiver  118  and the quick-change tooling adapter  117  may use any type of quick-change tooling means to engage and disengage the automated transforming tooling assembly  110  from the end effector tooling  114 , such as spring actuated, ball actuated, rotationally actuated, friction fit, snap fit, etc. In addition, the quick-change tooling receiver  118  and quick-change tooling adapter  117  have electrical and pneumatic couplings that allow for electrical and pneumatic power to be transferred and supplied to the end effector tooling  114  from the automated press transfer tooling assembly  110 . 
     In a second embodiment of the automated tool changing device  112  as further seen in  FIGS.  1 - 4   , the end effector tooling  114  is secured and stored inside a recess  138  provided in the bottom press die  104 . The long side  131  of the L-shaped bracket  130  is connected to and disposed within the recess  138  of the bottom press die  104 , and the short side  133  of the L-shaped bracket  130  is exposed just outside the bottom press die  104 . The end effector tooling  114  is secured in the open-ended slot  132  in the short side  133  of the L-shaped bracket  130  as previously described such that the end effector tooling  114  is disposed within the recess  138  in the bottom press die  14  when not in use. The quick-change tool receiver  118  of the automated transforming tooling assembly  110  engages the quick-change tool adapter  117  on the end effector tooling  114  in the same manner as previously described in the first embodiment of the automated tool changing device  112 . The recess  138  in the bottom press die  104  allows the end effector tooling  114  to be protected during transport and storage of the bottom press die  104 ; however, the condition and type of the end effector tooling  114  cannot be viewed by the operator without removing the end effector tooling  114  from the recess  138  provided in the bottom press die  104 . 
     In a third embodiment of the automated tool changing device  112  wherein the transfer press rail  108  is mounted overhead of the bottom press die  104  as seen in  FIGS.  6 - 9   , the long side  131  of the L-shaped bracket  130  is connected to and mounted at an angle from an outer surface of the bottom press die  104 . The L-shaped brackets  130  extend inward toward the transfer press rail  108  so that the transfer press tooling assembly  110  can access the end effector tooling  114  stored on the L-shaped brackets  130 . The quick-change tool receiver  118  of the automated transforming tooling assembly  110  and the quick-change tool adapter  117  of the end effector tooling  114  operates in the same manner as previously described in the first and second embodiments of the automatic tool changing device  112 . 
     As for the transfer press rail  140  being connected to a robotic manipulator  142  as shown in  FIG.  10   , the end effector tooling  114  may be mounted to, held to, or stored in the bottom press die  104  in any of the manners described in the three embodiments noted above. Thus, the quick-change tool receiver  118  on the transfer press tooling assembly  110  of the transfer press rail  140  of the robotic manipulator  142  can access the quick-change tool adapter  117  of the end effector tooling  114  in the bottom press die  104  in any of the three embodiments noted above. 
     In operation, the automated transforming tooling system  100  may be utilized in conjunction with various types of manufacturing, assembling, and handling operations. In a non-limiting disclosure, the workpiece  106  is loaded into the manufacturing, assembling, or handling operation, and the user inputs the particular model or configuration of the workpiece  106  into the CPU, programmable controller, or computer of the automated transforming tooling system  100 . Other means may be utilized to communicate the model or configuration of the workpiece  106  to the automated transforming tooling system  100  as noted below. The CPU, programmable controller, or computer then sends a positioning signal to the automated transforming tooling assemblies  110 . The joints  128  of the automated press transfer tooling assemblies  110  unlock, the motors in the joints  128  become actuated to synchronize the movement of the joints  128  and the links  126  to move and align the quick-change tooling receiver  118  at the free end of the automated transfer press tooling assemblies  110  with the quick-change tooling adapter  117  of the end effector tooling  114 , and the joints  128  lock. The quick-change tooling receiver  118  engages the quick-change tooling adapter  117  on the end effector tooling  114 , and the CPU, programmable controller, or computer then instructs the automated transforming tooling assemblies  110  to proceed in the same manner as noted above to the proper locations for allowing the end effector tooling  114  to engage the workpiece  106 . The end effector tooling  114  engages the workpiece  106  at predetermined locations on the workpiece  106 , and automated transforming tooling system  100  shuttles the workpiece  106  to the desired location. Once the workpiece  106  is properly placed into its destination, the end effector tooling  114  releases the workpiece  106 , and the automated transforming tooling system  100  cycles back to the previous workstation  102  or position wherein the end effector tooling  114  engages the next workpiece  106 . When it is time to produce a different model or differently shaped workpiece  106 , the operator instructs the CPU, programmable controller, or computer of the automated transforming tooling system  100  that a workpiece  106  change is required, and the CPU, programmable controller, or computer instructs the automated transforming tooling assemblies  110  to place the end effector tooling  114  back onto the tool changing device  112  wherein the cycle begins again. 
     As a further example of the method and apparatus in operation, the automated transforming tooling system  100  may be utilized in conjunction with a stamping press die loaded into a stamping press workstation  102  of a stamping press assembly in order to stamp a particular workpiece  106  as previously described. Regardless of the embodiment, each bottom press die  104  die has the necessary end effector tooling  114  mounted to the L-shaped brackets  130  to shuttle the respective workpiece  106  to the successive stamping press workstations  102 . The user inputs the particular model of the workpiece  106  into the CPU, programmable controller, or computer of the automated transforming tooling system  100 . Other non-limiting means may be used to communicate the model of the workpiece  106  to the CPU, programmable controller, or computer, such as having a microprocessor chip (not shown) or bar code (not shown) placed on the bottom press die  104  wherein a microprocessor reader or bar code scanner, respectfully, identifies the particular workpiece  106  and communicates the same to the CPU, programmable controller, or computer of the automated transforming tooling system  100 . Once the CPU, programmable controller, or computer is aware of the model of the workpiece  106  and the bottom press die  104  that is loaded into the stamping press workstation  102  of the stamping press, the CPU, programmable controller, or computer sends a positioning signal to the automated transforming tooling assemblies  110 . The joints  128  unlock, the motors in the joints  128  of the automated press transfer tooling assemblies  110  become actuated to synchronize the movement of the joints  128  and the links  126  to move and align the quick-change tooling receiver  118  at the free end of the automated transfer press tooling assemblies  110  with the quick-change tooling adapter  117  of the end effector tooling  114  mounted on the bottom press die  104 , and the joints  128  then lock. The quick-change tooling receiver  118  engages the quick-change tooling adapter  117  on the end effector tooling  114 , and the CPU, programmable controller, or computer then instructs the automated transforming tooling assemblies  110  to proceed to the proper locations for allowing the end effector tooling  114  to engage the workpiece  106 . Movement of the automated transforming tooling assemblies  110  occur in the same manner as previously described. The end effector tooling  114  then engages the workpiece  106  at predetermined locations on the workpiece  106 , and the transfer press rail(s)  108 ,  140  begin to cycle or move by rising upward away from the bottom press die  104  thereby raising the automated transforming tooling assemblies  110  on the transfer press rail(s)  108 ,  140  and lifting the workpiece  106  from the bottom press die  104 . Once the workpiece  106  is clear from the bottom press die  104 , the transfer press rail(s)  108 ,  140  indexes or moves horizontally to an adjacent stamping press workstation  102  where the next successive stamping operation will occur. The transfer press rail(s)  108 ,  140  positions the workpiece  106  over the bottom press die  104  of the adjacent stamping press workstation  102 , and the transfer press rail(s)  108 ,  140  lowers the workpiece  106  into the bottom press die  104  of the adjacent stamping press workstation  102 . Once the workpiece  106  is properly placed on the bottom press die  104 , the end effector tooling  114  releases the workpiece  106 , and the transfer press rail(s)  108 ,  140  cycles back to the previous stamping press workstation  102  wherein the end effector tooling  114  engages the next workpiece  106 . When it is time to produce a different model or differently shaped workpiece  106 , the operator instructs the CPU, programmable controller, or computer of the automated transforming tooling system  100  that a stamping press die change is required, and the CPU, programmable controller, or computer instructs the automated transfer press tooling assemblies  110  to place the end effector tooling  114  back onto the L-shaped brackets  130  of the bottom press die  104 . Once the end effector tooling  114  is secured to the L-shaped brackets  130  of the bottom press die  104 , the bottom press die  104  is removed from the stamping press workstation  102 , and a different bottom press die  104  is loaded into the stamping press workstation  102  wherein the cycle begins again. 
     While the disclosure has been made in connection with what is presently considered to be the most practical and preferred embodiment, it should be understood that the disclosure is intended to cover various modifications and equivalent arrangements.