Automated apparatus for constructing assemblies of building components
A system for constructing wall panels comprising a plurality of structural members includes: a source of structural members of predetermined size; a horizontal table configured to support planks as they are being formed into a wall panel, the table including a stationary section and a movable carriage that is configured to move in a longitudinal direction toward and away from the stationary section; an articulated arm unit having a gripper, the articulating arm unit positioned to retrieve boards from the source with the gripper and place them on the table; at least one first clamping unit mounted to the stationary section for clamping structural members thereto; at least one second clamping unit mounted to the movable carriage for clamping structural members thereto; and a controller that controls the movement of the articulating arm unit and the movable carriage.
1. A method of constructing a wall panel comprising a plurality of structural members, comprising the steps of:
(a) providing a horizontal table configured to support structural members as the structural members are being formed into a wall panel, the table including a stationary section and a movable carriage that is configured to move in a longitudinal direction relative to the stationary section;
wherein at least one first clamping unit is mounted to the stationary section for clamping structural members thereto; and at least one section clamping unit mounted to the movable carriage for clamping structural members thereto;
(b) forming a subassembly of structural members, wherein at least one structural member of the subassembly of structural members is clamped with the first clamping unit;
(c) clamping the at least one structural member with the second clamping unit;
(d) releasing the first clamping unit; and
(e) moving the movable carriage relative to the stationary section to move the subassembly longitudinally relative to the stationary section as the subassembly is clamped with the second clamping unit.
2. The method defined in claim 1 , further comprising the steps of:
(f) clamping the structural member with the first clamping unit; and
(g) releasing the structural member with the second clamping unit.
3. The method defined in claim 2 , comprising repeating steps (c)-(g) to further move the subassembly longitudinally relative to the stationary table section.
4. The method defined in claim 1 , wherein the structural members are wooden boards, and further comprising the step of nailing two boards together between steps (e) and (f).
5. The method defined in claim 4 , further comprising the step of providing an articulated arm unit with a nailer; and wherein the nailing step comprises nailing the boards together with the nailer.
6. The method defined in claim 5 , wherein a second nailer is mounted on the moving carriage.
7. The method defined in claim 5 , wherein the articulating arm is mounted to be fixed relative to the stationary stable section, and wherein the movable section moves the subassembly relative to the articulating arm.
8. The method defined in claim 4 , wherein the boards define a wall panel.
9. The method defined in claim 8 , wherein the wall panel includes a rough opening.
10. The method defined in claim 8 , wherein two of the boards define the top and bottom chords of the wall panel, and wherein the second clamping units clamp the top and bottom chords.
11. The method defined in claim 1 , wherein two first clamping units and two second clamping units are provided, wherein one first and one second clamping unit are positioned on one side of the stationary table section and another first and another second clamping unit are positioned on an opposite side of the stationary table section.