CPC B25C 11/00 (2013.01) [B25J 9/0093 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 11/005 (2013.01)] | 20 Claims |
1. A system for extracting fasteners from a recycled wood workpiece comprising:
a chassis defining a work volume;
a conveyor:
configured to receive the recycled wood workpiece populated with metal fasteners; and
configured to constrain a section of the recycled wood workpiece within the work volume;
an optical sensor facing the work volume;
a non-threaded fastener extractor module comprising:
a stage supported by the chassis; and
a non-threaded fastener 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 section of the recycled wood workpiece; and
a jaw actuator configured to actuate the set of jaws; and
a controller configured to:
access an image of the work volume captured by the optical sensor;
based on a set of features detected in the image:
detect a first fastener in the section of the recycled wood workpiece occupying the work volume; and
derive a first position and a first orientation of the first fastener in the work volume;
define a first target engagement position of the non-threaded fastener end effector, to engage the first fastener, based on the first position and the first orientation of the first fastener within the work volume;
trigger the stage to drive the non-threaded fastener end effector to the first target engagement position;
trigger the jaw actuator to drive the set of jaws to engage the first fastener in the section of the recycled wood workpiece; and
trigger the stage to retract the non-threaded fastener end effector from the first target engagement position to extract the first fastener from the recycled wood workpiece.
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