Board positioning system and method

1. A board positioning system (BPS) for use with a pallet assembly system, comprising:

a first hopper for holding boards to be fastened to a pallet under assembly; and

a first positioner movable under the first hopper between a retracted position and an extended position, the first positioner arranged to move a subject board from a queue position to a fastening position, wherein the fastening position is aligned with a fastening actuator operable to fasten the subject board to the pallet under assembly;

wherein the first hopper is operative to advance the subject board at the queue position while the first positioner is in motion between the queue position and the fastening position and before the first positioner movably engages with the subject board;

wherein the queue position is on a surface of the first positioner; and

wherein the first positioner, when at the queue position, is operative to movably engage with the subject board and to initiate movement of the subject board to the fastening position.

2. The BPS of claim 1 , wherein the first hopper includes a gate mechanism operative to advance the subject board at the queue position such that the subject board slides along a top surface of the first positioner while the first positioner is in motion and before the first positioner arrives at the queue position.

3. The BPS of claim 1 , wherein the first hopper includes a gate mechanism operative to advance the subject board at the queue position while the first positioner is in motion towards the fastening position and is moving a prior board to the fastening position.

4. The BPS of claim 1 , further comprising:

a second positioner arranged to move between a pre-queued position and the queue position, wherein the pre-queue position is to receive a second board from a second hopper; and

wherein the first positioner, when at the queue position, is to movably engage with the second board and to initiate movement of the second board to the fastening position.

5. The BPS of claim 4 , wherein the second board is of a different size than the subject board.

6. The BPS of claim 1 , wherein the first positioner includes a plate having a width equal to or greater than a length of the board.

7. The BPS of claim 1 , wherein the first hopper includes adjustable length and width to accommodate different board sizes.

8. The BPS of claim 7 , wherein the first hopper includes a board width-adjustment plate coupled to a parallelogram linkage.

9. The BPS of claim 1 , further comprising:

a system of actuated board guides including guide surfaces autonomously movable between a deployed position and a retracted position, wherein in the deployed position the guide surfaces are situated effectively to mechanically engage with the subject board to align the subject board at the queue position, and wherein in the retracted position the guide surfaces do not mechanically engage with the subject board.

10. The BPS of claim 9 , wherein the system of actuated board guides is operative to retract the guide surfaces during advancement of the subject board at the queue position, and to deploy the guide surfaces upon completion of the advancement of the subject board at the queue position.

11. The BPS of claim 10 , wherein the completion of the advancement of the subject board is autonomously determined by detection of cessation of movement of the subject board above a defined threshold at the queue position.

12. The BPS of claim 9 , wherein the guide surfaces are movable between the deployed and the retracted positions along directions perpendicular to directions of movement of the first positioner between the queue position and the fastening position.

13. The BPS of claim 1 , further comprising:

a fastening system, including a nailer, and a nail delivery system, wherein:

the nailer comprises a nailing chamber and a nail driver coupled to a nailing actuator operative to cause the nail driver to perform a driving cycle that includes driving a nail that is in the nailing chamber through the subject board when the subject is in the fastening position and thereafter resetting the nailing chamber, the nailing actuator being responsive to a nail-drive actuation signal to start the driving cycle; and

the nail delivery system comprises a nail queue proximate the nailing chamber, and a nail picker coupled to a picker actuator arranged to cause the nail picker to feed the nail from the nail queue into the nailing chamber, the picker actuator being responsive to a pick signal, wherein the pick signal is distinct from the nail-drive actuation signal.

14. The BPS of claim 13 , wherein the pick signal is timed to activate the picker actuator before completion of the driving cycle.

15. A board positioning system (BPS) for use with a pallet assembly system, comprising:

a first hopper for holding boards to be fastened to a pallet under assembly;

a first positioner movable under the first hopper between a retracted position and an extended position, the first positioner arranged to move a subject board from a queue position to a fastening position, wherein the fastening position is aligned with a fastening actuator operable to fasten the subject board to the pallet under assembly;

wherein the first hopper includes a gate mechanism arranged to advance the subject board at the queue position while the first positioner is in motion between the queue position and the fastening position and before the first positioner movably engages with the subject board;

wherein the first positioner, when at the queue position, is to movably engage with the subject board and to initiate movement of the subject board to the fastening position; and

wherein the BPS further includes a sensor and a controller configured to monitor a positional movement condition of the subject board during advancement of the subject board at the queue position, and to permit initiation of the movement the subject board to the fastening position only in response to the positional movement condition meeting movement criteria.

16. The BPS of claim 15 , wherein the positional movement condition is a vibration condition.

17. The BPS of claim 15 , wherein the movement criteria includes a threshold defined as a rate of change of movement of a board subject to positional-movement monitoring.

18. A machine-implemented method for automatically assembling a pallet, the method comprising:

placing a subject board from a source location to a queue position;

moving the subject board from the queue position to a fastening position by a positioner, wherein at the fastening position the subject board is fastened to a pallet under assembly;

wherein placing the subject board occurs while the positioner is in motion between the queue position and the fastening position; and

wherein the queue position is on a surface of the positioner.

19. The method of claim 18 , further comprising:

after initiation of moving the subject board from the queue position to the fastening position, placing a second board to the queue position, wherein the second board is a different size than the first board; and

moving the second board from the queue position to the fastening position by the positioner.

20. The method of claim 18 , wherein placing the subject board to the queue position includes permitting the subject board to slidably interact with the surface of the positioner.

21. The method of claim 18 , wherein placing the subject board to the queue position occurs during forward motion of the positioner toward the fastening position.

22. The method of claim 18 , wherein placing the subject board to the queue position occurs during forward motion of the positioner toward the fastening position and during reverse motion of the positioner toward the queue position.