Abstract: A system for manufacturing roof trusses is assembled one joint at a time on an assembly line, which includes a receiving table, an assembly station and an output table. The assembly station includes one or more presses, robot grippers, and arrangements connected to the presses for feeding nail plates and loading them to the presses. Each joint being accomplished so that the members to be joined in addition to the members already present there have been moved and positioned on the receiving table and onwards to the assembly station. Robot grippers hold the members to be joined and align them in place against each other. A press loaded with the nail plates designated to this joint is aligned with the steering in the position of the joint and presses the nail plates in place to complete the joint. The structure is guided to move to the output table.

Abstract: A system for manufacturing roof trusses is assembled one joint at a time on an assembly line, which includes a receiving table an assembly station and an output table. The assembly station one or more presses, robot grippers, and arrangements connected to the presses for feeding nail plates and loading them to the presses. Each joint being accomplished so that the members to be joined in addition to the members already present there have been moved and positioned on the receiving table and onwards to the assembly station. Robot grippers hold the members to be joined and align them in place against each other. A press loaded loaded with the nail plates designated to this joint is aligned with the steering in the position of the joint and presses the nail plates in place to complete the joint. The structure is guided to move to the output table.

Abstract: In the method, grippers (110, 140) are placed on a stationary assembly table (100) and rod-like members forming a wooden construction are laid on the support of said grippers. The wooden construction can be for example a roof truss or a wall frame. The assembly table comprises a vertical fastening plane (104) to which the grippers are fastened. The fastening plane can be made of ferrous material and the grippers can be fastened to the fastening plane magnetically or by means of a suction pad gripper. The fastening of the grippers to the fastening plane, the fastening of the rod-like members to the grippers and the joint connecting the rod-like members are conducted by means of an assembly robot (200). The joint may be a nail plate joint, a nail, screw or staple joint or a glued joint. From the CAD file of the wooden construction a list of commands controlling the operation of the assembly robot is generated by means of a decompression program.

Abstract: In the method, grippers are placed on a stationary assembly table and rod-like members forming a wooden construction are laid on the support of said grippers. The wooden construction can be for example a roof truss or a wall frame. The assembly table comprises a vertical fastening plane to which the grippers are fastened. The fastening plane can be made of ferrous material and the grippers can be fastened to the fastening plane magnetically or by means of a suction pad gripper. The fastening of the grippers to the fastening plane, the fastening of the rod-like members to the grippers and the joint connecting the rod-like members are conducted by means of an assembly robot. The joint may be a nail plate joint, a nail, screw or staple joint or a glued joint. From the CAD file of the wooden construction a list of commands controlling the operation of the assembly robot is generated by means of a decompression program. The grippers belonging to the apparatus comprise first grippers and second grippers.

Abstract: In a method and system for fabrication of roof trusses or similar structures wherein the structure is assembled from members to be set against each other and the members are fastened to each other by means of nail plates or similar fastening means, data defining the structure is produced for controlling the fabrication, one or more planes (T1) are defined for assembly of the structure and several grippers (100, 101, 103, 104, 106, 107, 115, 116) are arranged to move and rotate according to the control in said plane whereby the grippers form the basic part of an assembly line or unit (M) for the structure, the grippers are controlled to move and rotate to certain places and positions and said certain members (4) are set in the grippers to form on them a basic part of the structure, and the structure is controlled to move on the grippers for carrying out the other steps of the assembly process.