Automated precision supplying and cutting station

Abstract

A robotic supply and cutting station of the present disclosure comprises a magazine-style storage system configured to store and dispense construction studs of various sizes; an automated material supply system configured to receive one or more construction studs dispensed from the magazine-style storage system; and / or an automated cutting system.

Description

Docket T19552W0001 (222112-2550)AUTOMATED PRECISION SUPPLYING AND CUTTING STATIONCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to co-pending U.S. provisional application entitled, “Automated Precision Supplying and Cutting Station,” having application number 63 / 716,656, filed November 5, 2024, and co-pending provisional application entitled, “Automated Precision Supplying and Cutting Station,” having application number 63 / 811 ,060, filed May 23, 2025, each of which is entirely incorporated herein by reference.BACKGROUND

[0002] Robotics hold immense potential to transform the industrialized construction sector by enhancing productivity, drawing on its similarities with the manufacturing industry. However, the unique project-based nature of construction and the demand for customized building designs present substantial technological hurdles for incorporating robotics into industrialized construction activities. Reprogramming robotic systems for each specific task and project can be challenging and expensive. Moreover, there is a notable gap between Building Information Modeling — the Architectural, Engineering, and Construction industry’s standard software for creating and managing building designs — and the robotic software suites provided by robotics manufacturers for programming these systems. This disconnect introduces a major obstacle to the adoption of robotics in industrialized construction, compounded by a lack of research focused on bridging this gap.Docket T19552W0001 (222112-2550)SUMMARY

[0003] Embodiments of the present disclosure provide systems and related methods for a robotic supply and cutting station. One such system comprises a magazine-style storage system configured to store and dispense construction studs of various sizes; an automated material supply system configured to receive one or more construction studs dispensed from the magazine-style storage system; and / or an automated cutting system.

[0004] In one or more aspects for such systems, the magazine-style storage system comprises: a modular stud magazine holder, a stud length extension system, stud width extension mechanisms, and / or stud thickness extension modules; the modular stud magazine holder is composed of a vertical and horizontal support structure, securely mounted to framing tables, using bracing elements; the modular stud magazine holder comprises two expandable modular units positioned at opposing ends of the robotic supply and cutting station, wherein the two expandable modular units are configured to support the construction studs positioned in the modular stud magazine holder; the stud length extension system comprises horizontal, track-like bracing elements mounted to a face of the modular stud magazine holder; the stud width extension mechanisms are composed of track elements mounted to sides of the modular stud magazine holder; the stud thickness extension modules are composed of structural elements mounted to a bottom side of a front of the modular stud magazine holder to facilitate the dispensing of construction studs; the automated material supply system comprises: a modular support system, an adaptive robot- controlled pusher mechanism mounted on the modular support system and configured to enable delivery of the construction studs, and / or an adaptive stud guiding system; the modular support system includes two table portions that are positioned atDocket T19552W0001 (222112-2550) respective opposing sides of the robotic supply and cutting station; the adaptive robot- controlled pusher mechanism comprises a powered linear actuator, pushing elements, and an adjustable structural frame; the automated cutting system comprises: a robot- controlled precision cutting mechanism, a robot-controlled dynamic material stabilization mechanism, and / or a modular precision cutting table; the robot-controlled precision cutting mechanism employs a three-dimensional pivotal mechanism attached to the modular precision cutting table allowing for precise rotation around the Z-axis; the robot-controlled dynamic material stabilization mechanism employs a linear pneumatic actuator controlled by a robotic station controller; and / or the robot- controlled dynamic material stabilization mechanism employs a gripping mechanism controlled by a robotic station controller.

[0005] In various embodiments, the system may also comprise a robotic control station configured to synchronize pushing movement of the adaptive robot-controlled pusher mechanism with another robotic system, among other features.

[0006] The present disclosure also presents related methods, apparatuses, and non-transitory computer-readable mediums as disclosed herein. Other systems, methods, features, and advantages of the present disclosure will be or become apparent to one with skill in the art upon examination of the following drawings and detailed description. It is intended that all such additional systems, methods, features, and advantages be included within this description and be within the scope of the present disclosure.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Many aspects of the present disclosure can be better understood with reference to the following drawings. The components in the drawings are notDocket T19552W0001 (222112-2550) necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present disclosure. Moreover, in the drawings, like reference numerals designate corresponding parts throughout the several views.

[0008] FIG. 1 is an overhead view of a computer-aided drawing of an exemplary robotic-based automation cutting station in accordance with various embodiments of the present disclosure.

[0009] FIG. 2A shows a view of the robotic-based automation cutting station with the modular stud magazine holder component highlighted, in accordance with various embodiments of the present disclosure.

[0010] FIG. 2B illustrates a view of the modular stud magazine holder subsystem of FIG. 2A in isolation.

[0011] FIG. 3A shows a view of the robotic-based automation cutting station with the adaptive stud length extension system highlighted, in accordance with various embodiments of the present disclosure.

[0012] FIG. 3B illustrates a view of the adaptive stud length extension system of FIG. 3A in isolation.

[0013] FIG. 4A shows a view of the robotic-based automation cutting station with the adaptive stud width extension mechanisms highlighted, in accordance with various embodiments of the present disclosure.

[0014] FIG. 4B illustrates a view of the adaptive stud width extension system of FIG. 4A in isolation.

[0015] FIG. 5A shows a view of the robotic-based automation cutting station with the adaptive stud thickness extension modules highlighted, in accordance with various embodiments of the present disclosure.Docket T19552W0001 (222112-2550)

[0016] FIG. 5B illustrates a view of the adaptive stud width extension system of FIG. 5A in isolation.

[0017] FIG. 6A shows a view of the robotic-based automation cutting station with the modular support system highlighted, in accordance with various embodiments of the present disclosure.

[0018] FIG. 6B illustrates a view of the modular support system of FIG. 6A in isolation.

[0019] FIG. 7A shows a view of the robotic-based automation cutting station with the adaptive robot-controlled pusher mechanism highlighted, in accordance with various embodiments of the present disclosure.

[0020] FIG. 7B illustrates a view of the adaptive robot-controlled pusher mechanism of FIG. 7A in isolation.

[0021] FIG. 8A shows a view of the robotic-based automation cutting station with the adaptive stud guiding system highlighted, in accordance with various embodiments of the present disclosure.

[0022] FIG. 8B illustrates a view of the adaptive stud guiding system of FIG. 8A in isolation.

[0023] FIG. 9A shows a view of the robotic-based automation cutting station with the adaptive stud track extension mechanism highlighted, in accordance with various embodiments of the present disclosure.

[0024] FIG. 9B illustrates a view of the adaptive stud track extension mechanism of FIG. 9A in isolation.

[0025] FIG. 10A shows a view of the robotic-based automation cutting station with the modular precision cutting table highlighted, in accordance with various embodiments of the present disclosure.Docket T19552W0001 (222112-2550)

[0026] FIG. 10B illustrates a view of the modular precision cutting table of FIG. 10A in isolation.

[0027] FIG. 11A shows a view of the robotic-based automation cutting station with the robot-controlled precision cutting mechanism highlighted, in accordance with various embodiments of the present disclosure.

[0028] FIG. 11 B illustrates a view of the robot-controlled precision cutting mechanism of FIG. 11 A in isolation.

[0029] FIG. 12A shows a view of the robotic-based automation cutting station with the robot-controlled adaptive material stabilization mechanism highlighted, in accordance with various embodiments of the present disclosure.

[0030] FIG. 12B illustrates a view of the robot-controlled adaptive material stabilization mechanism of FIG. 12A in isolation.

[0031] FIGS. 12C-12D demonstrate views of the robot-controlled adaptive material stabilization mechanism having a linear pneumatic actuator, in accordance with certain embodiments of the present disclosure.

[0032] FIG. 13 shows an exemplary multi-robot station of the present disclosure that is operable with the robotic-based automation cutting station in accordance with various embodiments.

[0033] FIG. 14 is a block diagram illustrating an exemplary computing system or device that can be utilized for systems and methods of the present disclosure.DETAILED DESCRIPTION

[0034] Before the present disclosure is described in greater detail, it is to be understood that this disclosure is not limited to particular embodiments described, and as such may, of course, vary. It is also to be understood that the terminology usedDocket T19552W0001 (222112-2550) herein is for the purpose of describing particular embodiments only, and is not intended to be limiting, since the scope of the present disclosure will be limited only by the appended claims.

[0035] The present disclosure presents a robotic-based automation cutting station for design-to-manufacturing processes and is operable with a multi-robot system equipped with multifunctional prefabrication end-effectors designed for industrialized construction (IC) tasks. In various embodiments, an exemplary robotic-based automation cutting station supports saw-cutting of wood / steel studs, as well as stacking them with a minimal footprint. An innovation of this automation cutting station is in its ability to streamline the material supply / preparation of prefabricated construction panels by eliminating the need for frequent material supply, improving the safety of framing tasks by automating the dangerous task of cutting studs with saws, and supporting material waste reduction efforts by enabling the robotic system to use the sequence of assembly as input for optimization algorithms (along rule-based manufacturing strategies) for reducing the waste of wood studs, as performed by a controller of the robotic system. In various embodiments, an exemplary robotic-based automation cutting station is also expandable to accommodate a variety of wood and steel studs.

[0036] Referring now to FIG. 1 , an overhead view of a computer-aided drawing of an exemplary robotic-based automation cutting station 100 is shown in accordance with various embodiments of the present disclosure. In the figure, the exemplary robotic-based automation cutting station 100 is composed of a magazine-style storage system 1 10, an automated material supply system 120, and an automated cutting system 130.Docket T19552W0001 (222112-2550)

[0037] In various embodiments, the magazine-style storage system 1 10 is designed to store construction studs (wood and steel) of various sizes (length, width, and thickness). Its subsystems are embedded in a reconfigurable design that enable it to accurately store and dispense materials to the subsequent automated material supply system 120. Such subsystems include a modular stud magazine holder 112, an adaptive stud length extension system 114, adaptive stud width extension mechanisms 116, and adaptive stud thickness extension modules 118.

[0038] FIG. 2A shows a view of the robotic-based automation cutting station 100 with the modular stud magazine holder component 112 highlighted. Correspondingly, FIG. 2B illustrates a view of the modular stud magazine holder subsystem 112 in isolation. This subsystem is composed of a vertical and horizontal support structure, securely mounted to framing tables 122 (FIG. 6A) using bracing elements. This design provides a smooth, flat interior surface for the magazine storage system 1 10, ensuring clog-free storage and dispensing of construction studs. Accordingly, the modularity and adaptability of the frame structure of the robotic-based automation cutting station 100 are achieved through the use of expandable modular units (A, B) of the modular stud magazine holder 112, where the two modules, one at each end, are configured to support the studs positioned in the magazine holder 112. The system's capacity can be easily increased by adding additional horizontal modular support elements 113 to the magazine holder 112.

[0039] Next, FIG. 3A shows a view of the robotic-based automation cutting station 100 with the adaptive stud length extension system 114 highlighted. The adaptability (i.e. , length extensibility) of the system is illustrated by the two-headed arrow indicating the direction of expansion. Correspondingly, FIG. 3B illustrates a view of the adaptive stud length extension system 114 in isolation. This subsystem is composed ofDocket T19552W0001 (222112-2550) horizontal, track-like bracing elements C mounted to the face of the modular stud magazine holder subsystem 112. In various embodiments, the bracing elements C are secured using modular holders with a screw-like locking mechanism, enabling the magazine holder 112 to easily expand to accommodate construction studs of various lengths.

[0040] FIG. 4A shows a view of the robotic-based automation cutting station 100 with the adaptive stud width extension mechanisms 116 highlighted. The adaptability (i.e., width extensibility) of the system is illustrated by the two-headed arrow indicating the direction of expansion. Correspondingly, FIG. 4B illustrates a view of the adaptive stud width extension system 116 in isolation. In various embodiments, the stud width extension mechanisms 116 are composed of short, track elements mounted to the sides of the modular stud magazine holder subsystem 1 12. In various embodiments, the track elements are secured using modular holders with a screw-like locking mechanism, enabling the magazine holder 112 to easily expand to accommodate construction studs of various widths.

[0041] Next, FIG. 5A shows a view of the robotic-based automation cutting station 100 with the adaptive stud thickness extension modules 118 highlighted. The adaptability (i.e., thickness extensibility) of the system is illustrated by the two-headed arrow indicating the direction of expansion. Correspondingly, FIG. 5B illustrates a view of the adaptive stud width extension system 116 in isolation. In various embodiments, the stud thickness extension modules 118 are composed of short, structural elements mounted to the bottom side of the front of the modular stud magazine holder subsystem 112 to facilitate the dispensing of construction studs. In various embodiments, the structural elements are secured using modular holders with a screw-like locking mechanism, enabling the magazine holder 112 to preciselyDocket T19552W0001 (222112-2550) dispense construction studs of various thicknesses. Accordingly, in various embodiments, small blocking elements (gussets) prevent the construction studs from moving backward, ensuring they are directed only toward the material supply systems 120.

[0042] In addition to the magazine-style storage system 110, an exemplary robotic-based automation cutting station 100 further includes an automated material supply system 120 that is configured to provide a precise material supply of construction studs to the automated cutting system 130. Its subsystems include modular support systems 122, adaptive robot-controlled pusher mechanisms 124, and an adaptive guiding system 126. Accordingly, in various embodiments, automation is achieved through the robot-controlled pushers 124 mounted on supporting tables as part of the modular support system 122. Precision is ensured by the adjustable stud support system 126 that constrains stud movement during robotic dragging and cutting processes. The system's adaptability allows it to accommodate various construction stud sizes through the reconfiguration of stud supports and track extenders.

[0043] FIG. 6A shows a view of the robotic-based automation cutting station 100 with one portion of the modular support systems 122 highlighted (and an opposing portion of the modular support systems 122 not highlighted). Accordingly, the modular support systems 122 include two table portions that are positioned at respective opposing sides of the cutting station 100. Correspondingly, FIG. 6B illustrates a view of one table portion of the modular support system 122 in isolation. As such, in various embodiments, the automated material supply system 120 incorporates two modular support tables, strategically placed on either side of the cutting station 100. In various embodiments, the modular tables may be mounted on heavy-duty levelers to ensure a perfectly level material supply system. This precision is important for synchronizingDocket T19552W0001 (222112-2550) operations or processes with robotic systems, including industrial and collaborative robots. The modular design offers unparalleled flexibility, allowing the two support tables to be easily reconfigured and repositioned to accommodate the adaptive stud length extension system 114, which can handle various stud lengths. This modular approach represents a significant contribution to robotics, enabling adaptable and efficient automation solutions.

[0044] Next, FIG. 7 A shows a view of the robotic-based automation cutting station 100 with one portion of the adaptive robot-controlled pusher mechanisms 124 highlighted (and an opposing portion of the robot-controlled pusher mechanisms 124 not highlighted). Correspondingly, FIG. 7B illustrates a view of the adaptive robot- controlled pusher mechanism 124 in isolation. In various embodiments, the pusher mechanisms may be mounted on each modular support system 122 and may enable the precise delivery of construction studs (beneath the adaptive stud thickness extension modules 118). In various embodiments, the pushing movement can be synchronized with other robotic systems by a robotic control station (controller).

[0045] In various embodiments, the robot-controlled pusher mechanism 124 comprises a powered linear actuator, pushing elements, and an adjustable structural frame. The powered linear actuator can be hydraulic, electric, or utilize other suitable technologies. In various embodiments, the pushing elements are attached to linear motion tracks, ensuring smooth movement, and are designed with a sufficiently large surface area to safely push construction studs without causing damage. Furthermore, to prevent stud twisting and clogging within the magazine holder 112 during the pushing and retrieving movements, structural horizontal elements can be integrated into the pushing elements and mounted on the linear motion tracks.Docket T19552W0001 (222112-2550)

[0046] In various embodiments, the adaptability of the pusher mechanism 124 is achieved through height adjustment and length adjustment mechanisms. For height adjustment, in various embodiments, screw-like mounting connections are provided that allow for adjusting the height of the pusher to accommodate various stud sizes. Correspondingly, in various embodiments, a length of the pusher mechanism can be modified to accommodate wider studs, further enhancing versatility.

[0047] FIG. 8A shows a view of the robotic-based automation cutting station 100 with the adaptive stud guiding system 126 highlighted. Correspondingly, FIG. 8B illustrates a view of the adaptive stud guiding system 126 in isolation. The adaptive stud guiding system 126 ensures precise stud movement during robotic dragging and cutting processes, supporting the high-precision requirements of the robotic workstation and its systems.

[0048] In various embodiments, the system's adaptive design features L-shaped channels mounted to tables of the modular support system 122 using screw-like connectors, enabling flexible adjustment of the guiding system 126 to accommodate various construction stud thicknesses. This adaptive capability is a fundamental contribution to robotics, enhancing the system's versatility and efficiency. The L- shaped channels, composed of overlapping elements, further support the system's adaptability by accommodating the length extension system 114.

[0049] Next, FIG. 9A shows a view of the robotic-based automation cutting station 100 with the adaptive stud track extension mechanism 128 highlighted. The direction of the stud track extension of the system is illustrated by the two-headed arrow. Correspondingly, FIG. 9B illustrates a view of the adaptive stud track extension mechanism 128 in isolation. In various embodiments, the adaptive stud track extension mechanism 128 enhances the system's versatility by allowing it toDocket T19552W0001 (222112-2550) accommodate various construction stud widths. In various embodiments, the stud track extension mechanism 128 comprises short, horizontal sidetracks mounted to the material supply side of modular support modules 122 using a screw-like fastening system.

[0050] In addition to the magazine-style storage system 110 and the automated material supply system 120, an exemplary robotic-based automation cutting station 100 further includes an automated cutting system 130 that enables precise cutting of construction studs, which is an important step in robotics-based prefabrication of construction tasks. The automated cutting system 130 addresses the need for highly customized building designs and the wide variation in stud lengths. Its subsystems include a modular cutting table 132, a robot-controlled precision cutting mechanism 134, and a robot-controlled adaptive material stabilization mechanism 136. As such, the modular cutting table 132, combined with the robot-controlled precision cutting mechanism 134 and the robot-controlled adaptive material stabilization mechanism 136, ensures a precise cutting operation that can be synchronized with construction robotics manufacturing and assembly tasks. This integration enhances worker safety and reduces material waste.

[0051] FIG. 10A shows a view of the robotic-based automation cutting station 100 with the modular precision cutting table 132 highlighted. Correspondingly, FIG. 10B illustrates a view of the modular precision cutting table 132 in isolation. In various embodiments, the modular precision cutting table 132 is attached to one of the two support modules 122 and provides a surface to hold the cutting mechanism 130. Mounted on levelers, the table 132 ensures precise cutting of construction studs. Its modular design allows for flexibility. For horizontal expansion, additional structural modules can be added to the table's surface to increase its width, while for verticalDocket T19552W0001 (222112-2550) adjustment, the table's height can be adjusted to accommodate various cutting mechanisms, including different sizes of blades and discs for cutting construction studs of varying dimensions.

[0052] Next, FIG. 11A shows a view of the robotic-based automation cutting station 100 with the robot-controlled precision cutting mechanism 134 highlighted. Correspondingly, FIG. 11 B illustrates a view of the robot-controlled precision cutting mechanism 134 in isolation. In accordance with various embodiments, the cutting station 134 leverages fundamental robotics principles to seamlessly integrate with various robotic systems within a robotic station. In various embodiments, one key component is the robot-controlled actuation mechanism, which employs a three- dimensional (3-DOF) pivotal mechanism attached to the modular precision cutting table 132. This mechanism, combined with a linear actuator connected to a saw or a plasma cutter, allows for precise rotation around the Z-axis, in various embodiments. The integration of manual or motorized rotation around the X and Y axes further enhances the system's versatility, enabling precise cuts at various angles without requiring multiple fixed-angle blades. This flexibility is crucial for creating intricate shapes and joints in construction studs. FIG. 11 B illustrates a prototype of the cutting mechanism 134 with both the miter saw and linear actuator mounted on a 1 -DOF pivotal mechanism, designed for cutting straight-edge studs suitable for wall and floor construction panels, in accordance with various embodiments.

[0053] It should be noted that while both upper and lower-mounted saws with linear movement capabilities can achieve precise cuts, practical considerations influence the optimal choice. Upper-mounted saws offer advantages in terms of reduced exposure to debris and a clear workspace for robot movement. However, they may interfere with robot end-effectors during the cutting process, necessitating carefulDocket T19552W0001 (222112-2550) planning and coordination. Lower-mounted saws, on the other hand, are simpler in design and potentially less costly but are more susceptible to dust and debris, requiring regular maintenance. Additionally, they may interfere with the robot's base or other components, especially when working with larger workpieces.

[0054] FIG. 12A shows a view of the robotic-based automation cutting station 100 with the robot-controlled adaptive material stabilization mechanism 136 highlighted. Correspondingly, FIG. 12B illustrates a view of the robot-controlled adaptive material stabilization mechanism 136 in isolation. In various embodiments, the stabilization mechanism 136 works in tandem with the cutting mechanism 134 to ensure precise cutting without deformation. Such deformation, like splitting of wood studs or bending of steel studs, can occur due to the forces exerted by the cutting saw and the weight of the studs, especially when one end of the stud is gripped by a robot while the other end is unsupported.

[0055] In certain embodiments, the material stabilization mechanism 136 employs a gripping mechanism (gripper) controlled by the robotic station's controller. This gripper closes after the robot pulls the stud to the desired length, securing it in place before the robot-controlled saw initiates the cutting process. The gripper then opens once the robot grips the construction stud or before adaptive robot-controlled pushers dispense a new stud. In various embodiments, the stabilization mechanism is mounted to the support module 122 connected to the modular precision cutting table 132. The adjustable gripper opening width of the stabilization mechanism 136 enables the mechanism to accommodate various construction stud sizes.

[0056] In certain embodiments, as demonstrated in FIGS. 12C-12D, an exemplary material stabilization mechanism 136 may utilize a linear pneumatic actuator 138 having (1 ) two rail guides to ensure that a torque force does not rotate the actual rod;Docket T19552W0001 (222112-2550)(2) a heavy-duty stabilizing framework with a large contact surface area (e.g., width of the construction stud x length equal to 2-3ft), where the contact area, combined with the weight of the framework, generates a vertical load greater than the vertical load generated by the torque force; and (3) a soft, heavy-duty material (e.g., rubber) applied to the contact surface to prevent any slippage between the construction stud and stabilizing framework. Such a system may be described as a guided pneumatic system used to ensure that the construction studs (wood / steel) can still be stable even at a critical point. A critical point can be defined as an assembly scenario during which the center of gravity is outside the supported track with over 95% of the stud is not supported. At the critical point, the stud acts as a lever arm, and the weight of the construction stud generates a torque that is capable of being withstand by the pneumatic actuator assembly.

[0057] Referring to FIG. 13, in various embodiments, an exemplary robotic-based automation cutting station 100 of the present disclosure is operable with at least one robot having a movable arm that is equipped with a multifunctional end effector. In the non-limiting example of FIG. 13, two robots 1310, 1320 are provided with individual multifunctional end effectors 1315, 1325. In accordance with various embodiments, the multifunctional end effector 1315 for robot 1310 may be configured to perform different functions or tasks than the multifunctional end effector 1325 for robot 1320, may be configured to perform the same functions as the multifunctional end effector 1315 for robot 1310, or may be configured to perform certain functions that are similar to those of the multifunctional end effector 1325 of robot 1320. While a similar functionality may be performed by respective end effectors 1315, 1325, their configuration may be varied such that end effector component is aligned in a different direction as compared to the similar end effector component of another end effector.Docket T19552W0001 (222112-2550)Additionally, while the multifunctional end effector 1315 is shown coupled to robot 1310, the respective multifunctional end effectors are configured to be removable and / or securable to a variety of different robots via an adaptor plate 1317 of the respective robot and a mounting plate of the multifunctional end effector. Accordingly, the multifunctional end effector 1315 can be removed from the adapter plate 1317 of the robotic arm of robot 1310 and affixed to the adapter plate 1327 of the robotic arm of robot 1320.

[0058] An exemplary multi-robot station may further include a computer control system 1330 (“robotic controller”) that is communicatively coupled to a respective robot 1310, 1320, where the robot can include one or more sensors or sensing devices, that can include imaging devices or other sensors (e.g., laser device), that provide feedback data from application of the robot and the multifunctional end effector tools. A sensor system may be comprised of any number of individual sensor systems, sensor devices, controllers, other types of components, or combination thereof, whereby the sensor system may be used to coordinate the movement and operation of the various robots within a manufacturing environment. Accordingly, a control system 1330 can generate and / or provide commands to robots 1310, 1320 and / or robotic-based automation cutting station 100 to guide operation of the multifunctional end effector mechanism(s) and / or components of the robotic-based automation cutting station 100. Such commands can be based on inputs provided from sensing data from the one or more sensors of the robotic components. The control system 1330 may utilize electrical and / or mechanical controls, including pneumatic, electrical, and / or hydraulic controls - differential pressure and / or expansion — to actuate elements of the applicable robots, in various embodiments. In various embodiments, the computation or determination of the platform commands can be provided by aDocket T19552W0001 (222112-2550) computer processor that implements artificial intelligence models, such as fuzzy logic techniques, in accordance with various embodiments of the present disclosure.

[0059] In some embodiments, an end effector mechanism 1310, 1320 of an exemplary multi-robot station is specifically configured for use in construction framing procedures. In such cases, the overall system enables accurate placement of wood or metal components of a construction frame (e.g., wall frame, roofing frame, floor frame, etc.) within robotic-based automation cutting station 100 without the need for multiple ancillary devices or personnel.

[0060] FIG. 14 is a block diagram illustrating an exemplary computing system or device 1400 that can be utilized for systems and methods of the present disclosure. Computing system 1400 includes at least one processor 1410, e.g., a central processing unit (CPU), coupled to memory elements 1420 through a data bus 1430 or other suitable circuitry. Computing system 1400 stores program code within memory elements 1420. Processor 1410 executes the program code accessed from memory elements 1420 via the data bus 1430. In one aspect, computing system 1400 may be implemented as a computer or other data processing system, including tablets, smartphones, or server computers that are accessed using browsers at client computers. It should be appreciated, however, that computing system 1400 can be implemented in the form of any system including a processor and memory that is capable of performing the functions described within this disclosure.

[0061] Memory elements 1420 include one or more physical memory devices such as, for example, a local memory and one or more storage devices. Local memory refers to random access memory (RAM) or other non-persistent memory device(s) generally used during actual execution of the program code. Storage device may be implemented as a hard disk drive (HDD), solid state drive (SSD), or other persistentDocket T19552W0001 (222112-2550) data storage device. Computing system 1400 may also include one or more cache memories (not shown) that provide temporary storage of at least some program code in order to reduce the number of times program code must be retrieved from storage device during execution.

[0062] Stored in the memory 1420 are both data and several components that are executable by the processor 1410. In particular, stored in the memory 1420 and executable by the processor 1410 are code for robotic based framing 1440. Such code can include functionality and logic 1450 for controlling operations of the robotic stations 160, 1140 and / or robotic-based automation cutting station 100. Also stored in the memory 1420 may be a data store 1420 and other data. The data store 1425 can include framing instructions and related manufacturing parameters. In addition, an operating system may be stored in the memory 1420 and executable by the processor 1410.

[0063] Input / output (I / O) devices 1460 such as a keyboard, a display device, and a pointing device may optionally be coupled to computing system 1400. The I / O devices may be coupled to computing system 1400 either directly or through intervening I / O controllers. A network adapter may also be coupled to computing system to enable computing system to become coupled to other systems, computer systems, remote printers, and / or remote storage devices through intervening private or public networks. Modems, cable modems, Ethernet cards, and wireless transceivers are examples of different types of network adapter that may be used with computing system 1400.

[0064] It should be appreciated that the disclosed computer system arrangements are illustrative and many other configurations having more or fewer components are possible. These and other variations, modifications, additions, and improvements canDocket T19552W0001 (222112-2550) fall within the scope of the appended claims(s). As used in the description herein and throughout the claims that follow, “a,” “an,” and “the” includes plural references unless the context clearly dictates otherwise. Also, as used in the description herein and throughout the claims that follow, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

[0065] The components described herein can be embodied in the form of hardware, as software components that are executable by hardware, or as a combination of software and hardware. If embodied as hardware, the components described herein can be implemented as a circuit or state machine that employs any suitable hardware technology. This hardware technology can include one or more microprocessors, discrete logic circuits having logic gates for implementing various logic functions upon an application of one or more data signals, application specific integrated circuits (ASICs) having appropriate logic gates, programmable logic devices (e.g., field-programmable gate array (FPGAs), and complex programmable logic devices (CPLDs)).

[0066] In this respect, the term “executable” means a program file that is in a form that can ultimately be run by the processor. Examples of executable programs can be, for example, a compiled program that can be translated into machine code in a format that can be loaded into a random access portion of one or more of the memory devices and run by the processor, code that can be expressed in a format such as object code that is capable of being loaded into a random access portion of the one or more memory devices and executed by the processor, or code that can be interpreted by another executable program to generate instructions in a random access portion of the memory devices to be executed by the processor. An executable program can be stored in any portion or component of the memory devices including, for example,Docket T19552W0001 (222112-2550) random access memory (RAM), read-only memory (ROM), hard drive, solid-state drive, USB flash drive, memory card, optical disc such as compact disc (CD) or digital versatile disc (DVD), floppy disk, magnetic tape, or other memory components.

[0067] Any logic or application described herein that includes software or code can be embodied in any non-transitory computer-readable medium for use by or in connection with an instruction execution system such as a processor in a computer system or other system. In this sense, the logic can include statements including instructions and declarations that can be fetched from the computer-readable medium and executed by the instruction execution system. In the context of the present disclosure, a "computer-readable medium" can be any medium that can contain, store, or maintain the logic or application described herein for use by or in connection with the instruction execution system. Moreover, a collection of distributed computer- readable media located across a plurality of computing devices (e.g., storage area networks or distributed or clustered filesystems or databases) can also be collectively considered as a single non-transitory computer-readable medium.

[0068] The computer-readable medium can include any one of many physical media such as magnetic, optical, or semiconductor media. More specific examples of a suitable computer-readable medium would include, but are not limited to, magnetic tapes, magnetic floppy diskettes, magnetic hard drives, memory cards, solid-state drives, USB flash drives, or optical discs. Also, the computer-readable medium can be a random-access memory (RAM) including static random-access memory (SRAM) and dynamic random-access memory (DRAM), or magnetic random-access memory (MRAM). In addition, the computer-readable medium can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmableDocket T19552W0001 (222112-2550) read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or other type of memory device.

[0069] It must be noted that, as used in the specification and the appended claims, the singularforms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Disjunctive language such as the phrase “at least one of X, Y, or Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to present that an item, term, etc., can be either X, Y, or Z, or any combination thereof (e.g., X; Y; Z; X or Y; X or Z; Y or Z; X, Y, or Z; etc.). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present.

[0070] As will be apparent to those of skill in the art upon reading this disclosure, each of the individual embodiments described and illustrated herein has discrete components and features which may be readily separated from or combined with the features of any of the other several embodiments without departing from the scope of the present disclosure. Any recited method can be carried out in the order of events recited or in any other order that is logically possible. It is also to be understood that the terminology used herein is for purposes of describing particular embodiments only, and is not intended to be limiting. It is also possible in the present disclosure that steps can be executed in different sequence where this is logically possible.

[0071] A number of embodiments of the invention have been described. Nevertheless, it will be understood that various modifications may be made without departing from the scope of the present disclosure. Accordingly, other embodiments are within the scope of the following claims. Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understoodDocket T19552W0001 (222112-2550) by one of skill in the art to which the disclosed invention belongs. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments of the present disclosure described herein. Such equivalents are intended to be encompassed by the following claims.

Claims

WHAT IS CLAIMED IS:1 . A robotic supply and cutting station comprising: a magazine-style storage system configured to store and dispense construction studs of various sizes; an automated material supply system configured to receive one or more construction studs dispensed from the magazine-style storage system; and an automated cutting system.

2. The station of claim 1 , wherein the magazine-style storage system comprises: a modular stud magazine holder; a stud length extension system; stud width extension mechanisms; and stud thickness extension modules.

3. The station of claim 2, wherein the modular stud magazine holder is composed of a vertical and horizontal support structure, securely mounted to framing tables, using bracing elements.

4. The station of claim 2, wherein the modular stud magazine holder comprises two expandable modular units positioned at opposing ends of the robotic supply and cutting station, wherein the two expandable modular units are configured to support the construction studs positioned in the modular stud magazine holder.

5. The station of claim 2, wherein the stud length extension system comprises horizontal, track-like bracing elements mounted to a face of the modular stud magazine holder.

6. The station of claim 2, wherein the stud width extension mechanisms are composed of track elements mounted to sides of the modular stud magazine holder.

7. The station of claim 2, wherein the stud thickness extension modules are composed of structural elements mounted to a bottom side of a front of the modular stud magazine holder to facilitate the dispensing of construction studs.

8. The station of claim 1 , wherein the automated material supply system comprises: a modular support system; an adaptive robot-controlled pusher mechanism mounted on the modular support system and configured to enable delivery of the construction studs; and an adaptive stud guiding system.

9. The station of claim 8, wherein the modular support system includes two table portions that are positioned at respective opposing sides of the robotic supply and cutting station.

10. The station of claim 8, further comprising a robotic control station configured to synchronize pushing movement of the adaptive robot-controlled pusher mechanism with another robotic system.11 . The station of claim 8, wherein the adaptive robot-controlled pusher mechanism comprises a powered linear actuator, pushing elements, and an adjustable structural frame.

12. The station of claim 1 , wherein the automated cutting system comprises: a robot-controlled precision cutting mechanism; a robot-controlled dynamic material stabilization mechanism; and a modular precision cutting table.

13. The station of claim 12, wherein the robot-controlled precision cutting mechanism employs a three-dimensional pivotal mechanism attached to the modular precision cutting table allowing for precise rotation around the Z-axis.

14. The station of claim 12, wherein the robot-controlled dynamic material stabilization mechanism employs a linear pneumatic actuator controlled by a robotic station controller.

15. The station of claim 12, wherein the robot-controlled dynamic material stabilization mechanism employs a gripping mechanism controlled by a robotic station controller.

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