Automatic tool head placement and assembly apparatus for a boring machine

A method for replacing a tool head on a machine, comprising:

• using a multi-axis arm of a robot to lift a first tool head-adapter assembly from a magazine, the first tool head-adapter assembly including the tool head and an adapter, wherein the multi-axis arm of the robot includes a robot end effector, and wherein the robot end effector grips the adapter of the first tool head-adapter assembly;
• using the multi-axis arm of the robot to move and rotate the first tool head-adapter assembly along multiple axes of rotation to attach the first tool head-adapter assembly to an end of a drill tube;
• using the multi-axis arm of the robot, attaching a bushing to the end of the drill tube before attaching the first tool head-adapter assembly to the drill tube;
• rotating and longitudinally translating the drill tube to machine a workpiece;
• withdrawing the first tool head-adapter assembly from the workpiece longitudinally by moving the drill tube;
• locating the first tool head-adapter assembly with the multi-axis arm;
• gripping the adapter with the robot end effector;
• and
• using the multi-axis arm of the robot to move and rotate the first tool head-adapter assembly along multiple axes to disconnect the first tool head-adapter assembly, replace the first tool head-adapter assembly into the magazine, and withdraw a second tool head-adapter assembly from the magazine for attachment to the drill tube.