Office Action 1: Non-Final Rejection (2024-01-19)
Rejection types: 103 - Obviousness

CLAIMS:
Amendments to the Claims:

This listing of claims will replace all prior version, and listings, of claims in the application:

Claim 1 (Original) A robot for assembling a piece of furniture, the robot comprising:
a base;
a robotic arm coupled to the base at a first end of the robotic arm;
a multi-functional robotic head coupled to the robotic arm at a second end of the robotic arm, the multi-functional robotic head comprising:
a camera configured to scan a barcode positioned on a part presented to the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture;
a first applicator mechanism configured to apply an adhesive to the part;
a first gripping mechanism configured to grip a first hardware component, the first hardware component being manoeuvred by the robotic arm to a first position to be attached to the part;
a first attachment mechanism configured to attach the first hardware component to the part at the first position via a fastener to assemble the piece of furniture; and
a computing unit in communication with the robotic arm and the multi-functional robotic head, the computing unit configured to receive the instructions from the camera and to control the robotic arm and the multi-functional robotic head to assemble the piece of furniture.

Claim 2 (Original) The robot of claim 1, wherein the camera is further configured to scan the part to determine dimensions of the part.

Claim 3 (Original) The robot of claim 1, wherein the instructions provided by the barcode include co-ordinates on the part for applying the adhesive or attaching the first hardware component.
Claim 4 (Original) The robot of claim 1, wherein the processor is configured to determine a position on the part to apply the adhesive based on the instructions provided by the barcode.

Claim 5 (Original) The robot of claim 1, wherein the processor is configured to determine the position on the part to attach the first hardware component based on the instructions provided by the barcode.

Claim 6 (Original) The robot of claim 1, wherein the gripping mechanism is a pair of parallel plates.

Claim 7 (Original) The robot of claim 1, wherein the first hardware component is a hinge mounting plate.

Claim 8 (Original) The robot of claim 1, wherein the processor is further configured to direct the robotic arm to pick up the hinge mounting plates from a hardware provider.

Claim 9 (Original) The robot of claim 1, wherein the multi-functional robotic head further comprises a second gripping mechanism configured to grip a second hardware component.

Claim 10 (Original) The robot of claim 9, wherein the second hardware component is one or a slide and a slide spacer

Claim 11 (Cancelled).

Claim 12 (Original) The robot of claim 1, wherein the multi-functional robotic head further comprises a second applicator mechanism configured to apply a third hardware component to the part.

Claims 13-15 (Cancelled). 1414

Claim 16 (Original) A method of assembling a piece of furniture with a robot, the method comprising:
scanning a barcode on a part by the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture;
selecting a first hardware component to attach to the part by the robot, the first hardware component selected based on the instructions provided to the robot;
manoeuvring the first hardware component to a first position of the part to be attached to the part, the first position of the part determined by the robot based on the instructions provided to the robot; and attaching the first hardware component to the part by the robot to assemble the piece of furniture.

Claims 17-19 (Cancelled). 1818

Claim 20 (Original) The method of claim 16, wherein selecting the first hardware component to attach to the part by the robot includes selecting a hinge mounting plate to attach to the part by the robot.

Claim 21 (Original) The method of claim 20, wherein selecting the hinge mounting plate to attach to the part by the robot includes manoeuvring a multi-functional robotic head of the robot to a first storage location and gripping the hinge mounting plate by the first gripper of the multi-functional robotic head of the robot.

Claim 22 (Cancelled).

Claim 23 (Original) The method of claim 21, wherein selecting the second hardware component to attach to the part by the robot includes selecting a slide and a slide spacer to attach to the part by the robot.

Claim 24 (Original) The method of claim 23, wherein selecting the slide and slide spacer to attach to the part by the robot includes manoeuvring a multi-functional robotic head of the robot to a second storage location and gripping the slide and a slide spacer by the second gripper of the multi-functional robotic head of the robot.

Claim 25 (Original) The method of claim 24, further comprising manoeuvring the second hardware component to a second position to be attached to the part, the second position determined by the robot based on the instructions provided to the robot.

Claim 26 (Original) The method of claim 25, further comprising attaching the second hardware component to the part by the robot.

Claim 27 (Original) The method of claim 26 further comprising, after attaching the second hardware component to the part by the robot, selecting a third hardware component to attach to the part.

Claim 28 (Original) The method of claim 27, wherein selecting the third hardware component to attach to the part by the robot includes selecting an adjustable shelf bracket to attach to the part by the robot.

Claims 29-37 (Cancelled).
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OFFICE ACTION:
DETAILED ACTION
This Non-Final action is responsive to the application and IDS filed 8/6/2021.
In the application Claims 1-10, 12, 16, 20-21 and 23-28 are pending. Claims 11, 13-15, 17-19, 22 and 29-37 are canceled. Claims 1 and 16 are the independent claims.
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Information Disclosure Statement
The information disclosure statement (IDS) submitted on 8/6/2021 has been entered, and considered by the examiner.
Priority
Acknowledgement is made to applicant’s claim for priority to PCT/CA2020/050163 filed 2/7/2020 which claims foreign priority to provisional application 62/802876, filed 2/8/2019.
Drawings
The Drawings filed on 8/6/2021 have been approved.
Claim Objections
Claim 10 is objected to because of the following minor informalities:  The claim recites “…is one or a slide and a slide spacer.” Which may have been intended to recite “…is one of a slide and a slide spacer”. Appropriate corrections are required.
Specification
8.	Applicant is reminded of the proper language and format for an abstract of the disclosure.
The abstract should be in narrative form and generally limited to a single paragraph on a separate sheet within the range of 50 to 150 words in length. The abstract should describe the disclosure sufficiently to assist readers in deciding whether there is a need for consulting the full patent text for details.
The language should be clear and concise and should not repeat information given in the title. It should avoid using phrases which can be implied, such as, “The disclosure concerns,” “The disclosure defined by this invention,” “The disclosure describes,” etc.  In addition, the form and legal phraseology often used in patent claims, such as “means” and “said,” should be avoided.
7.	The abstract is objected to because it recites implied phrases such as “Systems, devices and methods for assembling a piece of furniture are described herein.”. Appropriate corrections are required.
Claim Rejections - 35 USC § 103
In the event the determination of the status of the application as subject to AIA  35 U.S.C. 102 and 103 (or as subject to pre-AIA  35 U.S.C. 102 and 103) is incorrect, any correction of the statutory basis for the rejection will not be considered a new ground of rejection if the prior art relied upon, and the rationale supporting the rejection, would be the same under either status.
The following is a quotation of 35 U.S.C. 103 which forms the basis for all obviousness rejections set forth in this Office action:
A patent for a claimed invention may not be obtained, notwithstanding that the claimed invention is not identically disclosed as set forth in section 102, if the differences between the claimed invention and the prior art are such that the claimed invention as a whole would have been obvious before the effective filing date of the claimed invention to a person having ordinary skill in the art to which the claimed invention pertains. Patentability shall not be negated by the manner in which the invention was made.
9.	Claims 1-10 and 12 are rejected under 35 U.S.C. 103 as being unpatentable over Chen (U.S. 4,613,942, filed Oct. 22, 1984) in view of Shinozaki (U.S. 9,649,790, filed Nov. 30, 2012) further in view of Ross (NPL- IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System, published May 2013, pgs. 855-862).
Regarding Independent claim 1, Chen discloses A robot for assembling a piece of furniture, the robot comprising:
a base (see fig.1, numeral 18 & col. 2, lines 45-65, discloses robot base comprising control mechanism);
a robotic arm coupled to the base at a first end of the robotic arm (see fig.1, numeral 19 & col. 2, lines 45-65, discloses a robot arm);
a multi-functional robotic head coupled to the robotic arm at a second end of the robotic arm, the multi-functional robotic head comprising: a camera configured to scan a barcode positioned on a part presented to the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture (see fig.1, numeral 14 & col. 2, lines 45-65, discloses a camera for obtaining and processing a coded indica image on a part within its field of vision. Further supporting use of a bar code for the indica in col. 4, lines 35-67. The part is then used to perform an assembly operation by the robot arm has determined by the indica outlined in col. 3, lines 25-35 & abstract);
a first gripping mechanism configured to grip a first hardware component, the first hardware component being manoeuvred by the robotic arm to a first position to be attached to the part (see fig. 1 numeral 20, col. 2, lines 50-55 & col. 3, lines 43-50, discloses a gripping mechanism has a robot manipulator used to grip a hardware component such as wrench 11. Further describing in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached);
a first attachment mechanism configured to attach the first hardware component to the part at the first position via a fastener to assemble the piece of furniture (see col. 5, lines 5-20, discloses parts can also include assembly components such as screws or bolts that are to be attached thereby applying fasteners for assembly); and
a computing unit in communication with the robotic arm and the multi-functional robotic head, the computing unit configured to receive the instructions from the camera and to control the robotic arm and the multi-functional robotic head to assemble the piece of furniture (see fig. 1 & col. 5, lines 5-20, discloses using a computer that communicates with the robotic arm and manipulator to receive instructions from the camera that obtained the indica image that is decoded to provide assemble instruction to the robot). Chen discloses obtaining robot assembly operation instructions based on captured indica placed on a part. He further mentions in col. 2, lines 65-67 the application of adhesives for attaching the indica, but fails to teach the robot applying any adhesive to furniture parts.
Shinozaki discloses:
a first applicator mechanism configured to apply an adhesive to the part (see abstract, discloses application of a curing adhesive to a region of an article using a robot); Shinozaki fails to teach any assembly of furniture parts using the robot. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented known techniques for applying adhesive for furniture assembly using the robot, has it automates the assembly of furniture using coded indica which saves time and cost for manufactures.
Regarding Dependent claim 2, with dependency of claim 1, Chen discloses wherein the camera is further configured to scan the part to determine dimensions of the part (see col 60, lines 3-5, discloses that the indica provide dimensional disposition data associated with a part).
Regarding Dependent claim 3, with dependency of claim 1, Chen discloses wherein the instructions provided by the barcode include co-ordinates on the part for applying the adhesive or attaching the first hardware component (see col 60, lines 3-5 & fig. 10G, discloses that the indica provide data associated with coordinates on the part to perform the assembly instructions).
Regarding Dependent claim 4, with dependency of claim 1, Chen mentions in col. 2, lines 65-67 the application of adhesives for attaching the indica, but fails to teach the robot applying any adhesive to furniture parts. Shinozaki discloses wherein the processor is configured to determine a position on the part to apply the adhesive based on the instructions provided by the barcode (see abstract); Shinozaki fails to teach any assembly of furniture parts using the robot. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented known techniques for applying adhesive for furniture assembly using the robot, has it automates the assembly of furniture using coded indica which saves time and cost for manufactures.
Regarding Dependent claim 5, with dependency of claim 1, Chen discloses wherein the processor is configured to determine the position on the part to attach the first hardware component based on the instructions provided by the barcode (see col 60, lines 3-5, discloses that the indica provide dimensional disposition data associated with a part).
Regarding Dependent claim 6, with dependency of claim 1, Chen discloses wherein the gripping mechanism is a pair of parallel plates (see fig. 1).
Regarding Dependent claim 7, with dependency of claim 1, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 8, with dependency of claim 1, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate from a hardware provider used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 9, with dependency of claim 1, Chen discloses in fig. 1, a single robotic gripping arm. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have implemented multiple varieties of robot configurations for performing an assembly that includes a second gripping mechanisms to grip parts has it provides more control and saves additional time.
Regarding Dependent claim 10, with dependency of claim 9, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including slide and slide spacer used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including a slide and slide spacer that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 12, with dependency of claim 1, Chen mentions in col. 2, lines 65-67 the application of adhesives for attaching the indica, but fails to teach the robot applying any adhesive to furniture parts. Shinozaki discloses wherein the multi-functional robotic head further comprises a second applicator mechanism configured to apply a third hardware component to the part (see abstract); Shinozaki fails to teach any assembly of furniture parts using the robot. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented known techniques for applying adhesive for furniture assembly using the robot, has it automates the assembly of furniture using coded indica which saves time and cost for manufactures.
10.	Claims 16, 20-21 and 23-28 are rejected under 35 U.S.C. 103 as being unpatentable over Chen (U.S. 4,613,942, filed Oct. 22, 1984) in view of Ross (NPL- IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System, published May 2013, pgs. 855-862).
Regarding Independent claim 16, Chen discloses A method of assembling a piece of furniture with a robot, the method comprising:
scanning a barcode on a part by the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture (see fig.1, numeral 14 & col. 2, lines 45-65, discloses a camera for obtaining and processing a coded indica image on a part within its field of vision. Further supporting use of a bar code for the indica in col. 4, lines 35-67. The part is then used to perform an assembly operation by the robot arm has determined by the indica outlined in col. 3, lines 25-35 & abstract);
selecting a first hardware component to attach to the part by the robot, the first hardware component selected based on the instructions provided to the robot (see col. 5, lines 5-20, discloses parts can also include assembly components such as screws or bolts that are to be attached thereby applying fasteners for assembly);
manoeuvring the first hardware component to a first position of the part to be attached to the part, the first position of the part determined by the robot based on the instructions provided to the robot (see fig. 1 & col. 5, lines 5-20, discloses using a computer that communicates with the robotic arm and manipulator to receive instructions from the camera that obtained the indica image that is decoded to provide assemble instruction to the robot); and
attaching the first hardware component to the part by the robot to assemble the piece of furniture (see fig. 1 & col. 5, lines 5-20, discloses using a computer that communicates with the robotic arm and manipulator to receive instructions from the camera that obtained the indica image that is decoded to provide assemble instruction to the robot). Chen discloses obtaining robot assembly operation instructions based on captured indica placed on a part, he fails to teach that parts are used for the assembly of furniture. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented known techniques for furniture assembly using the robot, has it automates the assembly of furniture using coded indica which saves time and cost for manufactures.
Regarding Dependent claim 20, with dependency of claim 16, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 21, with dependency of claim 20, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate from a storage location used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 23, with dependency of claim 21, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including slide and slide spacer used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including a slide and slide spacer that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 24, with dependency of claim 23, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including slide and slide spacer from a storage location used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including a slide and slide spacer that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 25, with dependency of claim 24, Chen discloses manoeuvring the second hardware component to a second position to be attached to the part, the second position determined by the robot based on the instructions provided to the robot (see fig.1, numeral 14 & col. 2, lines 45-65, including the explanation provided in the independent claim).
Regarding Dependent claim 26, with dependency of claim 25, Chen discloses attaching the second hardware component to the part by the robot (see fig.1, numeral 14 & col. 2, lines 45-65, including the explanation provided in the independent claim).
Regarding Dependent claim 27, with dependency of claim 26, Chen discloses after attaching the second hardware component to the part by the robot, selecting a third hardware component to attach to the part (see fig.1, numeral 14 & col. 2, lines 45-65, including the explanation provided in the independent claim).
Regarding Dependent claim 28, with dependency of claim 27, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including an adjustable shelf bracket used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including an adjustable shelf bracket that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
It is noted that any citation [[s]] to specific, pages, columns, lines, or figures in the prior art references and any interpretation of the references should not be considered to be limiting in any way.  A reference is relevant for all it contains and may be relied upon for all that it would have reasonably suggested to one having ordinary skill in the art. [[See, MPEP 2123]]
Conclusion
References Cited
11.	The art made of record and not relied upon is considered pertinent to applicant’s disclosure.
WANG et al. (U.S. Pub 2021/0362352) discloses “Automated Grasping Apparatus And Method For Precise And Clean Assembly Of Large-Aperture Optical Element”
Arboleda et al. (U.S. Pub 2023/0243759) discloses “Flexible Inspection System”
Wakamori et al. (U.S. 4,872,257) discloses “Apparatus For Installing Bearings On Engine Components”
Wisniewski et al. (U.S. 5,987,217) discloses “Robotic Furniture Texturing”
Mingxin Yu et al., RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment, published Dec 2021 arXiv, pgs. 1-8 (pdf)

APPLICANT REBUTTAL: REMARKS
/
ARGUMENTS
By the present amendment, the claims have been amended as follows:
Claim 1 has been amended to recite "a camera positioned on a periphery of the multi-functional robotic head, the camera being configured to scan a barcode positioned on a part presented to the robot and capture an image of the part presented to the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture".
Claim 2 has been amended to recite that the "computing unit is further configured to, based on the image captured by the camera, determine dimensions of the part."
Claim 10 has been amended to correct an objection raised by the Examiner.
Claim 16 has been amended to correspond with amended claim 1.
Support for these amendments can be found throughout the application as filed, specifically at paragraphs [0091] and [0094] as well as FIGs. 2-5.
The amendments to the claims have been made without prejudice and without acquiescing to any of the Examiner's objections. Applicant reserves the right to pursue any deleted or withdrawn subject matter in a further divisional, continuation or continuation-in-part application. No new matter has been entered by the present amendment and its entry is respectfully requested/The amendments do not contain new matter and their entry is respectfully requested.
The Office Action dated January 19, 2024 has been carefully considered. It is believed that the amendments submitted herewith and the following comments represent a complete response to the Examiner's rejections and place the present application in condition for allowance. Reconsideration is respectfully requested.
Claim Objection
Claim 10 has been objected to because the claim recites "...is one or a slide and a slide spacer."
In response, Applicant has amended claim 10 to recite "...is one of a slide and a slide spacer" as suggested by the Examiner.
Reconsideration is respectfully requested.
Specification Objection
The abstract has been objected to because it recites implied phrases such as "Systems, devices and methods for assembling a piece of furniture
are described herein."
In response, Applicant has amended the Abstract to remove such implied phrases.
Reconsideration is respectfully requested.
Claim Rejections -
35 U.S.C.
&
Claims 1-10 and 12 have been rejected under 35 U.S.C. 103 as being unpatentable over Chen (U.S. 4,613,942, filed Oct. 22, 1984, hereinafter "Chen") in view or Shinozaki (U.S. 9,649,790, filed Nov. 30, 2012, hereinafter "Shinozaki") further in view of Ross (NPL- IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System, published May 2013, pgs. 855-862, hereinafter "Ross").
Claims 16, 20-21 and 23-28 are rejected under 35 U.S.C. 103 as being unpatentable over Chen in view of Ross.
Applicant respectfully disagrees.
Claim 1 as amended now recites "a camera positioned on a periphery of the multi-functional robotic head, the camera being configured to scan a barcode positioned on a part presented to the robot and capture an image of the part presented to the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture".
Applicant submits that none of the prior art cited by the Examiner teaches or suggests positioning a camera on a robotic head of a robot for assembling a piece of furniture as claimed in amended claim 1. Applicant submits that positioning the camera 130 on the robotic head 128 as described in the present application provides a number of functional advantages that
are not contemplated in the prior art. For example, positioning the camera 130 on the robotic
head 128 provides for the camera 130 to be movable relative to the part to both scan a barcode
positioned on the part and reliably capture an image of the entire part when the part is on a
conveyor belt.
Chen does not teach or suggest the presence of camera 14 on robot arm 19. Rather, as shown
in FIG. 1, camera 14 is positioned on an opposite side of conveyor 12 from robot arm 19.
As a result of not teach that the camera is movable relative to the part, Chen does not teach
or suggest a camera that is configured to "being configured to scan a barcode positioned on a
part presented to the robot and capture an image of the part presented to the robot" as claimed
in amended claim 1.
Chen specifically does not teach or suggest a camera that is configured to capture an image
of the part to determine dimensions of the part in addition to being able to scan a barcode on
the part. In contrast, Chen only teaches that the camera views the robotic indicia on the part.
The indicia on the printed labels positioned on the parts have four different portions that convey
different forms of information when viewed. Specifically, Chen teaches, beginning at column
2, line 65,
Indicia 13 has a first portion 30 which is formed of a plurality of differently colored dots 31. The color sequence of these dots identifies the part as a specific type of wrench.
A second series of indicia 35 is an equilateral triangle 36, with apex dot 36a which when viewed by camera 14 in conjunction with processor 15 and computer 16 determines the orientation or position of the wrench 11. That is, any rotation about the x-y-z axes, presents a specific triangle image to the camera which is match recognized by processor 15 as a specific angular deviation from the equilateral triangle image as would appear in direct top plan view. This angular deviation is also converted to digital inputs to control the robot arm to the rotation angle to align with the specific angular orientation of the wrench. The third set of indicia 38 is a circle 39 contrasted on background 40. The "size" of the circle, in the camera image, determines the distance of the part from a predetermined fixed or reference point. In addition, with angular deviation from direct top plan view, the circle will appear as an ellipse image to the camera; the size of the ellipse may also provide orientation as well as distance information to the processor. A fourth set of indicia 45 comprises a series of differently colored geometric shapes, e.g., 46, 47, 48, which series identifies the operation which is to be performed by the robot arm with the part. That is, the program for the computer is on the part itself, which program instructs the robot to perform the programmed operation as set forth by the indicia. It is to be noted that the two labels on the part are identical, but placed on different or opposite sides, in case the part is flipped over while
being conveyed.
To summarize the paragraph above, the indicia 13 includes the following:
" a first portion of the indicia that conveys a type of the part;
" a second series of indicia that is used to determine the orientation of the part;
" a third set of indicia to is used to determine a distance of the part from a fixed reference
point; and
" a fourth set of indicia that conveys the operation that is to be performed by the robot
arm 19 on the part.
The second series of indicia and the third set of indicia convey information that is used to determine the orientation of the part and the distance of the part from a fixed reference. The data that is conveyed to the processor, via camera 14, is not necessary to be convey in the present case because of the claimed feature of the camera being positioned on the robotic arm and being able to move to capture an image of the part directly. The image is then used to determine the dimensions of the part.
This is a fundamental difference between the teachings of Chen and claim 1 as amended. In Chen, camera 14 is fixed apart from the robot arm 19 and, therefore, unable to reliably capture an image of the entire part that can be used to determine dimensions of the part.
For the above foregoing reasons, claim 1 as amended is novel and inventive over Chen.
Shinozaki and Ross fail to correct the deficiencies of Chen as each reference also fails to teach or suggest "a camera positioned on a periphery of the multi-functional robotic head, the camera being configured to scan a barcode positioned on a part presented to the robot and capture an image of the part presented to the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture".
Therefore, claim 1 as amended is also novel and inventive over Chen in view of Shinozaki and Ross, either alone or in combination.
Applicant submits that claims 2-10 and 12 are therefore also novel and inventive over Chen in view of Shinozaki and further in view of Ross by way of their dependency on claim 1 as amended.
With respect to claims 16, 20-21 and 23-28, Applicant submits that claim 16 as amended corresponds with claim 1 as amended and therefore is novel and inventive over Chen in view of Shinozaki and Ross, either alone or in combination, for at least the same reasons as provided above in support of claim 1 as amended.
Claims 20-21 and 23-28 are therefore also novel and inventive over Chen in view of Shinozaki and further in view of Ross by way of their dependency on claim 16 as amended.
In view of the foregoing, Applicant respectfully submits that the claims, as amended, are non- obvious, and requests for this rejection under 35 U.S.C. § 103 to be withdrawn and that the claims, as amended, be allowed.
Conclusion

NEXT OFFICE ACTION: DETAILED ACTION
This FINAL action is responsive to the amendment filed 4/19/2024.
In the amendment Claims 1-10, 12, 16, 20-21 and 23-28 remain pending. Claims 11, 13-15, 17-19, 22 and 29-37 remain canceled. Claims 1 and 16 are the independent claims.
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Withdrawn Objections
The Objection to claim 10 has been withdrawn in light of the amendment.
The Objection to the abstract has been withdrawn in light of the amendment.
Withdrawn Rejections
The 35 U.S.C. 103(a) rejections of claims 1-10 and 12 with cited references of Chen (U.S. 4,613,942) in view of Shinozaki (U.S. 9,649,790) further in view of Ross (NPL) has been withdrawn in light of the amendment.
The 35 U.S.C. 103(a) rejections of claims 16, 20-21 and 23-28 with cited references of Chen (U.S. 4,613,942) in view of Ross (NPL) has been withdrawn in light of the amendment.
Claim Rejections - 35 USC § 112
The following is a quotation of 35 U.S.C. 112(b):
(b)  CONCLUSION.—The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the inventor or a joint inventor regards as the invention.
The following is a quotation of 35 U.S.C. 112 (pre-AIA ), second paragraph:
The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the applicant regards as his invention.
8.	Independent Claim 16 is rejected under 35 U.S.C. 112(b), the claims recite “the first positioned …”. However there is insufficient antecedent basis for these limitations in the claims.
Dependent claims 20-21 and 23-28 are rejected under 35 U.S.C. 112(b) has they inherit the deficiency of the Independent claim.
Claim Rejections - 35 USC § 103
In the event the determination of the status of the application as subject to AIA  35 U.S.C. 102 and 103 (or as subject to pre-AIA  35 U.S.C. 102 and 103) is incorrect, any correction of the statutory basis for the rejection will not be considered a new ground of rejection if the prior art relied upon, and the rationale supporting the rejection, would be the same under either status.
The following is a quotation of 35 U.S.C. 103 which forms the basis for all obviousness rejections set forth in this Office action:
A patent for a claimed invention may not be obtained, notwithstanding that the claimed invention is not identically disclosed as set forth in section 102, if the differences between the claimed invention and the prior art are such that the claimed invention as a whole would have been obvious before the effective filing date of the claimed invention to a person having ordinary skill in the art to which the claimed invention pertains. Patentability shall not be negated by the manner in which the invention was made.
9.	Claims 1-10 and 12 are rejected under 35 U.S.C. 103 as being unpatentable over Chen (U.S. 4,613,942, filed Oct. 22, 1984) in view of Chen herein “Heping” (U.S. Pub 2011/0087360, filed Mar. 30, 2009) further in view of Shinozaki (U.S. 9,649,790, filed Nov. 30, 2012) further in view of Ross (NPL- IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System, published May 2013, pgs. 855-862).
Regarding Independent claim 1, Chen discloses A robot for assembling a piece of furniture, the robot comprising:
a base (see fig.1, numeral 18 & col. 2, lines 45-65, discloses robot base comprising control mechanism);
a robotic arm coupled to the base at a first end of the robotic arm (see fig.1, numeral 19 & col. 2, lines 45-65, discloses a robot arm);
a multi-functional robotic head coupled to the robotic arm at a second end of the robotic arm, the multi-functional robotic head comprising: a camera positioned on a periphery of the multi-functional robotic head, the camera being, configured to scan a barcode positioned on a part presented to the robot and capture an image of the part presented to the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture (see fig.1, numeral 14 & col. 2, lines 45-65, discloses a camera for obtaining and processing a coded indica image on a part within its field of vision. Further supporting use of a bar code for the indica in col. 4, lines 35-67. The part is then used to perform an assembly operation by the robot arm has determined by the indica outlined in col. 3, lines 25-35 & abstract);
a first gripping mechanism configured to grip a first hardware component, the first hardware component being manoeuvred by the robotic arm to a first position to be attached to the part (see fig. 1 numeral 20, col. 2, lines 50-55 & col. 3, lines 43-50, discloses a gripping mechanism has a robot manipulator used to grip a hardware component such as wrench 11. Further describing in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached);
a first attachment mechanism configured to attach the first hardware component to the part at the first position via a fastener to assemble the piece of furniture (see col. 5, lines 5-20, discloses parts can also include assembly components such as screws or bolts that are to be attached thereby applying fasteners for assembly); and
a computing unit in communication with the robotic arm and the multi-functional robotic head, the computing unit configured to receive the instructions from the camera and to control the robotic arm and the multi-functional robotic head to assemble the piece of furniture (see fig. 1 & col. 5, lines 5-20, discloses using a computer that communicates with the robotic arm and manipulator to receive instructions from the camera that obtained the indica image that is decoded to provide assemble instruction to the robot). Chen discloses obtaining robot assembly operation instructions based on captured indica placed on a part using a camera 14 that views the indicia 12 in its field of vision (see col. 2, lines 55-65). Nowhere does Chen teach that the camera is mounted or positioned on a periphery of the robotic head and captures image of the part presented to the robot, instead only barcode image appears to be captured by a stationary camera. Heping discloses application of a robot for parts assembly on a workpiece moving in an assembly line and includes a camera mounted on the robot tool itself (see fig. 5, paragraphs 41 and 59).  The camera further capturing image of the presented workpiece from the assembly line and performing image processing to identify patterns of bolts/studs (see paragraph 35). Thereby teaching capture of an image of presented workpiece to the robot using a camera mounted on the robot assembly. Heping fails to teach application of any adhesive to the parts using the robot.
Shinozaki discloses:
a first applicator mechanism configured to apply an adhesive to the part (see abstract, discloses application of a curing adhesive to a region of an article using a robot); Shinozaki fails to teach any assembly of furniture parts using the robot. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have modified camera placement by mounting the camera on the robot for capturing part details and barcode data in addition to implementing known techniques for applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts which saves time while improving the accuracy of construction.
Regarding Dependent claim 2, with dependency of claim 1, Chen discloses that the indica provide dimensional disposition data associated with a part (see col 60, lines 3-5). Chen fails to teach that the camera is mounted or positioned on a periphery of the robotic head and captures image of the part presented to the robot, instead only barcode image appears to be captured by a stationary camera. Heping discloses computing unit is further configured to based on the image captured by the camera determine dimensions of the part (see fig. 5, paragraphs 41 and 59). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have modified camera placement by mounting the camera on the robot for capturing part details and barcode data in addition to implementing known techniques for applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts which saves time while improving the accuracy of construction.
Regarding Dependent claim 3, with dependency of claim 1, Chen discloses wherein the instructions provided by the barcode include co-ordinates on the part for applying the adhesive or attaching the first hardware component (see col 60, lines 3-5 & fig. 10G, discloses that the indica provide data associated with coordinates on the part to perform the assembly instructions).
Regarding Dependent claim 4, with dependency of claim 1, Chen mentions in col. 2, lines 65-67 the application of adhesives for attaching the indica, but fails to teach the robot applying any adhesive to furniture parts. Shinozaki discloses wherein the processor is configured to determine a position on the part to apply the adhesive based on the instructions provided by the barcode (see abstract); Shinozaki fails to teach any assembly of furniture parts using the robot. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have modified camera placement by mounting the camera on the robot for capturing part details and barcode data in addition to implementing known techniques for applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts which saves time while improving the accuracy of construction.
Regarding Dependent claim 5, with dependency of claim 1, Chen discloses wherein the processor is configured to determine the position on the part to attach the first hardware component based on the instructions provided by the barcode (see col 60, lines 3-5, discloses that the indica provide dimensional disposition data associated with a part).
Regarding Dependent claim 6, with dependency of claim 1, Chen discloses wherein the gripping mechanism is a pair of parallel plates (see fig. 1).
Regarding Dependent claim 7, with dependency of claim 1, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 8, with dependency of claim 1, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate from a hardware provider used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 9, with dependency of claim 1, Chen discloses in fig. 1, a single robotic gripping arm. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have implemented multiple varieties of robot configurations for performing an assembly that includes a second gripping mechanisms to grip parts has it provides more control and saves additional time.
Regarding Dependent claim 10, with dependency of claim 9, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including slide and slide spacer used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including a slide and slide spacer that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 12, with dependency of claim 1, Chen discloses obtaining robot assembly operation instructions based on captured indica placed on a part using a camera 14 that views the indicia 12 in its field of vision (see col. 2, lines 55-65). Nowhere does Chen teach that the camera is mounted or positioned on a periphery of the robotic head and captures image of the part presented to the robot, instead only barcode image appears to be captured by a stationary camera. Heping discloses application of a robot for parts assembly on a workpiece moving in an assembly line and includes a camera mounted on the robot tool itself (see fig. 5, paragraphs 41 and 59).  The camera further capturing image of the presented workpiece from the assembly line and performing image processing to identify patterns of bolts/studs (see paragraph 35). Thereby teaching capture of an image of presented workpiece to the robot using a camera mounted on the robot assembly. Heping fails to teach application of any adhesive to the parts using the robot. Shinozaki discloses wherein the multi-functional robotic head further comprises a second applicator mechanism configured to apply a third hardware component to the part (see abstract); Shinozaki fails to teach any assembly of furniture parts using the robot. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have modified camera placement by mounting the camera on the robot for capturing part details and barcode data in addition to implementing known techniques for applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts which saves time while improving the accuracy of construction.
10.	Claims 16, 20-21 and 23-28 are rejected under 35 U.S.C. 103 as being unpatentable over Chen (U.S. 4,613,942, filed Oct. 22, 1984) in view of Chen herein “Heping” (U.S. Pub 2011/0087360, filed Mar. 30, 2009) further in view of Ross (NPL- IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System, published May 2013, pgs. 855-862).
Regarding Independent claim 16, Chen discloses A method of assembling a piece of furniture with a robot, the method comprising:
scanning a barcode on a part by the robot, the barcode providing instructions to the robot for attaching one or more hardware components to the part to assemble the piece of furniture (see fig.1, numeral 14 & col. 2, lines 45-65, discloses a camera for obtaining and processing a coded indica image on a part within its field of vision. Further supporting use of a bar code for the indica in col. 4, lines 35-67. The part is then used to perform an assembly operation by the robot arm has determined by the indica outlined in col. 3, lines 25-35 & abstract);
selecting a first hardware component to attach to the part by the robot, the first hardware component selected based on the instructions provided to the robot (see col. 5, lines 5-20, discloses parts can also include assembly components such as screws or bolts that are to be attached thereby applying fasteners for assembly);
manoeuvring the first hardware component to a first position of the part to be attached to the part, the first position of the part determined by the robot based on the instructions provided to the robot (see fig. 1 & col. 5, lines 5-20, discloses using a computer that communicates with the robotic arm and manipulator to receive instructions from the camera that obtained the indica image that is decoded to provide assemble instruction to the robot); and
attaching the first hardware component to the part by the robot at a first position, the first positioned determined based on the image captured by the camera to assemble the piece of furniture (see fig. 1 & col. 5, lines 5-20, discloses using a computer that communicates with the robotic arm and manipulator to receive instructions from the camera that obtained the indica image that is decoded to provide assemble instruction to the robot). Chen discloses obtaining robot assembly operation instructions based on captured indica placed on a part using a camera 14 that views the indicia 12 in its field of vision (see col. 2, lines 55-65). Nowhere does Chen teach that the camera is mounted or positioned on a periphery of the robotic head and captures image of the part presented to the robot, instead only barcode image appears to be captured by a stationary camera. Heping discloses application of a robot for parts assembly on a workpiece moving in an assembly line and includes a camera mounted on the robot tool itself (see fig. 5, paragraphs 41 and 59).  The camera further capturing image of the presented workpiece from the assembly line and performing image processing to identify patterns of bolts/studs (see paragraph 35). Thereby teaching capture of an image of presented workpiece to the robot using a camera mounted on the robot assembly. Heping fails to teach application of the robot for assembling furniture parts. Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented known techniques for furniture assembly using the robot, has it automates the assembly of furniture using coded indica which saves time and cost for manufactures. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have modified camera placement by mounting the camera on the robot for capturing part details and barcode data for assembly of furniture parts. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts which saves time while improving the accuracy of construction.
Regarding Dependent claim 20, with dependency of claim 16, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 21, with dependency of claim 20, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including hinge mounting plate from a storage location used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including hinge mounting plate that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 23, with dependency of claim 21, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including slide and slide spacer used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including a slide and slide spacer that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 24, with dependency of claim 23, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including slide and slide spacer from a storage location used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including a slide and slide spacer that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
Regarding Dependent claim 25, with dependency of claim 24, Chen discloses manoeuvring the second hardware component to a second position to be attached to the part, the second position determined by the robot based on the instructions provided to the robot (see fig.1, numeral 14 & col. 2, lines 45-65, including the explanation provided in the independent claim).
Regarding Dependent claim 26, with dependency of claim 25, Chen discloses attaching the second hardware component to the part by the robot (see fig.1, numeral 14 & col. 2, lines 45-65, including the explanation provided in the independent claim).
Regarding Dependent claim 27, with dependency of claim 26, Chen discloses after attaching the second hardware component to the part by the robot, selecting a third hardware component to attach to the part (see fig.1, numeral 14 & col. 2, lines 45-65, including the explanation provided in the independent claim).
Regarding Dependent claim 28, with dependency of claim 27, Chen discloses in col. 5, lines 5- 15 that parts can also include assembly components such as screws or bolts that are to be attached. He fails to teach a list of all hardware components including an adjustable shelf bracket used for assembly. It would have been obvious for one of ordinary skill in the art before the effective filing date of the application to have supplemented any number of hardware components including an adjustable shelf bracket that could be used in assembly to which an indica can be affixed, has it provides robot manipulation to a broad array of field applications.
It is noted that any citation [[s]] to specific, pages, columns, lines, or figures in the prior art references and any interpretation of the references should not be considered to be limiting in any way.  A reference is relevant for all it contains and may be relied upon for all that it would have reasonably suggested to one having ordinary skill in the art. [[See, MPEP 2123]]
Response to Arguments
11.	Applicant’s arguments filed 4/19/2024 have been considered but are moot in view of the new grounds of rejection.
Conclusion
Applicant's amendment necessitated the new ground(s) of rejection presented in this Office action.  Accordingly, THIS ACTION IS MADE FINAL.  See MPEP § 706.07(a).  Applicant is reminded of the extension of time policy as set forth in 37 CFR 1.136(a).
A shortened statutory period for reply to this final action is set to expire THREE MONTHS from the mailing date of this action.  In the event a first reply is filed within TWO MONTHS of the mailing date of this final action and the advisory action is not mailed until after the end of the THREE-MONTH shortened statutory period, then the shortened statutory period will expire on the date the advisory action is mailed, and any extension fee pursuant to 37 CFR 1.136(a) will be calculated from the mailing date of the advisory action.  In no event, however, will the statutory period for reply expire later than SIX MONTHS from the date of this final action.

CITED REFERENCE SUMMARIES: Ref US5987217A: Claims:
A programmable furniture texturing robotic system, comprising: a programmable multiaxis robot having a tool arm and a tool end of said tool arm; and a furniture texturing tool unit attached to said tool end including at least one furniture texturing tool, wherein said furniture texturing tool unit is selected from the group consisting of a furniture distressing tool unit and a furniture chattering tool unit.
a programmable multiaxis robot having a tool arm and a tool end of said tool arm; and
a furniture texturing tool unit attached to said tool end including at least one furniture texturing tool,
wherein said furniture texturing tool unit is selected from the group consisting of a furniture distressing tool unit and a furniture chattering tool unit.
A programmable furniture texturing robotic system according to claim 1, further comprising: a vacuum table constructed and arranged to hold said furniture part while said at least one furniture texturing tool produces texture markings on said furniture part.
a vacuum table constructed and arranged to hold said furniture part while said at least one furniture texturing tool produces texture markings on said furniture part.
A programmable furniture texturing robotic system, comprising: a programmable multiaxis robot having a tool arm and a tool end of said tool arm; and a furniture texturing tool unit attached to said tool end including at least one furniture texturing tool, wherein said furniture tool unit is a furniture distressing tool unit which includes: a multitool turret having a tool arm attachment region, said multitool turret is attachable to and detachable from said tool end, and has a plurality of furniture distressing tool attachment regions, and said at least one furniture texturing tool is a first furniture distressing tool attached to said multitool turret at a first furniture distressing tool attachment region of said plurality of furniture distressing tool attachment regions.
wherein said furniture tool unit is a furniture distressing tool unit which includes: a multitool turret having a tool arm attachment region, said multitool turret is attachable to and detachable from said tool end, and has a plurality of furniture distressing tool attachment regions, and said at least one furniture texturing tool is a first furniture distressing tool attached to said multitool turret at a first furniture distressing tool attachment region of said plurality of furniture distressing tool attachment regions.
a multitool turret having a tool arm attachment region, said multitool turret is attachable to and detachable from said tool end, and has a plurality of furniture distressing tool attachment regions, and
said at least one furniture texturing tool is a first furniture distressing tool attached to said multitool turret at a first furniture distressing tool attachment region of said plurality of furniture distressing tool attachment regions.
A programmable furniture texturing robotic system according to claim 3, wherein said furniture distressing tool unit includes a compound furniture distressing tool attachment bracket attached to said multitool turret at a second furniture tool attachment region of said plurality of furniture distressing tool attachment regions, wherein said compound furniture distressing tool bracket has a plurality of compound bracket furniture distressing tool attachment regions.
a compound furniture distressing tool attachment bracket attached to said multitool turret at a second furniture tool attachment region of said plurality of furniture distressing tool attachment regions,
wherein said compound furniture distressing tool bracket has a plurality of compound bracket furniture distressing tool attachment regions.
A programmable furniture texturing robotic system according to claim 4, wherein said furniture distressing tool unit includes second, third, and fourth furniture distressing tools attached to first, second and third compound bracket furniture distressing tool attachment regions of said plurality of compound bracket furniture distressing tool attachment regions, wherein said first furniture distressing tool is a router distressing tool having a selectable router bit to selectively produce a first plurality of furniture distress marks, said second furniture distressing tool is a descalar distressing tool including a descalar and having first and second descalar pins pivotally attached to said descalar to selectively produce a second plurality of furniture distress marks, said third furniture distressing tool is a rock distressing tool having a distressing rock with a plurality of convex and concave surface regions and is attached to a first slidable member which is in contact with a first expansion component such that an impulse applied by said first expansion component to said first slidable member thrusts said distressing rock into a furniture part to selectively produce a third plurality of furniture distress marks, and said fourth furniture distressing tool is a hatchet distressing tool having a distressing hatchet attached to a second slidable member which is in contact with a second expansion component such that an impulse applied by said second expansion component to said second slidable member thrusts said distressing hatchet into said furniture part to selectively produce a fourth plurality of furniture distress marks.
second, third, and fourth furniture distressing tools attached to first, second and third compound bracket furniture distressing tool attachment regions of said plurality of compound bracket furniture distressing tool attachment regions,
wherein said first furniture distressing tool is a router distressing tool having a selectable router bit to selectively produce a first plurality of furniture distress marks,
said second furniture distressing tool is a descalar distressing tool including a descalar and having first and second descalar pins pivotally attached to said descalar to selectively produce a second plurality of furniture distress marks,
said third furniture distressing tool is a rock distressing tool having a distressing rock with a plurality of convex and concave surface regions and is attached to a first slidable member which is in contact with a first expansion component such that an impulse applied by said first expansion component to said first slidable member thrusts said distressing rock into a furniture part to selectively produce a third plurality of furniture distress marks, and
said fourth furniture distressing tool is a hatchet distressing tool having a distressing hatchet attached to a second slidable member which is in contact with a second expansion component such that an impulse applied by said second expansion component to said second slidable member thrusts said distressing hatchet into said furniture part to selectively produce a fourth plurality of furniture distress marks.
A programmable furniture texturing robotic system, comprising: a programmable multiaxis robot having a tool arm and a tool end of said tool arm; and a furniture texturing tool unit attached to said tool end of said tool arm including at least one furniture texturing tool, wherein said furniture texturing tool unit is a furniture chattering tool unit which includes: a support frame having an attachment region which is attachable to and detachable from said tool end, a motor attached to said support frame such that a drive shaft of said motor has a longitudinal axis that extends in a direction from an attachment end of said support frame to a furniture part end of said support frame, and a chattering saw blade fixed to said drive shaft substantially at a center point of said saw blade and substantially orthogonal to said longitudinal axis of said drive shaft, wherein said saw blade rotates as said drive shaft rotates.
a furniture texturing tool unit attached to said tool end of said tool arm including at least one furniture texturing tool,
wherein said furniture texturing tool unit is a furniture chattering tool unit which includes: a support frame having an attachment region which is attachable to and detachable from said tool end, a motor attached to said support frame such that a drive shaft of said motor has a longitudinal axis that extends in a direction from an attachment end of said support frame to a furniture part end of said support frame, and a chattering saw blade fixed to said drive shaft substantially at a center point of said saw blade and substantially orthogonal to said longitudinal axis of said drive shaft, wherein said saw blade rotates as said drive shaft rotates.
a support frame having an attachment region which is attachable to and detachable from said tool end,
a motor attached to said support frame such that a drive shaft of said motor has a longitudinal axis that extends in a direction from an attachment end of said support frame to a furniture part end of said support frame, and
a chattering saw blade fixed to said drive shaft substantially at a center point of said saw blade and substantially orthogonal to said longitudinal axis of said drive shaft, wherein said saw blade rotates as said drive shaft rotates.
A programmable furniture texturing robotic system, comprising: a programmable multiaxis robot having a tool arm and a tool end of said tool arm; and a furniture texturing tool unit attached to said tool end including at least one furniture texturing tool, a vacuum table constructed and arranged to hold said furniture part while said at least one furniture texturing tool produces texture markings on said furniture part; and a support frame, wherein said vacuum table and said programmable multiaxis robot are mounted to said support frame to form an integrated unit to maintain proper alignment of said tool end relative to said furniture part.
a vacuum table constructed and arranged to hold said furniture part while said at least one furniture texturing tool produces texture markings on said furniture part; and
a support frame,
wherein said vacuum table and said programmable multiaxis robot are mounted to said support frame to form an integrated unit to maintain proper alignment of said tool end relative to said furniture part.
A programmable furniture texturing robotic system according to claim 7, wherein said programmable multiaxis robot includes a counterweight disposed at an end of said tool arm which is disposed a distance from said tool end of said tool arm to substantially cancel a primary component of torque on said tool arm generated by said furniture texturing tool unit.
A method of texturing furniture comprising the steps of: selecting a furniture texturing tool unit from a plurality of different furniture texturing tool units; attaching said furniture texturing tool unit selected in said selecting step to a tool end of an arm of a programmable furniture texturing robot; programming a programmable furniture texturing robot to perform a predetermined sequence of furniture texturing operations; disposing a furniture part proximate to said programmable furniture texturing robot; and running said programmable furniture texturing robot through said predetermined sequence of furniture texturing operations thereby substantially producing said predetermined furniture texture marks on a surface of a furniture part, wherein a furniture part is disposed proximate to said programmable furniture texturing robot as part of said programming.
selecting a furniture texturing tool unit from a plurality of different furniture texturing tool units;
attaching said furniture texturing tool unit selected in said selecting step to a tool end of an arm of a programmable furniture texturing robot;
programming a programmable furniture texturing robot to perform a predetermined sequence of furniture texturing operations;
disposing a furniture part proximate to said programmable furniture texturing robot; and
running said programmable furniture texturing robot through said predetermined sequence of furniture texturing operations thereby substantially producing said predetermined furniture texture marks on a surface of a furniture part, wherein a furniture part is disposed proximate to said programmable furniture texturing robot as part of said programming.
A method of texturing furniture according to claim 9, further comprising the steps of: repeating said disposing step and said running step, respectively, a plurality of times after the first said disposing step and the first said running step thereby substantially producing said predetermined furniture texture marks on a surface of each of a plurality furniture parts.
repeating said disposing step and said running step, respectively, a plurality of times after the first said disposing step and the first said running step thereby substantially producing said predetermined furniture texture marks on a surface of each of a plurality furniture parts.
A plurality of furniture parts produced in accordance with the method of claim 10, wherein each furniture part within said plurality of furniture parts has texture markings that are substantially identical.
wherein each furniture part within said plurality of furniture parts has texture markings that are substantially identical.
A plurality of furniture parts produced in accordance with the method of claim 10, wherein each furniture part within said plurality of furniture parts has furniture distressing marks that include at least one of a wormhole, wood rot, hatchet, rock, or cigarette burn.
wherein each furniture part within said plurality of furniture parts has furniture distressing marks that include at least one of a wormhole, wood rot, hatchet, rock, or cigarette burn.
A plurality of furniture parts according to claim 12, wherein said furniture distressing marks produced in each of said plurality of furniture parts are substantially identical to the remaining ones of said plurality of furniture parts.
wherein said furniture distressing marks produced in each of said plurality of furniture parts are substantially identical to the remaining ones of said plurality of furniture parts.
A method of texturing furniture according to claim 9, wherein said step of selecting a furniture texturing tool unit consists of selecting a furniture distressing tool unit, and said programming step includes programming to perform a predetermined sequence of furniture distressing operations thereby substantially producing predetermined furniture distress marks on a surface of a furniture part.
said step of selecting a furniture texturing tool unit consists of selecting a furniture distressing tool unit, and
said programming step includes programming to perform a predetermined sequence of furniture distressing operations thereby substantially producing predetermined furniture distress marks on a surface of a furniture part.
A method of texturing furniture according to claim 14, wherein said predetermined sequence is repeated to produce furniture distressing marks which are substantially identical to the first mentioned furniture distress marks.
wherein said predetermined sequence is repeated to produce furniture distressing marks which are substantially identical to the first mentioned furniture distress marks.
A method of texturing furniture according to claim 14, wherein said predetermined sequence is repeated to produce furniture distressing marks which are different from the first mentioned furniture distress marks.
wherein said predetermined sequence is repeated to produce furniture distressing marks which are different from the first mentioned furniture distress marks.
A method of texturing furniture according to claim 9, wherein said step of selecting a furniture texturing tool unit consists of selecting a chattering tool unit, and said programming step includes programming to perform a predetermined sequence of chattering operations thereby substantially producing predetermined furniture chatter marks on a surface of a furniture part.
said programming step includes programming to perform a predetermined sequence of chattering operations thereby substantially producing predetermined furniture chatter marks on a surface of a furniture part.
A plurality of furniture parts produced in accordance with the method of claim 17, wherein each furniture part within said plurality of furniture parts has chattering marks produced therein that are substantially identical.
wherein each furniture part within said plurality of furniture parts has chattering marks produced therein that are substantially identical.
A method of texturing furniture comprising the steps of: selecting a furniture texturing tool unit from the group consisting of a furniture distressing tool unit and a furniture chattering tool unit; attaching said furniture texturing tool unit selected in said selecting step to a tool end of an arm of a programmable furniture texturing robot; programming a programmable furniture texturing robot to perform a predetermined sequence of furniture texturing operations; disposing a furniture part proximate to said programmable furniture texturing robot; and running said programmable furniture texturing robot through said predetermined sequence of furniture texturing operations thereby substantially producing said predetermined furniture texture marks on a surface of a furniture part.
selecting a furniture texturing tool unit from the group consisting of a furniture distressing tool unit and a furniture chattering tool unit;
programming a programmable furniture texturing robot to perform a predetermined sequence of furniture texturing operations; disposing a furniture part proximate to said programmable furniture texturing robot; and
running said programmable furniture texturing robot through said predetermined sequence of furniture texturing operations thereby substantially producing said predetermined furniture texture marks on a surface of a furniture part.
Ref US9649790B2: [content unavailable]
Ref US20210362352A1: Claims:
An automated grasping apparatus for a precise and clean assembly of a large-aperture optical element, characterized in that: comprising: a reconfigurable end effector ( 1 ) arranged for generating a vacuum suction force; a manipulating robot arm ( 12 ) driving said end effector ( 1 ) to move; a code scanning recognizer ( 15 ) for reading specifications of the optical element; a task management software and process database system ( 14 ); an electrical auxiliary support system ( 16 ); and a computer control unit ( 13 ) retrieving data from said task management software and process database system ( 14 ) and controllably operating said end effector ( 1 ), said manipulating robot arm ( 12 ) and said electrical auxiliary support system ( 16 ).
a reconfigurable end effector ( 1 ) arranged for generating a vacuum suction force;
a manipulating robot arm ( 12 ) driving said end effector ( 1 ) to move;
a code scanning recognizer ( 15 ) for reading specifications of the optical element;
a task management software and process database system ( 14 );
an electrical auxiliary support system ( 16 ); and
a computer control unit ( 13 ) retrieving data from said task management software and process database system ( 14 ) and controllably operating said end effector ( 1 ), said manipulating robot arm ( 12 ) and said electrical auxiliary support system ( 16 ).
The automated grasping apparatus for a precise and clean assembly of a large-aperture optical element, as recited in claim 1 , characterized in that: said end effector ( 1 ) comprises a central spindle unit ( 3 ), a flange connecting disk ( 2 ) coupled at a top side of said central spindle unit ( 3 ) to couple with said manipulating robot arm ( 12 ), a vacuum suction array unit ( 4 ) comprising a plurality of discrete members being moved independently, and a support rod system ( 5 ) radially extended from said central spindle unit ( 3 ) to said disc
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