A system for characterization of lumber is presented. The system includes a computing module having processor that generates a first fiducial to be printed on the lumber. The system includes an applicator module having a first printer that prints the first fiducial onto the lumber. The system includes a vision module having a camera that captures the first fiducial as printed on the lumber. The processor of the computing module determines lumber information based on a print distortion of the first fiducial as printed on the lumber. The first printer of the applicator module prints a label including the lumber information onto the lumber.
B41J 3/01 - Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for special character, e.g. for Chinese characters or barcodes
B41J 3/407 - Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
G01N 21/956 - Inspecting patterns on the surface of objects
2.
SYSTEMS AND METHODS FOR AUTOMATICALLY CHARACTERIZING LUMBER
A system for characterization of lumber is presented. The system includes a computing module having a processor that generates a first fiducial to be printed on the lumber. The system includes an applicator module having a first printer that prints the first fiducial onto the lumber. The system includes a vision module having a camera that captures the first fiducial as printed on the lumber. The processor of the computing module determines lumber information based on a print distortion of the first fiducial as printed on the lumber. The first printer of the applicator module prints a label including the lumber information onto the lumber.
G06K 1/12 - Methods or arrangements for marking the record carrier in digital fashion otherwise than by punching
G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation
G06K 7/14 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
Systems and methods for a fastener driving system are disclosed. The system includes a fastener driving tool configured to drive a fastener through a covering material and into an underlying framing member, where the fastener tool generates sound upon driving the fastener through the covering material. The system includes an acoustic transducer configured to capture the sound generated by the fastener driving tool. The system includes processing circuitry configured to analyze a frequency spectrum of the audio to generate a frequency spectrum analysis, based on the frequency spectrum analysis, determine whether the fastener hit or missed the underlying framing member, and generate an indication of the determination.
An autonomous system for supporting wooden members is presented. The autonomous system includes a mobile robot configured to lift, move, and position robotic jack stands on a working surface. The autonomous system also includes a robotic jack stand with electromagnets operable to demagnetize when the mobile robot lifts the robotic jack stand from the working surface and magnetize when the mobile robot positions the robotic jack stand onto the working surface. The robotic jack stand also includes a vise member with a stationary member and a sliding member. A first motor moves the vise member along an x direction, a pair of motors move the sliding member along an y direction, and a second motor rotates a portion of the robotic jack stand by an angle theta around a z direction. The autonomous system further includes a localization system to determine a spatial location of the robotic jack stand in reference to the x direction, the y direction, and the angle theta.
Systems and methods for a fastener driving system are disclosed. The system includes a fastener driving tool configured to drive a fastener through a covering material and into an underlying framing member, where the fastener tool generates sound upon driving the fastener through the covering material. The system includes an acoustic transducer configured to capture the sound generated by the fastener driving tool. The system includes processing circuitry configured to analyze a frequency spectrum of the audio to generate a frequency spectrum analysis, based on the frequency spectrum analysis, determine whether the fastener hit or missed the underlying framing member, and generate an indication of the determination.
An autonomous system for supporting wooden members is presented. The autonomous system includes a mobile robot configured to lift, move, and position robotic jack stands on a working surface. The autonomous system also includes a robotic jack stand with electromagnets operable to demagnetize when the mobile robot lifts the robotic jack stand from the working surface and magnetize when the mobile robot positions the robotic jack stand onto the working surface. The robotic jack stand also includes a vise member with a stationary member and a sliding member. A first motor moves the vise member along an x direction, a pair of motors move the sliding member along any direction, and a second motor rotates a portion of the robotic jack stand by an angle theta around a z direction. The autonomous system further includes a localization system to determine a spatial location of the robotic jack stand.
B23Q 7/04 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
B23Q 7/14 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
7.
SYSTEM AND METHOD FOR INSTALLING NAIL PLATES IN WOODEN STRUCTURES
An autonomous system for installing nail plates in wooden structures is provided. The system includes a C-clamp press attached to and be operated by a mobile robot. The C-clamp press includes a hydraulic cylinder operable to move a top plate relative to a stationary bottom plate; a coupler interposed between an end of the hydraulic cylinder and the top plate; a stationary bottom plate; a top magnetic plate attached to the top plate; and a bottom magnetic plate attached to the bottom plate. Each of the top and bottom magnetic plates are configured to hold a nail plate and to embed the nail plate into a wooden member of a wooden structure when the C-clamp press is operated by the mobile robotic arm. The system further includes a computer vision system and a pressure sensor.
An autonomous system for installing nail plates in wooden structures is provided. The system includes a C-clamp press attached to and be operated by a mobile robot. The C-clamp press includes a hydraulic cylinder operable to move a top plate relative to a stationary bottom plate; a coupler interposed between an end of the hydraulic cylinder and a the top plate; a stationary bottom plate; a top magnetic plate attached to the top plate; and a bottom magnetic plate attached to the bottom plate. Each of the top and bottom magnetic plates are configured to hold a nail plate and to embed the nail plate into a wooden member of a wooden structure when the C-clamp press is operated by the mobile robotic arm. The system further includes a computer vision system and a pressure sensor.
Systems and methods for automated cutting of lumber are disclosed. The system includes a loading module that receives lumber from a loading area and places the lumber on a cutting table. The system includes an actuating module that receives the lumber from the loading module, inspects the lumber, records lumber information based on the inspection, and positions the lumber on the cutting table in preparation for cutting. The system includes a sensor module that detects the position of the lumber on the cutting table, and records the position to the lumber information. The system includes a computing module that analyzes the lumber information received from the actuating module and sensor module. The system includes a cutting module that cuts the lumber based the lumber information, the cutting resulting in cut lumber. The system includes an unloading module that places the cut lumber on an unloading area.
B23D 59/00 - Accessories specially designed for sawing machines or sawing devices
B23D 47/04 - Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of devices for feeding, positioning, clamping, or rotating work
10.
Systems and methods for automated cutting of lumber
Systems and methods for automated cutting of lumber are disclosed. The system includes a loading module that receives lumber from a loading area and places the lumber on a cutting table. The system includes an actuating module that receives the lumber from the loading module, inspects the lumber, records lumber information based on the inspection, and positions the lumber on the cutting table in preparation for cutting. The system includes a sensor module that detects the position of the lumber on the cutting table, and records the position to the lumber information. The system includes a computing module that analyzes the lumber information received from the actuating module and sensor module. The system includes a cutting module that cuts the lumber based the lumber information, the cutting resulting in cut lumber. The system includes an unloading module that places the cut lumber on an unloading area.
B23D 59/00 - Accessories specially designed for sawing machines or sawing devices
B23D 47/04 - Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of devices for feeding, positioning, clamping, or rotating work
11.
SYSTEMS AND METHODS FOR THE AUTOMATED CUTTING OF LUMBER
Systems and methods for automated cutting of lumber are disclosed. The system (100) includes a loading module (102) that receives lumber (118) from a loading area (134) and places the lumber (118) on a cutting table (104). The system (100) includes an actuating module (106) that receives the lumber (118) from the loading module (102), inspects the lumber (118), records lumber information based on the inspection, and positions the lumber (118) on the cutting table (104) in preparation for cutting. The system (100) includes a sensor module (108) that detects the position of the lumber (118) on the cutting table (104), and records the position to the lumber information. The system includes (100) a computing module (110) that analyses the lumber information received from the actuating module (106) and sensor module (108). The system (100) includes a cutting module (112) that cuts the lumber (118) based the lumber information, the cutting resulting in cut lumber (120). The system (100) includes an unloading module (132) that places the cut lumber (120) on an unloading area (136).
B23D 59/00 - Accessories specially designed for sawing machines or sawing devices
B27B 31/00 - Arrangements for conveying, loading, turning, adjusting, or discharging the log or timber, specially designed for saw mills or sawing machines
12.
Systems and methods for stud plate connector movement
Systems and methods for a stud plate connector are disclosed. The system can include a base plate having a first cam slot and a second cam slot, where the second cam slot is approximately a mirror image of the first cam slot. The system can include a first upper cam-follower located within the first cam slot. The system can include a second upper cam-follower located within the second cam slot, where the first and second cam-followers hold opposite sides of a first lumber and move the first lumber to contact a second lumber. The system can include a first lower gripper and a second lower gripper for holding the second lumber in a perpendicular direction with respect to the first lumber. The system can include a bonding device located before to the first and second lumber, where the bonding device bonds the first and second lumber together.
B27M 3/00 - Manufacture or reconditioning of specific semi-finished or finished articles
B23Q 3/04 - Devices holding, supporting, or positioning, work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part adjustable in inclination
E04B 2/70 - Walls of framework or pillarworkWalls incorporating load-bearing elongated members with elongated members of wood
13.
SYSTEMS AND METHODS FOR A STUD PLATE CONNECTOR END EFFECTOR
Systems and methods for a stud plate connector end effector are disclosed. A system includes a first clamping gripper and a second clamping gripper configured to secure a first piece of lumber during a lumber joining process. An abutting gripper located perpendicular to the first and second clamping grippers is configured to secure a second piece of lumber during the lumber joining process. One end of the second piece of lumber is positioned in contact with the first piece of lumber. A fastening tool located on an opposite end from the abutting gripper is configured to attach the first and second pieces of lumber together. A vision system is configured to align the second piece of lumber to the first piece of lumber. The first, second and abutting grippers align the first and second pieces of lumber based on an alignment data from the vision system.
Techniques of automated framing for use in the construction of building structures are described. Examples of such structures includes walls, wall panels, roofs, and the like. In one scenario, a robotic automated framing system assists with construction of a building structure. The robotic automated framing system can analyze an architectural plan and determine a project, based at least in part, on the architectural plan. The robotic automated framing system can also schedule a robot to perform the project, and cause the robot to perform at least some of the project.
A method for automatic panel design and fabrication includes receiving a two-dimensional or three-dimensional architectural plan for a building, converting the architectural plan into a first data file that contains information about a location, length, and style of each wall included in the architectural plan, obtaining, from the first data file, a list of walls to automatically generate a second data file that contains a list of panels to be constructed for each of the list of walls, and generating a set of commands for each of panels in the list and transmitting the set of commands to a robotic builder, to allow the robotic builder to automatically build each of the panels in the list.
G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
A method for automatic panel design and fabrication includes receiving a two-dimensional or three-dimensional architectural plan for a building, converting the architectural plan into a first data file that contains information about a location, length, and style of each wall included in the architectural plan, obtaining, from the first data file, a list of walls to automatically generate a second data file that contains a list of panels to be constructed for each of the list of walls, and generating a set of commands for each of panels in the list and transmitting the set of commands to a robotic builder, to allow the robotic builder to automatically build each of the panels in the list.
G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
A method for automatic panel design and fabrication includes receiving a twodimensional or three-dimensional architectural plan for a building, converting the architectural plan into a first data file that contains information about a location, length, and style of each wall included in the architectural plan, obtaining, from the first data file, a list of walls to automatically generate a second data file that contains a list of panels to be constructed for each of the list of walls, and generating a set of commands for each of panels in the list and transmitting the set of commands to a robotic builder, to allow the robotic builder to automatically build each of the panels in the list.
G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
G05B 19/4093 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
G05B 19/4097 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
B23Q 3/08 - Work-clamping means other than mechanically-actuated
B25B 5/08 - Arrangements for positively actuating jaws using cams
Systems and methods for a stud plate connector are disclosed. The system can include a base plate having a first cam slot and a second cam slot, where the second cam slot is approximately a mirror image of the first cam slot. The system can include a first upper cam-follower located within the first cam slot. The system can include a second upper cam-follower located within the second cam slot, where the first and second cam-followers hold opposite sides of a first lumber and move the first lumber to contact a second lumber. The system can include a first lower gripper and a second lower gripper for holding the second lumber in a perpendicular direction with respect to the first lumber. The system can include a bonding device located before to the first and second lumber, where the bonding device bonds the first and second lumber together
Systems and methods for a stud plate connector are disclosed. The system can include a base plate having a first cam slot and a second cam slot, where the second cam slot is approximately a mirror image of the first cam slot. The system can include a first upper cam-follower located within the first cam slot. The system can include a second upper cam-follower located within the second cam slot, where the first and second cam-followers hold opposite sides of a first lumber and move the first lumber to contact a second lumber. The system can include a first lower gripper and a second lower gripper for holding the second lumber in a perpendicular direction with respect to the first lumber. The system can include a bonding device located before to the first and second lumber, where the bonding device bonds the first and second lumber together.
B27F 7/00 - Nailing or staplingNailed or stapled work
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
B23Q 3/08 - Work-clamping means other than mechanically-actuated
B25B 5/08 - Arrangements for positively actuating jaws using cams
Techniques of automated framing for use in the construction of building structures are described. Examples of such structures includes walls, wall panels, roofs, and the like. In one scenario, a robotic automated framing system assists with construction of a building structure. The robotic automated framing system can analyze an architectural plan and determine a project, based at least in part, on the architectural plan. The robotic automated framing system can also schedule a robot to perform the project, and cause the robot to perform at least some of the project.
Techniques of automated framing for use in the construction of building structures are described. Examples of such structures includes walls, wall panels, roofs, and the like. In one scenario, a robotic automated framing system assists with construction of a building structure. The robotic automated framing system can analyze an architectural plan and determine a project, based at least in part, on the architectural plan. The robotic automated framing system can also schedule a robot to perform the project, and cause the robot to perform at least some of the project.
Techniques of automated framing for use in the construction of building structures are described. Examples of such structures includes walls, wall panels, roofs, and the like. In one scenario, a robotic automated framing system assists with construction of a building structure. The robotic automated framing system can analyze an architectural plan and determine a project, based at least in part, on the architectural plan. The robotic automated framing system can also schedule a robot to perform the project, and cause the robot to perform at least some of the project.
Systems and methods for a stud plate connector end effector are disclosed. A system includes a first clamping gripper and a second clamping gripper configured to secure a first piece of lumber during a lumber joining process. An abutting gripper located perpendicular to the first and second clamping grippers is configured to secure a second piece of lumber during the lumber joining process. One end of the second piece of lumber is positioned in contact with the first piece of lumber. A fastening tool located on an opposite end from the abutting gripper is configured to attach the first and second pieces of lumber together. A vision system is configured to align the second piece of lumber to the first piece of lumber. The first, second and abutting grippers align the first and second pieces of lumber based on an alignment data from the vision system.
Systems and methods for a stud plate connector end effector are disclosed. A system includes a first clamping gripper and a second clamping gripper configured to secure a first piece of lumber during a lumber joining process. An abutting gripper located perpendicular to the first and second clamping grippers is configured to secure a second piece of lumber during the lumber joining process. One end of the second piece of lumber is positioned in contact with the first piece of lumber. A fastening tool located on an opposite end from the abutting gripper is configured to attach the first and second pieces of lumber together. A vision system is configured to align the second piece of lumber to the first piece of lumber. The first, second and abutting grippers align the first and second pieces of lumber based on an alignment data from the vision system.
Systems and methods for a stud plate connector end effector are disclosed. A system includes a first clamping gripper and a second clamping gripper configured to secure a first piece of lumber during a lumber joining process. An abutting gripper located perpendicular to the first and second clamping grippers is configured to secure a second piece of lumber during the lumber joining process. One end of the second piece of lumber is positioned in contact with the first piece of lumber. A fastening tool located on an opposite end from the abutting gripper is configured to attach the first and second pieces of lumber together. A vision system is configured to align the second piece of lumber to the first piece of lumber. The first, second and abutting grippers align the first and second pieces of lumber based on an alignment data from the vision system.
Prefabricated houses, buildings, and structures, not of metal; Non-metal building materials, namely, wall panels, floor trusses, and roof trusses being sub-assemblies of prefabricated houses, buildings, and structures; all the foregoing being fabricated using industrial automation
