End effector storage station

A method of securing in a horizontal and cantilevered position an end effector on an end effector transport and transporting said end effector to a remote location comprising:

• positioning with robotic positioning means an end effector with a longitudinal axis over an end effector holder mounted on an end effector transport, said transport being positioned in a transport cell in an end effector storage station, said transport cell comprising:
• a transport access means, transport positioning means to position said transport means into a predetermined location in space within said transport storage cell, and position sensors to sense said transport means is properly positioned within said transport storage cell;
• said end effector transport comprising:
• a movable carrier with a top surface, and a said end effector holder coupled to said carrier top surface, sensors' to detect said transport properly located in said transport storage cell;
• said end effector holder comprising:
• holding jaws that communicate with said end effector to hold said end effector in said horizontal and cantilevered position, said holding jaws further comprising vertical front faces,
• guides coupled to said holding jaws to linearly guide said holding jaws between an open release position and a closed holding position,
• mounting base, said guides being mounted to said mounting base,
• an opening mechanism coupled to said holding jaws to open said holding jaws along said guides,
• springs coupled to said holding jaws, said springs biased to said closed holding position,
• sensors to sense when said end effector is properly positioned relative to said holding jaws,
• travel limiters to limit travel of said holding jaws along said guides, said travel limiters further comprising an outside stop to stop said holding jaws from opening past a predetermined position, and an inside stop to stop said holding jaws from closing past a predetermined point along said guides,
• sensing with holding jaw sensors means said holding jaws in said open release position,
• positioning said end effector to a position between said holding jaws such that said end effector's longitudinal axis is normal to a plane formed by said vertical front faces of said holding jaws,
• closing said holding jaws with said springs such that support pins on said holding jaws communicate with support pin holes in said end effector,
• sensing with end effector sensors that said end effector is properly secured in a horizontal and cantilevered position relative to said holding jaws,
• separating said end effector from said robotic positioning means such that said end effector remains securely stored in said end effector holder mounted on said transport,
• positioning with said transport positioning means said movable carrier adjacent to said transport access means,
• moving said transport with said end effector secured thereto through said access means to a predetermined location.

An end effector storage station comprising:

• a storage station frame forming a plurality of end effector storage cells, each of said end effector storage cells positioned to allow access by a numerical controlled machine tool utilizing one or more types of end effectors, and
• end effector holders located in said storage cells to hold an end effector in a predetermined location in space and in a horizontal and cantilevered position, said end effector holders further comprising:
• a holding plate with a vertical leg and a horizontal leg, said vertical leg further comprising a cutout shaped to communicate with said end effector, a key shaped to communicate with said end effector, end effector retainers to secure said end effector in said cutout, and sensors to sense when said end effector is properly located in said cutout,
• a guide rail coupled to said storage station frame,
• holding plate translator coupled to said holding plate and said guide rail,
• a blocking mechanism to block said holding plate from translating past a predetermined position,
• position normalizing means to return said holding plate to a predetermined position from a displaced position which said holding plate is displaced to when said end effector is placed in said holding plate.

A method of securing in a horizontal and cantilevered position an end effector on an end effector transport and transporting said end effector to a remote location comprising:

• positioning with robotic positioning means an end effector with a longitudinal axis over an end effector holder mounted on an end effector transport and said transport being positioned in a transport cell in an end effector storage station, said transport cell comprising:
• a transport access means, transport positioning means to position said transport into a predetermined location in space within said transport cell, and position sensors to sense when said transport is properly positioned within said transport cell;
• said transport comprising:
• a movable carrier with a top surface, and a said end effector holder coupled to said carrier top surface;
• said end effector holding means comprising:
• a holding plate with a vertical leg and a horizontal leg, said vertical leg further comprising a cutout shaped to communicate with said end effector, a key shaped to communicate with said end effector, end effector retainers to secure said end effector in said cutout, and sensors to sense when said end effector is properly located in said cutout,
• a guide rail coupled to an end effector storage station, a holding plate translator coupled to said holding plate and said guide rail,
• a blocking mechanism to block said holding plate from translating past a predetermined position,
• position normalizing means to return said holding plate to a predetermined position from a displaced position which said holding plate is displaced to when said end effector is placed in said holding plate,
• positioning said end effector onto said end effector holder,
• securing with said end effector retaining said end effector on said end effector holder such that said end effector longitudinal axis is normal to said vertical leg,
• separating said end effector from said robotic positioning means such that said end effector remains securely stored,
• positioning with said transport positioning means in said transport cell said movable carrier adjacent to said transport access means,
• moving said transport with said end effector secured thereto through said access means to a predetermined location.

A method of storing an end effector in a horizontal and cantilevered position comprising:

• positioning with robotic positioning means an end effector with a longitudinal axis over an end effector holder, said end effector holder comprising:
• holding jaws that communicate with said end effector to hold said end effector in said horizontal and cantilevered position, said holding jaws further comprising vertical front faces,
• guides coupled to said holding jaws to linearly guide said holding jaws between an open release position and a closed holding position,
• a mounting base, said guides being mounted to said mounting base,
• an opening mechanism coupled to said holding jaws to open said holding jaws along said guides,
• springs coupled to said holding jaws, said springs biased to said closed holding position,
• end effector sensors to sense when said end effector is properly positioned relative to said holding jaws,
• travel limiters to limit travel of said holding jaws along said guides, said travel limiters further comprising an outside stop to stop said holding jaws from opening past a predetermined position, and an inside stop to stop said holding jaws from closing past a predetermined point along said guides,
• sensing with holding jaw sensors said holding jaws in said open release position,
• positioning said end effector to a position between said holding jaws such that said end effector's longitudinal axis is normal to a plane formed by said vertical front faces of said holding jaws,
• closing said holding jaws with said springs such that support pins on said holding jaws communicate with support pin holes in said end effector,
• sensing with said end effector sensors when said end effector is properly positioned in said holding jaws,
• separating said end effector from said robotic positioning means such that said end effector remains securely stored in said end effector holder in a horizontal and cantilevered position.

A method of storing an end effector in horizontal and cantilevered position comprising:

• positioning with robotic positioning means an end effector with a longitudinal axis over an end effector holder, said end effector holder comprising:
• a holding plate with a vertical leg and a horizontal leg, said vertical leg further comprising a cutout shaped to communicate with said end effector, a key shaped to communicate with said end effector, end effector retainers to secure said end effector in said cutout, and sensors to sense when said end effector is located in said cutout,
• a guide rail coupled to an end effector storage station, a holding plate translator coupled to said holding plate and said guide rail,
• a blocking mechanism to block said holding plate from translating past a predetermined position,
• position normalizing means to return said holding plate to a predetermined position;
• sensing with said sensors when said end effector is located on said end effector holder,
• setting said end effector onto said end effector holder such that said end effector communicates with said key,
• securing with said end effector retainers said end effector onto said end effector holder such that said end effector longitudinal axis is normal to said vertical leg,
• separating said end effector from said robotic positioning means, said end effector being securely stored in said end effector holder in a horizontal and cantilevered position.