CA2716134A1 - Robotic tool for precise positioning and securement of board pieces on a prefabricated wall - Google Patents
Robotic tool for precise positioning and securement of board pieces on a prefabricated wall Download PDFInfo
- Publication number
- CA2716134A1 CA2716134A1 CA2716134A CA2716134A CA2716134A1 CA 2716134 A1 CA2716134 A1 CA 2716134A1 CA 2716134 A CA2716134 A CA 2716134A CA 2716134 A CA2716134 A CA 2716134A CA 2716134 A1 CA2716134 A1 CA 2716134A1
- Authority
- CA
- Canada
- Prior art keywords
- board pieces
- frame
- robotic tool
- positioning
- flat surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
Abstract
A robotic tool is securable to an articulated arm of a programmable robot for precisely positioning and securing board pieces on a flat surface of a prefabricated wall. The robotic tool comprises a frame having secured thereto releasable grasping elements for transporting one or more of the board pieces from a storage location onto designated locations of the flat surface of the prefabricated wall. Fastening tools are secured to the frame for inserting fasteners into the board pieces at precise locations for engagement with structural members located behind the flat surface. Automatic positioning devices are provided for positioning the frame for registry with a detected orientation of the prefabricated building wall positioned at a work station.
Description
ROBOTIC TOOL FOR PRECISE POSITIONING AND
SECUREMENT OF BOARD PIECES ON A PREFABRICATED WALL
TECHNICAL FIELD
The present invention relates to a robotic tool for precise positioning and securement of board pieces on a prefabricated wall.
BACKGROUND ART
io In the fabrication of prefabricated housings, wall sections are constructed on platforms or jigs in accordance with architectural drawings whereby each element constituting the prefabricated structure is precisely located and attached to other elements. For example, in the construction of walls, studs are precisely located on an outer wall sheet, such as plywood, particle board, etc.
sheet and secured thereto. Framing for window openings and door openings is also secured to the sheeting. The use of automatic nailing machines speeds up the construction of the various components of prefabricated structures and this involves qualified personnel, such as carpenters, to construct various component parts of a building structure.
The use of such personnel does not assure a constant quality in the production of component parts due to various factors that affect the human intervention, such as fatigue, health conditions, stress, etc. Accordingly, during quality control inspections, it is often necessary to provide corrective measures to retouch imperfections. Also, the use of the human intervention necessitates the need to provide insurance against accidents and to replace personnel when an accident occurs.
SUMMARY OF INVENTION
It is a feature of the present invention to provide automation of at least certain tasks in the construction of prefabricated walls using wood products.
SECUREMENT OF BOARD PIECES ON A PREFABRICATED WALL
TECHNICAL FIELD
The present invention relates to a robotic tool for precise positioning and securement of board pieces on a prefabricated wall.
BACKGROUND ART
io In the fabrication of prefabricated housings, wall sections are constructed on platforms or jigs in accordance with architectural drawings whereby each element constituting the prefabricated structure is precisely located and attached to other elements. For example, in the construction of walls, studs are precisely located on an outer wall sheet, such as plywood, particle board, etc.
sheet and secured thereto. Framing for window openings and door openings is also secured to the sheeting. The use of automatic nailing machines speeds up the construction of the various components of prefabricated structures and this involves qualified personnel, such as carpenters, to construct various component parts of a building structure.
The use of such personnel does not assure a constant quality in the production of component parts due to various factors that affect the human intervention, such as fatigue, health conditions, stress, etc. Accordingly, during quality control inspections, it is often necessary to provide corrective measures to retouch imperfections. Also, the use of the human intervention necessitates the need to provide insurance against accidents and to replace personnel when an accident occurs.
SUMMARY OF INVENTION
It is a feature of the present invention to provide automation of at least certain tasks in the construction of prefabricated walls using wood products.
Another feature of the present invention is to provide a robotic tool which is securable to an articulatable arm of a programmable robot whereby to position and secure board pieces, such as lats on a flat wall surface of a prefabricated wall and at precise locations thereon.
According to the above features, from a broad aspect, the present invention provides a robotic tool securable to an articulated arm of a programmable robot for io precisely positioning and securing board pieces on a flat surface of a prefabricated wall. The robotic tool comprises a frame having secured thereto releasable grasping elements for transporting one or more of the board pieces from a storage location onto designated locations of the flat i5 surface of the prefabricated wall. Fastening tools are secured to the frame for inserting fasteners into the board pieces at precise locations for engagement with structural members located behind the flat surface. Automatic positioning devices are provided for positioning the frame 20 for registry with a detected orientation of the prefabricated building wall positioned at a work station.
BRIEF DESCRIPTION OF DRAWINGS
A preferred embodiment of the present invention 25 will now be described with reference to the accompanying drawings in which:
FIG. 1 is a simplified schematic view of the robotic tool constructed in accordance with the present invention;
30 FIG. 2 is a pictorial view of the robotic tool;
FIG. 3 is a perspective view of the robotic tool as viewed from the top;
FIG. 4 is a perspective view of the robotic tool as viewed from the bottom showing the position of the 35 suction cups and nailing devices;
FIG. 5 is a further perspective view showing the positioning lasers;
According to the above features, from a broad aspect, the present invention provides a robotic tool securable to an articulated arm of a programmable robot for io precisely positioning and securing board pieces on a flat surface of a prefabricated wall. The robotic tool comprises a frame having secured thereto releasable grasping elements for transporting one or more of the board pieces from a storage location onto designated locations of the flat i5 surface of the prefabricated wall. Fastening tools are secured to the frame for inserting fasteners into the board pieces at precise locations for engagement with structural members located behind the flat surface. Automatic positioning devices are provided for positioning the frame 20 for registry with a detected orientation of the prefabricated building wall positioned at a work station.
BRIEF DESCRIPTION OF DRAWINGS
A preferred embodiment of the present invention 25 will now be described with reference to the accompanying drawings in which:
FIG. 1 is a simplified schematic view of the robotic tool constructed in accordance with the present invention;
30 FIG. 2 is a pictorial view of the robotic tool;
FIG. 3 is a perspective view of the robotic tool as viewed from the top;
FIG. 4 is a perspective view of the robotic tool as viewed from the bottom showing the position of the 35 suction cups and nailing devices;
FIG. 5 is a further perspective view showing the positioning lasers;
FIG. 6 is a fragmented perspective view showing a position of the scanner which is comprised of a laser and camera; and FIG. 7 is a transverse section view showing a board piece, herein a lat, secured to an exterior wall of a prefabricated wall structure and the position of a nail inserted by the robotic tool and relative to a stud which forms part of the prefabricated wall structure.
DESCRIPTION OF PREFERRED EMBODIMENTS
Referring now to Figures 1 and 2, there is shown generally at 10 the robotic tool of the present invention secured to an articulated arm 11 of a robot 12 such as of a type fabricated by the ABB Company, and well known in the art. As hereinshown the robotic tool 10 has a frame 13 which is provided with grasping means in the form of suction cups 14 precisely mounted and adapted to pick up board pieces, herein wood lats 15 from a storage location 16 and to position them at designated locations on the flat surface 17 of a prefabricated wall section 18 and to secure the lats thereon.
With further reference to Figures 3 to 7, the frame is further provided with fastening tools 19 in the form of automatic nailers comprised of a nailing gun 20 having a magazine 21 in all four corner portions of the frame and disposed in alignment with one another. The use of two nailing guns on each of two axes speeds up the nailing sequence. The suction cups 14 are secured to a pneumatic system by conduits 22, as shown in Figure 1, to apply suction to the suction cups in order to engage the lats 15 from their storage location 16 and to position them at precise locations on the outer flat surface 17 of the wall section 18.
In order to precisely align the frame with the wall section 18, there is provided an automatic triangulation positioning means in the form of positioning lasers, herein a pair of position lasers 23, to detect a first fixed axis X and a further positioning laser 24 to detect a transverse axis. These axes are established by fixed members, herein member 25 for the pair of lasers 23 and fixed member 26 for the other laser 24. These lasers are utilized to position the frame in relation to the base of the robot. By the use of these three reference points the position of the frame of the tool can be determined.
The wall section 18 is positioned at a precise work station with reference to the reference points or members 25 and 26.
io As shown in Figures 3 and 5, the frame is further provided with an attachment hub 27 to secure the tool to the robotic arm 11. It is pointed out that the robot is programmed to position the lats at precise locations on the flat surface 17 of the wall section 18 and also to position brad nails 28, as shown in Figure 7 at precise locations whereby the nail penetrates the lat 15 and the wall board 29 forming part of the wall section and into a stud 30 which is located in the rear surface of the wall board to provide a secure attachment and not to obstruct the space between studs where bats of insulation may be positioned.
As shown in Figure 6 there is further provided scanning means in the form of a pointing laser 35 and a camera 36 which are secured under the frame 11, as shown in Figures 4 and 6 whereby to correct the positioning of the lats, if offset. If the lat is not correctly positioned, this detection means permits to rectify the position thereof by the help of the suction cups. Also, if the lat is distorted in its longitudinal direction, this will be detected by the camera and the lat may be rejected and discarded and replaced by a new lat, as determined by the program of the robot.
As shown in the schematic drawing in Figure 2, lats 15' may also be positioned transversely to the lats 15 such as, for example, if a window opening is to be cut out between the lats 15'. The robot as herein designed can handle two lats at the same time and of different lengths and can be articulated to dispose these lats at any angle on a flat surface. It is further pointed out that by using a set of fastening tools 19 along each of the axes of the robot, the fastening of the lats can be effected more accurately and quickly.
It is within the ambit of the present invention to cover any obvious modifications of the preferred embodiment described herein, provided such modifications fall within the scope of the appended claims.
DESCRIPTION OF PREFERRED EMBODIMENTS
Referring now to Figures 1 and 2, there is shown generally at 10 the robotic tool of the present invention secured to an articulated arm 11 of a robot 12 such as of a type fabricated by the ABB Company, and well known in the art. As hereinshown the robotic tool 10 has a frame 13 which is provided with grasping means in the form of suction cups 14 precisely mounted and adapted to pick up board pieces, herein wood lats 15 from a storage location 16 and to position them at designated locations on the flat surface 17 of a prefabricated wall section 18 and to secure the lats thereon.
With further reference to Figures 3 to 7, the frame is further provided with fastening tools 19 in the form of automatic nailers comprised of a nailing gun 20 having a magazine 21 in all four corner portions of the frame and disposed in alignment with one another. The use of two nailing guns on each of two axes speeds up the nailing sequence. The suction cups 14 are secured to a pneumatic system by conduits 22, as shown in Figure 1, to apply suction to the suction cups in order to engage the lats 15 from their storage location 16 and to position them at precise locations on the outer flat surface 17 of the wall section 18.
In order to precisely align the frame with the wall section 18, there is provided an automatic triangulation positioning means in the form of positioning lasers, herein a pair of position lasers 23, to detect a first fixed axis X and a further positioning laser 24 to detect a transverse axis. These axes are established by fixed members, herein member 25 for the pair of lasers 23 and fixed member 26 for the other laser 24. These lasers are utilized to position the frame in relation to the base of the robot. By the use of these three reference points the position of the frame of the tool can be determined.
The wall section 18 is positioned at a precise work station with reference to the reference points or members 25 and 26.
io As shown in Figures 3 and 5, the frame is further provided with an attachment hub 27 to secure the tool to the robotic arm 11. It is pointed out that the robot is programmed to position the lats at precise locations on the flat surface 17 of the wall section 18 and also to position brad nails 28, as shown in Figure 7 at precise locations whereby the nail penetrates the lat 15 and the wall board 29 forming part of the wall section and into a stud 30 which is located in the rear surface of the wall board to provide a secure attachment and not to obstruct the space between studs where bats of insulation may be positioned.
As shown in Figure 6 there is further provided scanning means in the form of a pointing laser 35 and a camera 36 which are secured under the frame 11, as shown in Figures 4 and 6 whereby to correct the positioning of the lats, if offset. If the lat is not correctly positioned, this detection means permits to rectify the position thereof by the help of the suction cups. Also, if the lat is distorted in its longitudinal direction, this will be detected by the camera and the lat may be rejected and discarded and replaced by a new lat, as determined by the program of the robot.
As shown in the schematic drawing in Figure 2, lats 15' may also be positioned transversely to the lats 15 such as, for example, if a window opening is to be cut out between the lats 15'. The robot as herein designed can handle two lats at the same time and of different lengths and can be articulated to dispose these lats at any angle on a flat surface. It is further pointed out that by using a set of fastening tools 19 along each of the axes of the robot, the fastening of the lats can be effected more accurately and quickly.
It is within the ambit of the present invention to cover any obvious modifications of the preferred embodiment described herein, provided such modifications fall within the scope of the appended claims.
Claims (3)
1. A robotic tool securable to an articulatable arm of a programmable robot for precisely positioning and securing board pieces on a flat surface of a prefabricated wall, said tool comprising a frame having secured thereto releasable grasping means for transporting one or more of said board pieces from a storage location onto designated locations of said flat surfaces, fastening tools secured to said frame for inserting fasteners into said board pieces at precise locations for engagement with structural members located behind said flat surface, and automatic positioning means for positioning said frame for registry with a detected orientation of said prefabricated building wall positioned at a work station.
2. A robotic tool as claimed in claim 1 wherein said automatic positioning means is a triangulation reference system comprised of two spaced apart lasers positioned to detect two reference points on a stationary reference member and a transversely oriented third laser associated with a further transverse stationary reference member to detect a third transverse reference point.
3. A robotic tool as claimed in claim 1 wherein there is further provided scanning means to verify the shape of said board pieces to determine if they conform with programmed tolerances, said tool replacing said board pieces in non-conformity with said programmed tolerance, said scanning means also verifying the correct positioning of said board pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2716134A CA2716134A1 (en) | 2010-09-30 | 2010-09-30 | Robotic tool for precise positioning and securement of board pieces on a prefabricated wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2716134A CA2716134A1 (en) | 2010-09-30 | 2010-09-30 | Robotic tool for precise positioning and securement of board pieces on a prefabricated wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2716134A1 true CA2716134A1 (en) | 2012-03-30 |
Family
ID=45893833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2716134A Abandoned CA2716134A1 (en) | 2010-09-30 | 2010-09-30 | Robotic tool for precise positioning and securement of board pieces on a prefabricated wall |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2716134A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016200439A1 (en) * | 2015-06-09 | 2016-12-15 | Integrated Construction Enterprises, Inc. | Construction board installation robot |
| CN112060822A (en) * | 2020-09-11 | 2020-12-11 | 广东博智林机器人有限公司 | Brick paving equipment and brick paving method |
| US11235344B2 (en) | 2015-06-17 | 2022-02-01 | Revolutionice Inc. | Autonomous painting systems and related methods |
| US11919019B2 (en) | 2015-06-17 | 2024-03-05 | Revolutionice Inc. | Autonomous painting systems and related methods |
-
2010
- 2010-09-30 CA CA2716134A patent/CA2716134A1/en not_active Abandoned
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016200439A1 (en) * | 2015-06-09 | 2016-12-15 | Integrated Construction Enterprises, Inc. | Construction board installation robot |
| US11235344B2 (en) | 2015-06-17 | 2022-02-01 | Revolutionice Inc. | Autonomous painting systems and related methods |
| US11919019B2 (en) | 2015-06-17 | 2024-03-05 | Revolutionice Inc. | Autonomous painting systems and related methods |
| CN112060822A (en) * | 2020-09-11 | 2020-12-11 | 广东博智林机器人有限公司 | Brick paving equipment and brick paving method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Dead |
Effective date: 20131001 |