Patent Description:
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 by 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. <CIT>, which is considered to form the basis for the preambles of claims <NUM> and <NUM>, discloses automatically positionable joints and transfer tooling assemblies including automatically positionable points.

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.

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 may be connected to the transfer bar for moving the transfer bar between predetermined positions. The manipulator may comprise a programmable robotic arm.

A central processing unit may communicate 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 may each have 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 may releasably connect each of the at least on one transforming tooling assembly to the end effector tool. The automated tool changing device may have a quick-change tooling receiver connected to each of the at least one transforming tooling assembly and a quick-change tooling adaptor connected to the end effector tooling wherein the quick-change tooling receiver and the quick-change tooling adaptor 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 may have 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 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 may further provide 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 adaptor connected to the end effector tooling wherein the quick-change tooling receiver and the quick-change tooling adaptor 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.

The present disclosure is best understood from the following detailed description when read in conjunction with the accompanying drawings.

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 <FIG>, the present disclosure provides a method and apparatus for an automated transforming tooling system <NUM> having an automatic tool changing device <NUM>. The automated transforming tooling system <NUM> may be utilized within an industrial stamping press (not shown), although the automated transforming tooling system <NUM> may be utilized in conjunction with any type of industrial operation. In the industrial stamping press, a workpiece <NUM> is stamped into progressive shapes and forms within at least one stamping press workstation <NUM> of the stamping press. The automated transforming tooling system <NUM> may be utilized in conjunction with at least one transfer press rail or bar <NUM> wherein at least one automated transforming tooling assembly <NUM> is connected to the transfer press rail <NUM>. The automated transforming tooling assembly <NUM> may be removably connected to end effector tooling <NUM> using the automatic tool changing device <NUM>. The end effector tooling <NUM> removably engages the workpiece <NUM> for transferring the workpiece <NUM> between the stamping press workstations <NUM> of the stamping press upon the transfer press rail <NUM> cyclically moving between adjacent stamping press workstations <NUM>. Although the present disclosure describes the automated transforming tooling system <NUM> and automated tooling changing device <NUM> 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 <NUM> 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 <NUM> for handling and transporting various shaped workpieces <NUM> between workstations <NUM>.

Following the nonlimiting example of a stamping press, the method and apparatus of the automated transforming tooling system <NUM> of the present disclosure may be utilized in conjunction with the stamping press, wherein the stamping press has consecutive and progressive stamping press workstations <NUM>. Each stamping press workstation <NUM> provides a stamping press die having a bottom press die <NUM> and a top press die (not shown). The bottom press die <NUM> has a configuration that complementarily receives the workpiece <NUM>. The workpiece <NUM> 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 <NUM> could be fabricated in different configurations and from different materials should the automated transforming tooling system <NUM> be utilized in conjunction with other industrial operations besides stamping. When the workpiece <NUM> is positioned in the bottom press die <NUM>, the top press die moves toward and presses against the workpiece <NUM> and the bottom press die <NUM> 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 <NUM> to stamp the desired shape into the workpiece <NUM>. The pressing of the top press die onto the workpiece <NUM> and the bottom press die <NUM> may occur once or numerous times until the desired shape of the workpiece <NUM> is obtained. Once the desired shape of the workpiece <NUM> is obtained for the particular stamping press workstation <NUM>, the workpiece <NUM> is then transferred to an adjacent stamping press workstation <NUM> wherein the workpiece <NUM> is again stamped in a similar manner as previously described. This process continues through consecutive and progressive stamping press workstations <NUM> until the final form of the workpiece <NUM> is obtained.

To shuttle the workpiece <NUM> between successive stamping press workstations <NUM>, automated transforming tooling assemblies <NUM> are connected to the at least one transfer press rail <NUM>. The position of the transfer press rail <NUM> may assume different configurations. For instance, in a nonlimiting disclosure, a tandem pair of the transfer press rails <NUM> may be substantially parallel and positioned on opposite sides of the bottom press die <NUM>, as shown in <FIG>, a single transfer press rail <NUM> may be mounted overhead of the bottom press die <NUM>, as shown in <FIG>, or a single transfer bar or transfer press rail <NUM> may be connected to a robotic manipulator <NUM> for three axis movement of the single transfer press rail <NUM> to and from the bottom press die <NUM>, as shown in <FIG>. In the configuration having the pair of transfer press rails <NUM>, each of the automated transforming tooling assemblies <NUM> are mounted on interior, opposing sides of the adjacent pair of the transfer press rails <NUM>. In the configuration have a single, overhead transfer press rail <NUM>, the transfer press tooling assemblies <NUM> are mounted on opposite sides of the single overhead transfer press rail <NUM>. In the configuration attached to the robotic manipulator <NUM>, the automated transforming tooling assemblies <NUM> may be mounted to the bottom <NUM> of the transfer press rail <NUM>. The automated transforming tooling assemblies <NUM> removably engage the workpiece <NUM>, and the transfer press rails <NUM> cycle or move the automated transforming tooling assemblies <NUM>, along with the workpiece <NUM>, between adjacent stamping press workstations <NUM>.

In order for the automated transforming tooling assemblies <NUM> to engage the workpiece <NUM> in a desired location on the workpiece <NUM>, the automated transforming tooling assemblies <NUM> have a base <NUM> that is fixedly connected to a side <NUM> of the transfer press rail <NUM> or the bottom <NUM> of the transfer press rail <NUM>. Electrical and pneumatic lines (not shown) may extend through and inside the transfer press rails <NUM>, <NUM> and connect to electrical and pneumatic fittings (not shown) in the base <NUM> of the automated transforming tooling assemblies <NUM>. Electric and pneumatic lines may extend through the automated transforming tooling assemblies <NUM> to the end effector tooling <NUM>. The electrical and pneumatic lines are connected to a supply of electrical power and pressurized air to provide the automated transforming tooling assemblies <NUM> and the end effector tooling <NUM> with the appropriate electrical and pneumatic power. Access to the electrical and pneumatic lines may be provided through access plates <NUM> and boxes <NUM> located on the outer sides <NUM> of the transfer press rail <NUM>.

To provide accurate positioning and strong support of the end effector tooling <NUM>, the automated transforming tooling assembly <NUM> provides a plurality of links or arms <NUM> that are rotatably connected at their ends by joints <NUM>, as similarly described in <CIT>. The links <NUM> and the joints <NUM> start at the base <NUM> and extend outward from the transfer press rail <NUM>, <NUM> where the automated transforming tooling assembly <NUM> is connected to the end effector tooling <NUM> for engaging the workpiece <NUM>. Each joint <NUM> is automatically positioned by a motor (not shown) that is disposed within and associated with each joint <NUM>. The motor provides rotational adjustment of the links <NUM> at the joints <NUM> to provide multi-axis positioning of the end effector tooling <NUM> at the end of the automated transforming tooling assembly <NUM>. In a nonlimiting disclosure, the automated transforming tooling assembly <NUM> has five links <NUM> and five motorized joints <NUM>, but the number of links <NUM> and joints <NUM> 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 <NUM> and the links <NUM> thereby providing a predetermined position of the end effector tooling <NUM>. Software may be utilized in conjunction with the CPU, programmable controller, or computer to provide predetermined coordinates or positioning of the links <NUM> and the joints <NUM> of the automated transforming tooling assembly <NUM> corresponding with the position of the end effector tooling <NUM> for each configured workpiece <NUM>. Since the joints <NUM> may be kept in the same position for a number of operation cycles, the joints <NUM> each include a releasable clutch (not shown) that is disengaged to allow adjustment of the joints <NUM> by using their respective motors, and then engaged to prevent movement at the joints <NUM> in between adjustments to its position. The automated transfer press tooling assemblies <NUM> allow for automatic positioning of the joints <NUM> thereby allowing the end effector tooling <NUM> to be accurately positioned at a predetermined position and held rigidly over a large number of operation cycles so that the end effector tooling <NUM> is placed with a high degree of precision. This accurate positioning of the automated transfer press tooling assemblies <NUM> allows for use of the automatic tooling changing device <NUM>, as will be described later, as well as the loading and unloading of the workpiece <NUM> to and from workstations <NUM>.

In order to change the end effector tooling <NUM> for various shapes and forms of workpieces <NUM>, the automatic tool changing device <NUM> provides for the automatic changing of the end effector tooling <NUM> on the free end of the automated transforming tooling assembly <NUM>. The automatic tool changing device <NUM> provides a quick-change tooling receiver <NUM> on the free end of the automated transforming tooling assembly <NUM> opposite the base <NUM>. The quick-change tooling receiver <NUM> releasably engages a quick-change tooling adaptor <NUM> on the end effector tooling <NUM> to allow the desired end effector tooling <NUM> to be engaged with the automated transforming tooling assembly <NUM> for the proper workpiece <NUM>. Since each different shaped workpiece <NUM> requires its own shaped stamping press dies, the bottom press die <NUM> is designed to hold and store the end effector tooling <NUM> required to engage the particular workpiece <NUM> associated with the stamping press die. Although the drawings of the present disclosure show the end effector tooling <NUM> being held and stored by the bottom press die <NUM>, it should be noted that the top press die may also or alternatively hold and store one or more of the end effector tooling <NUM>. Thus, when the stamping press dies are exchanged in the stamping press workstation <NUM> to produce a different shaped workpiece <NUM>, the end effector tooling <NUM> necessary to engage and secure the workpiece <NUM> by the automated transforming tooling assembly <NUM> is secured to or stored in the bottom press die <NUM> and/or the top press die. This allows the automated transforming tooling system tool <NUM> to engage the end effector tooling <NUM> upon the presentation of a new stamping press die in the stamping press workstation <NUM> of the stamping press.

The end effector tooling <NUM> may be stored in or secured to the workstation <NUM> using several different configurations. In the nonlimiting example of the stamping press application, a first embodiment of the automated tool changing device <NUM> as seen in <FIG>, wherein a substantially L-shaped bracket <NUM> has a long side <NUM> of the L-shaped bracket <NUM> connected to an outer surface of the bottom press die <NUM> such that a short side <NUM> of the L-shaped bracket <NUM> extends outward away from the bottom press die <NUM>. The short side <NUM> of the L-shaped bracket <NUM> has an open-ended slot <NUM> formed therein for receiving and holding a quick-change tooling adaptor <NUM> connected to the end effector tooling <NUM>. In a non-limiting disclosure, the short side <NUM> of the L-shaped bracket <NUM> defining the open-ended slot <NUM> may secure the quick-change tooling adaptor <NUM> on the end effector tooling <NUM> in the open-ended slot <NUM> by providing a friction fit, a snap fit, or a spring bias fit between the L-shaped bracket <NUM> and the quick-change tooling adaptor <NUM> on the end effector tooling <NUM>. The end effector tooling <NUM> need only be raised and lowered into the open-ended slot <NUM> when unloading and loading the end effector tooling <NUM> into the L-shaped bracket <NUM> on the bottom press die <NUM>. It should be noted that the workstation <NUM> is not limited to the bottom press die <NUM>, but rather, the L-shaped bracket <NUM> may be utilized in any type of workstation <NUM> for holding the end effector tooling <NUM>.

When the end effector tooling <NUM> is secured and stored by the L-shaped bracket <NUM>, the end effector tooling <NUM> is exposed outside of the bottom press die <NUM>. A pair of closed ended slots <NUM> are formed in the short side <NUM> of the L-shaped bracket <NUM> and are positioned on each side of the open-ended slot <NUM>, wherein the close ended slots <NUM> are open toward the transfer press rails <NUM>, <NUM>. The quick-change tooling receiver <NUM> mounted on the free end of the automated transforming tooling assembly <NUM> has a pair of locating rods <NUM> that extend along the sides of the quick-change tooling receiver <NUM> to engage the close ended slots <NUM> in the L-shaped bracket <NUM>. The closed ended slots <NUM> receive the locating rods <NUM> on the quick-change tooling receiver <NUM> to assist in positioning the quick-change tooling receiver <NUM> relative to the quick-change tooling adaptor <NUM> on the end effector tooling <NUM> stored on the L-shaped bracket <NUM>. The quick-change tooling adaptor <NUM> and the quick-change tooling receiver <NUM> have a male/female coupling such that the quick-change tooling receiver <NUM> and the quick-change tooling adaptor <NUM> can easily engage and disengage the end effector tooling <NUM> to and from the automated transforming tooling assembly <NUM>. In a non-limiting disclosure, the quick-change tooling receiver <NUM> and the quick-change tooling adaptor <NUM> may use any type of quick-change tooling means to engage and disengage the automated transforming tooling assembly <NUM> from the end effector tooling <NUM>, such as spring actuated, ball actuated, rotationally actuated, friction fit, snap fit, etc. In addition, the quick-change tooling receiver <NUM> and quick-change tooling adaptor <NUM> have electrical and pneumatic couplings that allow for electrical and pneumatic power to be transferred and supplied to the end effector tooling <NUM> from the automated press transfer tooling assembly <NUM>.

In a second embodiment of the automated tool changing device <NUM> as further seen in <FIG>, the end effector tooling <NUM> is secured and stored inside a recess <NUM> provided in the bottom press die <NUM>. The long side <NUM> of the L-shaped bracket <NUM> is connected to and disposed within the recess <NUM> of the bottom press die <NUM>, and the short side <NUM> of the L-shaped bracket <NUM> is exposed just outside the bottom press die <NUM>. The end effector tooling <NUM> is secured in the open-ended slot <NUM> in the short side <NUM> of the L-shaped bracket <NUM> as previously described such that the end effector tooling <NUM> is disposed within the recess <NUM> in the bottom press die <NUM> when not in use. The quick-change tool receiver <NUM> of the automated transforming tooling assembly <NUM> engages the quick-change tool adaptor <NUM> on the end effector tooling <NUM> in the same manner as previously described in the first embodiment of the automated tool changing device <NUM>. The recess <NUM> in the bottom press die <NUM> allows the end effector tooling <NUM> to be protected during transport and storage of the bottom press die <NUM>; however, the condition and type of the end effector tooling <NUM> cannot be viewed by the operator without removing the end effector tooling <NUM> from the recess <NUM> provided in the bottom press die <NUM>.

In a third embodiment of the automated tool changing device <NUM> wherein the transfer press rail <NUM> is mounted overhead of the bottom press die <NUM> as seen in <FIG>, the long side <NUM> of the L-shaped bracket <NUM> is connected to and mounted at an angle from an outer surface of the bottom press die <NUM>. The L-shaped brackets <NUM> extend inward toward the transfer press rail <NUM> so that the transfer press tooling assembly <NUM> can access the end effector tooling <NUM> stored on the L-shaped brackets <NUM>. The quick-change tool receiver <NUM> of the automated transforming tooling assembly <NUM> and the quick-change tool adaptor <NUM> of the end effector tooling <NUM> operates in the same manner as previously described in the first and second embodiments of the automatic tool changing device <NUM>.

As for the transfer press rail <NUM> being connected to a robotic manipulator <NUM> as shown in <FIG>, the end effector tooling <NUM> may be mounted to, held to, or stored in the bottom press die <NUM> in any of the manners described in the three embodiments noted above. Thus, the quick-change tool receiver <NUM> on the transfer press tooling assembly <NUM> of the transfer press rail <NUM> of the robotic manipulator <NUM> can access the quick-change tool adaptor117 of the end effector tooling <NUM> in the bottom press die <NUM> in any of the three embodiments noted above.

In operation, the automated transforming tooling system <NUM> may be utilized in conjunction with various types of manufacturing, assembling, and handling operations. In a nonlimiting disclosure, the workpiece <NUM> is loaded into the manufacturing, assembling, or handling operation, and the user inputs the particular model or configuration of the workpiece <NUM> into the CPU, programmable controller, or computer of the automated transforming tooling system <NUM>. Other means may be utilized to communicate the model or configuration of the workpiece <NUM> to the automated transforming tooling system <NUM> as noted below. The CPU, programmable controller, or computer then sends a positioning signal to the automated transforming tooling assemblies <NUM>. To move the automated transforming tooling assemblies to their desired position, the clutches of the joints <NUM> of the automated press transfer tooling assemblies <NUM> unlock, the motors in the joints <NUM> become actuated to synchronize the movement of the joints <NUM> and the links <NUM> to move and align the quick-change tooling receiver <NUM> at the free end of the automated transfer press tooling assemblies <NUM> with the quick-change tooling adaptor <NUM> of the end effector tooling <NUM>, and the joints <NUM> lock. The quick-change tooling receiver <NUM> engages the quick-change tooling adaptor <NUM> on the end effector tooling <NUM>, and the CPU, programmable controller, or computer then instructs the automated transforming tooling assemblies <NUM> to proceed in the same manner as noted above to the proper locations for allowing the end effector tooling <NUM> to engage the workpiece <NUM>. The end effector tooling <NUM> engages the workpiece <NUM> at predetermined locations on the workpiece <NUM>, and automated transforming tooling system <NUM> shuttles the workpiece <NUM> to the desired location. Once the workpiece <NUM> is properly placed into its destination, the end effector tooling <NUM> releases the workpiece <NUM>, and the automated transforming tooling system <NUM> cycles back to the previous workstation <NUM> or position wherein the end effector tooling <NUM> engages the next workpiece <NUM>. When it is time to produce a different model or differently shaped workpiece <NUM>, the operator instructs the CPU, programmable controller, or computer of the automated transforming tooling system <NUM> that a workpiece <NUM> change is required, and the CPU, programmable controller, or computer instructs the automated transforming tooling assemblies <NUM> to place the end effector tooling <NUM> back onto the tool changer <NUM>. The quick-change tooling receiver <NUM> disengages the quick-change tooling adaptor <NUM> on the end effector tooling <NUM> from the quick-change tooling adapter on the automated transforming tooling assemblies <NUM> in the disengaged position so as to allow the end effector tooling <NUM> to become disengaged from the automated transforming tooling assembly <NUM> when the end effector tooling <NUM> remains on the tool changer <NUM>. The cycle begins again by the automated transforming tooling assemblies moving to the end effector tooling <NUM> corresponding to the different workpiece <NUM>.

Claim 1:
An automated transforming tooling system (<NUM>) apparatus for shuttling a workpiece (<NUM>) to and from an industrial operation, comprising:
a workstation (<NUM>) for complementarily engaging and securing the workpiece (<NUM>);
at least one transfer bar positioned adjacent the workstation (<NUM>) and movable with respect to the workstation (<NUM>);
at least one automated transforming tooling assembly (<NUM>) connected to the at least one transfer bar wherein the at least one automated transforming tooling assembly (<NUM>) has a plurality of links adjustably connected by motorized joints (<NUM>) to automatically position the automated transforming tooling assembly (<NUM>) in a predetermined position; characterised in that the workstation (<NUM>) has at least one holder for removably securing the at least one end effector tool (<NUM>) to the workstation (<NUM>);
an automated tool changer (<NUM>) connected to a free end of each of the at least one automated transforming tooling assembly, and the automated tool changer (<NUM>) releasably engaging the at least one end effector tool (<NUM>) between a disengaged position, wherein the at least one end effector tool (<NUM>) is disengaged from the automated tool changer (<NUM>) and secured in the at least one holder of the workstation (<NUM>), and an engaged position, wherein the at least one end effector tool (<NUM>) is engaged by the automated tool changer (<NUM>) such that the at least one automated transforming tooling assembly (<NUM>) moves toward the workpiece (<NUM>) to allow the at least one end effector tool (<NUM>) to engage the workpiece (<NUM>) and move the workpiece (<NUM>) to and from the workstation (<NUM>) through the movement of the transfer bar.