Robotic system and method of stacking and unstacking wood boards and related materials and of stacking wood spacers and related materials

A method unstacking or stacking a multi-layer stack of boards one layer at a time, using a robotic workstation including:

• an end effector configured to pick up, move and release an entire layer of boards of the multi-layer stack of boards, the end effector comprising:
• a first support member and a second support member, the first support member and the second support member being substantially parallel with one another;
• a first cross member and a second cross member, each of the first and second cross members extending between and being connected to both the first and second support members;
• a first pick up and release member and a second pick up and release member, each of the first and second pick up and release members being (i) disposed below the first and second support members when the end effector is picking up and releasing the entire layer of boards, (ii) transversely arranged with respect to the first and second support members and (iii) attached to both of the first and second support members;
• and
• an attachment plate;
• and
• a robotic manipulator connected to the attachment plate of the end effector and capable of moving the end effector, the robotic manipulator being under programmed control of a programmable robot controller executing stored instructions,
• wherein the method includes executing the stored instructions to perform operations including:
• picking up the entire layer of boards with the first and second pick up and release members by orienting the end effector such that each board of the entire layer of boards is transversely oriented with respect to the first and second pick up and release members.

A robotic workstation for unstacking and stacking a multi-layer stack of items one layer at a time, the robotic workstation comprising:

• an end effector configured to pick up, move and release an entire layer of boards of the multi-layer stack of boards, the end effector comprising:
• an attachment plate;
• and
• a first pick up and release member and a second pick up and release member, each of the first and second pick up and release members being (i) disposed below the attachment plate when the end effector is picking up and releasing the entire layer of items and (ii) attached directly or indirectly to the attachment plate;
• and
• a robotic manipulator connected to the attachment plate of the end effector and capable of moving the end effector, the robotic manipulator being under programmed control of a programmable robot controller executing stored instructions, the stored instructions, when executed, performing operations including:
• picking up the entire layer of items with the first and second pick up and release members by orienting the end effector such that each item of the entire layer of items is transversely oriented with respect to the first and second pick up and release members.