Automated end effector component reloading system for use with a robotic system

A method for automatically replacing a spent end effector operably coupled to a manipulatable robotic tool portion of a robotic system with a new end effector, said method comprising:

• orienting an automated reloading system within a work envelope of the manipulatable robotic tool portion, the automated reloading system comprising:
• a drive assembly configured to generate rotary drive motions;
• a selectively movable support assembly defining a plurality of reloading positions, each reloading position being configured to support a new end effector or a spent end effector therein, the selectively movable support assembly further configured to selectively serially move each reloading position into a driving position wherein the new end effector or the spent end effector therein is configured to selectively receive the rotary drive motions from the drive assembly;
• and
• means for releasably locking the movable support assembly in the driving position and wherein said method further comprises:
• supporting at least one new end effector in less than all of the reloading positions in the movable support assembly;
• moving the movable support assembly into a driving position wherein an empty one of the reloading positions is located adjacent the drive assembly;
• releasably locking the movable support assembly in the driving position;
• activating the robotic system to move the manipulatable robotic tool portion to locate the spent end effector in the empty one of the reloading positions in the driving position;
• actuating the drive assembly to apply a detachment drive motion to the spent end effector in the driving position to detach the spent end effector from a corresponding portion of the manipulatable robotic tool portion;
• moving the movable support assembly into another driving position wherein one of the reloading positions supporting a new end effector therein is located adjacent the drive assembly;
• reactivating the robotic system to move the corresponding portion of the manipulatable robotic tool portion into loading engagement with the new end effector supported in the another driving position;
• and
• actuating the drive assembly to apply an attachment drive motion to the new end effector to operably couple the new end effector to the corresponding portion of the manipulatable robotic tool portion.