Granted Patent B2

US 12,583,066 · App. 18/784,702 · Granted Mar 24, 2026

Inventors: Andrew Gillies (Lafayette, CA); Brett Jaeger (Oakland, CA); Aidan Barry (San Francisco, CA); Gabrielle Zacks (Berkeley, CA); Maxwell Micali (Oakland, CA); Alex Thiele (Berkeley, CA); Tyler Compton (Berkeley, CA); Eric Law (Lafayette, CA)

Assignee: Urban Machine, Inc.

B23P19/06B25J9/0093B25J9/1679B25J9/1697B25J9/026

Abstract

Claims (228)

1 . A system for removing fasteners embedded in a recycled wood workpiece comprising:

an induction module:

defining an inductor volume; and

comprising:

a conveyor configured to drive the recycled wood workpiece populated with metal fasteners through the inductor volume;

a first sensor:

facing the inductor volume;

configured to output a signal representing a first location of a first metal fastener embedded in a first face of the recycled wood workpiece; and

configured to output a second signal representing a second location of a second fastener embedded in the recycled wood workpiece;

an inductor:

arranged within the inductor volume;

facing a first side of the recycled wood workpiece within the inductor volume; and

configured to generate an electromagnetic field that couples to and heats the first metal fastener via induction heating, the first metal fastener embedded in the first side of the recycled wood workpiece and burning wood material, in the recycled wood workpiece, proximal the first location to reduce retention of the first metal fastener by the recycled wood workpiece;

an inductor stage configured to:

ride over the first face of the recycled wood workpiece along a longitudinal axis of the induction module to locate the inductor proximal the first location of the first metal fastener; and

offset the inductor above the first face of the recycled wood workpiece by a target coupling distance;

a second inductor:

facing a second side orthogonal to the first side of the recycled wood workpiece within the inductor volume; and

configured to generate a second electromagnetic field that couples to and heats the second metal fastener via induction heating, the second metal fastener burning wood material, in the recycled wood workpiece, around the second metal fastener to reduce retention of the second metal fastener by the recycled wood workpiece; and

a second inductor stage configured to locate the second inductor adjacent the second location of the second metal fastener.

2 . The system of claim 1 , further comprising a fastener head removal module:

defining a work volume;

arranged upstream of the induction module;

comprising a first cutter:

arranged within the work volume; and

configured to:

resect heads from shanks of metal fasteners embedded within a first side of the recycled wood workpiece;

remove surface contaminants from the first side of the recycled wood workpiece; and

remove a surface layer of wood material from the first side of the recycled wood workpiece to reveal an inner layer of the recycled wood workpiece; and

comprising a second cutter:

arranged within the work volume adjacent the first cutter; and

configured to:

resect heads from shanks of metal fasteners embedded within a third side, opposite the first side, of the recycled wood workpiece;

remove surface contaminants from the third side of the recycled wood workpiece; and

remove the surface layer of wood material from the third side of the recycled wood workpiece to reveal the inner layer of the recycled wood workpiece.

3 . The system of claim 2 :

wherein the first sensor comprises an optical sensor configured to capture an image of the inductor volume; and

further comprising a controller configured to:

access the image from the optical sensor;

detect a region of the image depicting the inner layer of the first side of the recycled wood workpiece;

based on a set of features detected in the region of the image:

detect a reflective elliptical object embedded in the inner layer; and

derive a second location of the reflective elliptical object;

identify the second location of the reflective elliptical object as the first location of the first metal fastener; and

trigger the inductor stage to drive the inductor within a target coupling distance of the first location of the first metal fastener.

4 . The system of claim 2 :

wherein the first cutter is arranged in a first lateral position within the work volume;

wherein the fastener head removal module comprises:

a second sensor configured to output a second signal representing a width of the recycled wood workpiece; and

a first cutter actuator coupled to the second cutter and configured to actuate the second cutter over a range of lateral positions; and

further comprising a controller configured to:

calculate a second lateral position of the second cutter to offset the second cutter from the first cutter by a distance proportional to the width of the recycled wood workpiece:

based on the first position of the first cutter; and

based on the second signal from the second sensor; and

trigger the first cutter actuator to drive the second cutter to the second lateral position.

5 . The system of claim 2 , wherein the fastener head removal module comprises:

a first roller:

coupled to an input side of the fastener head removal module;

extending parallel to and laterally offset from a longitudinal axis of the fastener head removal module; and

comprising a first set of standoffs:

extending radially from the first roller;

defining a nominal length greater than a nominal metal fastener length; and

configured to locate a first side of the recycled wood workpiece at the input side; and

a second roller:

coupled to the input side of the fastener head removal module;

extending parallel to and laterally offset from the longitudinal axis of the fastener head removal module opposite the first roller; and

comprising a second set of standoffs:

extending radially from the second roller;

defining the nominal length greater than the nominal metal fastener length; and

configured to locate a second side of the recycled wood workpiece, opposite the first side, at the input side.

6 . The system of claim 1 :

wherein the first sensor comprises an optical sensor configured to capture an image of the work volume;

further comprising a controller configured to:

access the image of the work volume captured by the optical sensor;

detect a surface of the recycled wood workpiece depicted in a region of the image;

based on a set of features detected in the region of the image:

detect a set of reflective elliptical objects in the surface of the recycled wood workpiece; and

derive a location of each reflective elliptical object in the set of reflective elliptical objects;

identify a second location of a first reflective elliptical object, in the set of reflective elliptical objects, as the first location of the first metal fastener; and

identify a third location of a second reflective elliptical object, in the set of reflective elliptical objects, as a second metal fastener embedded in the recycled wood workpiece;

wherein the inductor is further configured to generate a second electromagnetic field that couples to and heats the second metal fastener via induction heating;

further comprising a second sensor downstream of the induction module and configured to output signals corresponding to surface temperatures of the recycled wood workpiece; and

wherein the controller is further configured to:

interpret a first surface temperature of the recycled wood workpiece, proximal the first location, based on a first signal from the second sensor;

confirm presence of the first metal fastener proximal the first location in response to the first surface temperature exceeding a threshold temperature;

interpret a second surface temperature of the recycled wood workpiece, proximal the third location, based on a second signal from the second sensor; and

confirm absence of the second metal fastener, proximal the third location, in response to the second surface temperature falling below the threshold temperature.

7 . The system of claim 6 :

further comprising a chassis defining a work volume;

further comprising a fastener shank removal module:

arranged downstream of the induction module; and

comprising:

an optical sensor facing the work volume;

a stage supported by the chassis; and

an extractor end effector:

supported and manipulated on the chassis via the stage; and

comprising:

 a set of jaws configured to engage and retain metal fasteners from the recycled wood workpiece; and

 a jaw actuator configured to actuate the set of jaws; and

wherein the controller is further configured to:

record the first location occupied by the first metal fastener;

identify absence of the second metal fastener in the second location; and

generate a fastener removal schedule for execution by the fastener shank removal module.

8 . The system of claim 1 :

wherein the first sensor comprises an optical sensor configured to capture an image of the inductor volume;

wherein the inductor comprises:

a driver electrically coupled to a power source; and

a conductive coil electrically coupled to the driver; and

further comprising a controller configured to:

access the image of the inductor volume captured by the optical sensor;

based on a set of features detected in the image:

detect the first metal fastener in a section of the recycled wood workpiece occupying the inductor volume; and

derive the first location and a first dimension, in a set of dimensions, of the first metal fastener in the inductor volume;

access a first target burn-out temperature associated with the first dimension, in the set of dimensions, of the first metal fastener;

derive a target alternating current for the driver based on the first target burn-out temperature;

trigger the inductor stage to locate the inductor within a target coupling distance of the first location of the first metal fastener; and

trigger the driver to supply the target alternating current to the conductive coil to generate the electromagnetic field to couple to and heat the first metal fastener in the section of the recycled wood workpiece.

9 . The system of claim 1 :

wherein the first sensor is configured to output a third signal representing fastener sizes of the first metal fastener and a second metal fastener; and

further comprising a controller configured to:

based on the third signal from the first sensor:

interpret a first size of the first metal fastener; and

interpret a second size of the second metal fastener, the second size of the second metal fastener corresponding to the first size of the first metal fastener; and

set a target burn-out duration proportional to the first size of the first metal fastener.

10 . A system for removing fasteners embedded in a recycled wood workpiece comprising:

an induction module:

defining an inductor volume; and

comprising:

a first sensor:

facing the inductor volume; and

configured to output a signal representing a first location of a first metal fastener embedded in the recycled wood workpiece;

an inductor:

arranged within the inductor volume; and

configured to generate an electromagnetic field that couples to and heats the first metal fastener via induction heating, the first metal fastener burning wood material, in the recycled wood workpiece, proximal the first location to reduce retention of the first metal fastener by the recycled wood workpiece;

an inductor stage configured to locate the inductor proximal the first location of the first metal fastener; and

a conveyor:

configured to drive the recycled wood workpiece populated with metal fasteners through the inductor volume; and

comprising:

 a set of input rollers:

 coupled to an input side of the induction module; and

 configured to constrain lateral sides of the recycled wood workpiece at the input side; and

 a set of output rollers:

 a coupled to an output side of the induction module; and

 configured to roll across lateral sides of the recycled wood workpiece at the output side to tamp burning wood material, in the recycled wood workpiece, around the first metal fastener.

11 . The system of claim 1 :

wherein the conveyor is configured to drive the recycled wood workpiece through the inductor volume, the recycled wood workpiece comprising a dimensional lumber:

exhibiting a two-inch by four-inch size;

populated with a first set of framing nails, comprising the first metal fastener, at a proximal end; and

populated with a second set of framing nails at a distal end opposite the proximal end; and

wherein the inductor stage is configured to locate the inductor proximal the first location of the first metal fastener on the proximal end of the dimensional lumber.

12 . A system for removing fasteners embedded in a recycled wood workpiece comprising:

a fastener head removal module:

defining a work volume; and

comprising a first cutter:

arranged within the work volume; and

configured to:

resect heads from shanks of metal fasteners embedded within a first side of the recycled wood workpiece occupying the work volume; and

remove a surface layer of wood material from the first side of the recycled wood workpiece; and

comprising a second cutter:

arranged within the work volume adjacent the first cutter; and

configured to:

resect heads from shanks of metal fasteners embedded within a second side, opposite the first side, of the recycled wood workpiece; and

remove the surface layer of wood material from the second side of the recycled wood workpiece;

an induction module:

defining an inductor volume;

comprising:

a temperature sensor configured to output:

a first signal representing a first location of a first metal fastener embedded in the recycled wood workpiece occupying the inductor volume; and

a second signal corresponding to a surface temperature of the recycled wood workpiece;

an inductor:

arranged within the inductor volume; and

configured to generate an electromagnetic field that couples to and heats the first metal fastener via induction heating, the first metal fastener burning wood material, in the recycled wood workpiece, around the first metal fastener to reduce retention of the first metal fastener by the recycled wood workpiece; and

an inductor stage configured to locate the inductor proximal the first location of the first metal fastener;

a fume hood:

coupled to the induction module; and

configured to extract fumes from the inductor volume; and

a controller configured to:

interpret the surface temperature of the recycled wood workpiece, proximal the first location, based on the second signal output by the temperature sensor; and

in response to detecting the surface temperature exceeding a threshold surface temperature, activate the fume hood.

13 . The system of claim 10 :

wherein the first sensor is configured to output a second signal representing a second location of a second fastener embedded in the recycled wood workpiece;

wherein the inductor:

faces a first side of the recycled wood workpiece within the inductor volume; and

is configured to generate the electromagnetic field that couples to and heats the first metal fastener embedded in the first side of the recycled wood workpiece; and

wherein the induction module comprises:

a second inductor:

facing a second side orthogonal to the first side of the recycled wood workpiece within the inductor volume; and

configured to generate a second electromagnetic field that couples to and heats the second metal fastener via induction heating, the second metal fastener burning wood material, in the recycled wood workpiece, around the second metal fastener to reduce retention of the second metal fastener by the recycled wood workpiece; and

a second inductor stage configured to locate the second inductor adjacent the second location of the second metal fastener.

14 . A system for removing fasteners embedded in a recycled wood workpiece comprising:

an induction module:

defining an inductor volume; and

comprising:

a conveyor configured to drive the recycled wood workpiece populated with metal fasteners through the inductor volume;

a first sensor:

facing the inductor volume; and

configured to output a signal representing a first location of a first metal fastener embedded in the recycled wood workpiece;

an inductor:

arranged within the inductor volume; and

configured to generate an electromagnetic field that couples to and heats the first metal fastener via induction heating, the first metal fastener burning wood material, in the recycled wood workpiece, proximal the first location to reduce retention of the first metal fastener by the recycled wood workpiece; and

an inductor stage configured to locate the inductor proximal the first location of the first metal fastener; and

a fastener shank removal module:

arranged downstream of the induction module; and

comprising:

a second sensor facing a work volume;

a stage supported by a chassis and configured to manipulate an extractor end effector to extract metal fasteners from the recycled wood workpiece; and

the extractor end effector:

supported and manipulated on the chassis via the stage; and

comprising:

 a set of jaws configured to engage and retain metal fasteners from the recycled wood workpiece; and

 a jaw actuator configured to open the set of jaws at a first height and to close the set of jaws to engage metal fasteners from the recycled wood workpiece at a second height less than the first height.

15 . A system for removing fasteners embedded in a recycled wood workpiece comprising:

an induction module:

defining an inductor volume; and

comprising:

a conveyor configured to drive the recycled wood workpiece populated with metal fasteners through the inductor volume at a first speed in a first direction along a longitudinal axis of the induction module;

a first sensor:

facing the inductor volume; and

configured to output:

 a first signal representing a first location of a first metal fastener embedded in the recycled wood workpiece;

 a second signal representing a second location of a second metal fastener embedded in the recycled wood workpiece;

an inductor:

arranged within the inductor volume; and

configured to generate an electromagnetic field that couples to and heats the first metal fastener via induction heating, the first metal fastener burning wood material, in the recycled wood workpiece, proximal the first location to reduce retention of the first metal fastener by the recycled wood workpiece; and

an inductor stage configured to:

locate the inductor proximal the first location of the first metal fastener;

drive the inductor at the first speed in the first direction for a target burn-out duration to maintain the inductor proximal the first location of the first metal fastener; and

traverse the inductor in a second direction, opposite the first direction, to relocate the inductor proximal the second location of the second metal fastener in response to termination of the target burn-out duration for the first metal fastener.

Assignments (1)

Continuity (2)

References Cited (10)