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 - Machines à écrire ou mécanismes d'impression ou de marquage sélectif caractérisés par le but dans lequel ils sont construits pour caractères particuliers, p. ex. pour caractères chinois ou codes-barres
B41J 3/407 - Machines à écrire ou mécanismes d'impression ou de marquage sélectif caractérisés par le but dans lequel ils sont construits pour le marquage sur des matériaux particuliers
G01N 21/956 - Inspection de motifs sur la surface d'objets
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 - Méthodes ou dispositions pour marquer les supports d'enregistrement sous la forme numérique autrement que par poinçonnage
G06K 7/10 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation électromagnétique, p. ex. lecture optiqueMéthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire
G06K 7/14 - Méthodes ou dispositions pour la lecture de supports d'enregistrement par radiation électromagnétique, p. ex. lecture optiqueMéthodes ou dispositions pour la lecture de supports d'enregistrement par radiation corpusculaire utilisant la lumière sans sélection des longueurs d'onde, p. ex. lecture de la lumière blanche réfléchie
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.
G01H 17/00 - Mesure des vibrations mécaniques ou des ondes ultrasonores, sonores ou infrasonores non prévue dans les autres groupes de la présente sous-classe
B27F 7/00 - Clouage ou agrafageÉléments cloués ou agrafés
6.
SYSTEM AND METHOD FOR SUPPORTING WOODEN MEMBERS DURING INSTALLATION OF NAIL PLATES IN WOODEN STRUCTURES
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 - Agencements pour la manipulation des pièces, spécialement combinés aux machines-outils ou disposés dans ces machines ou spécialement conçus pour être utilisés en relation avec ces machines, p. ex. pour le transport, le chargement, le positionnement, le déchargement, le triage au moyen de pinces
B23Q 7/14 - Agencements pour la manipulation des pièces, spécialement combinés aux machines-outils ou disposés dans ces machines ou spécialement conçus pour être utilisés en relation avec ces machines, p. ex. pour le transport, le chargement, le positionnement, le déchargement, le triage coordonnés pour permettre un travail en chaîne
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 - Dispositifs annexes spécialement conçus pour les machines à scier ou les dispositifs de sciage
B23D 47/04 - Machines à scier ou dispositifs de sciage travaillant au moyen de lames circulaires, caractérisés uniquement par la structure d'organes particuliers des dispositifs d'alimentation, de mise en place, de serrage ou de rotation de la pièce
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 - Dispositifs annexes spécialement conçus pour les machines à scier ou les dispositifs de sciage
B23D 47/04 - Machines à scier ou dispositifs de sciage travaillant au moyen de lames circulaires, caractérisés uniquement par la structure d'organes particuliers des dispositifs d'alimentation, de mise en place, de serrage ou de rotation de la pièce
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 - Dispositifs annexes spécialement conçus pour les machines à scier ou les dispositifs de sciage
B27B 31/00 - Aménagements pour transporter, charger, tourner, centrer ou décharger la grume ou le bois spécialement conçus pour les scieries ou les machines à scier
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 - Fabrication ou remise en état d'articles particuliers semi-finis ou finis
B23Q 3/04 - Dispositifs permettant de maintenir, supporter ou positionner les pièces ou les outils, ces dispositifs pouvant normalement être démontés de la machine destinés à être montés sur une table, un chariot porte-outil ou des organes analogues à inclinaison réglable
E04B 2/70 - Murs avec ossature d'encadrement ou poteletsMurs comportant des pièces allongées supportant la charge avec pièces allongées en bois
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 - Conception architecturale, p. ex. conception architecturale assistée par ordinateur [CAAO] relative à la conception de bâtiments, de ponts, de paysages, d’usines ou de routes
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 - Conception architecturale, p. ex. conception architecturale assistée par ordinateur [CAAO] relative à la conception de bâtiments, de ponts, de paysages, d’usines ou de routes
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 - Conception architecturale, p. ex. conception architecturale assistée par ordinateur [CAAO] relative à la conception de bâtiments, de ponts, de paysages, d’usines ou de routes
G05B 19/4093 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par la programmation de pièce, p. ex. introduction d'une information géométrique dérivée d'un dessin technique, combinaison de cette information avec l'information d'usinage et de matériau pour obtenir une information de commande, appelée programme de pièce, pour la machine à commande numérique [CN]
G05B 19/4097 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de données de conception pour commander des machines à commande numérique [CN], p. ex. conception et fabrication assistées par ordinateur CFAO
G06F 30/00 - Conception assistée par ordinateur [CAO]
E04C 2/00 - Éléments de construction de relativement faible épaisseur pour la construction de parties de bâtiments, p. ex. matériaux en feuilles, dalles ou panneaux
18.
SYSTEMS AND METHODS FOR STUD PLATE CONNECTOR MOVEMENT
B23P 19/04 - Machines effectuant simplement l'assemblage ou la séparation de pièces ou d'objets métalliques entre eux ou des pièces métalliques avec des pièces non métalliques, que cela entraîne ou non une certaine déformationOutils ou dispositifs à cet effet dans la mesure où ils ne sont pas prévus dans d'autres classes pour assembler ou séparer des pièces
B23Q 3/08 - Moyens de fixation de la pièce autres que les moyens actionnés mécaniquement
B25B 5/08 - Dispositions pour transmettre le mouvement aux mâchoires utilisant des cames
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 - Clouage ou agrafageÉléments cloués ou agrafés
B23P 19/04 - Machines effectuant simplement l'assemblage ou la séparation de pièces ou d'objets métalliques entre eux ou des pièces métalliques avec des pièces non métalliques, que cela entraîne ou non une certaine déformationOutils ou dispositifs à cet effet dans la mesure où ils ne sont pas prévus dans d'autres classes pour assembler ou séparer des pièces
B23Q 3/08 - Moyens de fixation de la pièce autres que les moyens actionnés mécaniquement
B25B 5/08 - Dispositions pour transmettre le mouvement aux mâchoires utilisant des cames
B27F 7/15 - Machines utilisant des clous en plaquettes
21.
SYSTEMS AND METHODS FOR AUTOMATED FRAMING CONSTRUCTION
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
