Office Action 2: Final Rejection (2024-08-09)
Rejection types: 103 - Obviousness, 112 - Written Description/Enablement

CLAIMS:
Amendments to the Claims:

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

Claim 1 (Currently Amended) 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 positioned on a periphery of the multi-functional robotic head, the camera beingconfigured to scan a barcode positioned on a part presented to the robotand 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;
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 (Currently Amended) The robot of claim 1, wherein the computing unit is further configured to, based on the image captured by the camera, 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 (Currently Amended) The robot of claim 9, wherein the second hardware component is one of 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 (Currently Amended) 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;
capturinq an imaqe of the part presented to the robot;
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 at a first position,
the first positioned determined based on the image captured by the camera, 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).3036

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.

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 Non-Final action is responsive to the continuation filed 11/8/2024.
In the continuation Claims 1, 3-4, 6-10, 12, 16, 20-21 and 23-28 remain pending. Claims 2, 5, 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 .
Withdrawn Rejections
The 35 U.S.C. 112(b) rejection of claim 16 has been withdrawn in light of the amendment.
The 35 U.S.C. 103(a) rejections of claims 1-10 and 12 with cited reference of Chen (U.S. 4,613,942) in view of Heping (U.S. Pub 2011/0087360) further in view of Shinozaki (U.S. 9,649,790) further in view Ross (NPL).
The 35 U.S.C. 103(a) rejections of claims 16, 20-21 and 23-28 with cited reference of Chen (U.S. 4,613,942) in view of Heping (U.S. Pub 2011/0087360) further in view Ross (NPL).
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.
7.	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) further in view of Okuyama (U.S. Pub 2002/0105296, filed Dec. 21, 2001).
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 as the part rests on a conveyor, the barcode providing instructions for attaching one or more hardware components to the part to assemble the piece of furniture; capture an image of the part presented to the robot (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 and the image of the part from the camera; process the instructions to determine the first hardware component to attach to the part; and control the robotic arm and the multi-functional robotic head to: place the first hardware component on the part at the first position with the first gripping mechanism; and attach the first hardware component to the part at the first position with the first attachment mechanism (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). Ross fails to teach determining any dimensions and orientation of the part as it rests on the conveyor including coordinates of a first position on the part.
Okuyama discloses:
process the image to determine dimensions and an orientation of the part as the part rests on the conveyor; based on the dimensions and the orientation, determine coordinates of a first position on the part to provide the first hardware component (see abstract & paragraphs 18, 24 and 32, discloses transforming the position of a moving object on the conveyer based on its coordinate system to a robot coordinate system. Further in paragraph 8 indicating use of a camera for determining orientation and position of objects on a conveyer is known); 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 calculating parts on a conveyer based on determined coordinate systems and applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts laid out on a conveyer 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). Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). Ross fails to teach determining any dimensions and orientation of the part as it rests on the conveyor including coordinates of a first position on the part. Okuyama discloses transforming the position of a moving object on the conveyer based on its coordinate system to a robot coordinate system. Further in paragraph 8 indicating use of a camera for determining orientation and position of objects on a conveyer is known (see abstract & paragraphs 18, 24 and 32). 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 calculating parts on a conveyer based on determined coordinate systems and applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts laid out on a conveyer 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). Ross discloses that applying Autonomous robots for the purpose of furniture parts assembly is well known (see pg. 855, paragraphs 1-4). Ross fails to teach determining any dimensions and orientation of the part as it rests on the conveyor including coordinates of a first position on the part. Okuyama discloses transforming the position of a moving object on the conveyer based on its coordinate system to a robot coordinate system. Further in paragraph 8 indicating use of a camera for determining orientation and position of objects on a conveyer is known (see abstract & paragraphs 18, 24 and 32). 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 calculating parts on a conveyer based on determined coordinate systems and applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts laid out on a conveyer which saves time while improving the accuracy of construction.
8.	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) further in view of Okuyama (U.S. Pub 2002/0105296, filed Dec. 21, 2001).
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 a camera positioned on a periphery of a multi-functional robotic head of the robot, the barcode providing instructions 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);
capturing an image of the part presented to the robot capturing an image of the part presented to the robot by the camera positioned on the robotic head; processing the instructions to determine a first hardware component to attach to the part; (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);
placing the first hardware component on the part at the co-ordinates of the first position (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 at the first position by a first attachment mechanism of 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). 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). Ross fails to teach determining any dimensions and orientation of the part as it rests on the conveyor including coordinates of a first position on the part.
Okuyama discloses:
processing the image to determine dimensions and an orientation, determining co-ordinates of a first position on the part at which to place the first hardware component (see abstract & paragraphs 18, 24 and 32, discloses transforming the position of a moving object on the conveyer based on its coordinate system to a robot coordinate system. Further in paragraph 8 indicating use of a camera for determining orientation and position of objects on a conveyer is known); 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 calculating parts on a conveyer based on determined coordinate systems and applying adhesives for part assembly. One motivation is to automate the assembly of furniture using coded indica with captured feature data of parts laid out on a conveyer 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
9.	Applicant’s arguments filed 11/8/2024 have been considered but are moot in view of the new grounds of rejection.
Conclusion
References Cited
10.	The art made of record and not relied upon is considered pertinent to applicant’s disclosure.
Wang et al. (U.S. Pub 2023/0173660) discloses “Robot Teaching By Demonstration With Visual Servoing”
HASHIGUCHI et al. (U.S. Pub 2023/0121498) discloses “Simulated Collaboration Of Multiple Controllers”
GORMAN (U.S. Pub 2020/0324974) discloses “Coordinated Conveyers In AN Automated System”
STADLER (U.S> Pub 2020/0070909) discloses “Conveyor Device For An Automated Production Line, Component Carrier Carriage For A Conveyor Device And Method For Operating A Conveyor Device”
Gatta et al. (U.S. 10,232,899) discloses “Virtual Stop Station”
Wallack et al. (U.S. Pub 2018/0374239) discloses “System And Method For Field Calibration Of Vision System Imaging Two Opposite Sides Of A Calibration Object”
Hall et al. (U.S. Pub 2015/0243019) discloses “Alignment System Architecture”
Liu (U.S. Pub 2015/0170365) discloses “System And Method For Performing Vision System Planar Hand-Eye Calibration From Straight Line Features”
Lin et al. (U.S. Pub 2015/0100162) discloses “System And Method For Controlling A Vision Guided Robot Assembly”
Chuah (U.S. 8,855,810) discloses “Apparatus And Method For Transferring Gloves”
Li et al. (U.S. Pub 2014/0253720) discloses “System And Method For Aligning Two Work Pieces With A Vision System In The Presence Of Occlusion”
Pryor (U.S. 6,163,946) discloses “Vision Target Based Assembly”

CITED REFERENCE SUMMARIES: Ref US20220398707A1: Claims:
A system for verifying quality of a part using an arm robot, the system comprising: the arm robot, which includes a camera to acquire image data of the part assembled in each manufacturing process of a vehicle; a carrier including a sliding rail allowing the arm robot to be movable around the vehicle along the sliding rail to acquire the image data; and a server configured to receive the image data acquired by the camera, to compare the image data with modeling data of the vehicle, which is stored in a database (DB), and to determine whether the assembled part satisfies a preset inspection item, to verify the quality of the assembled part.
the arm robot, which includes a camera to acquire image data of the part assembled in each manufacturing process of a vehicle;
a carrier including a sliding rail allowing the arm robot to be movable around the vehicle along the sliding rail to acquire the image data; and
a server configured to receive the image data acquired by the camera, to compare the image data with modeling data of the vehicle, which is stored in a database (DB), and to determine whether the assembled part satisfies a preset inspection item, to verify the quality of the assembled part.
The system of claim 1 , wherein the arm robot includes: a multi-axis arm robot to control rotation of each joint thereof, wherein the camera is mounted on an end portion of the arm robot.
a multi-axis arm robot to control rotation of each joint thereof,
wherein the camera is mounted on an end portion of the arm robot.
The system of claim 1 , wherein the carrier further includes: an arm robot controller configured to control driving of the arm robot moving on the sliding rail and rotation of a joint of the arm robot.
an arm robot controller configured to control driving of the arm robot moving on the sliding rail and rotation of a joint of the arm robot.
The system of claim 3 , wherein the carrier further includes: a current position monitoring device configured to monitor a current position of the carrier in real time, based on data detected by at least one sliding rail sensor mounted on the sliding rail.
a current position monitoring device configured to monitor a current position of the carrier in real time, based on data detected by at least one sliding rail sensor mounted on the sliding rail.
The system of claim 3 , wherein the carrier further includes: a hidden area formed at a front lower portion and a rear lower portion of the carrier and provided as a storage space storing the arm robot for a predetermined time period.
a hidden area formed at a front lower portion and a rear lower portion of the carrier and provided as a storage space storing the arm robot for a predetermined time period.
The system of claim 5 , wherein the carrier further includes: an extending rail extending from the sliding rail surrounding the vehicle, to the hidden area.
an extending rail extending from the sliding rail surrounding the vehicle, to the hidden area.
The system of claim 6 , wherein the carrier further includes: a hidden area controller to control an upper cover covering an upper portion of the hidden area to be open so that the arm robot is introduced into the hidden area, when the arm robot arrives at an end portion of the extending rail, and to control the upper cover to be closed when the arm robot is withdrawn out of the hidden area.
a hidden area controller to control an upper cover covering an upper portion of the hidden area to be open so that the arm robot is introduced into the hidden area, when the arm robot arrives at an end portion of the extending rail, and to control the upper cover to be closed when the arm robot is withdrawn out of the hidden area.
The system of claim 6 , wherein the carrier further includes: a sliding rail sensor to detect whether the arm robot arrives at an end portion of the extending rail to be introduced into the hidden area; and a hidden area sensor to detect whether the arm robot is completely introduced into the hidden area or completely withdrawn out of the hidden area.
a sliding rail sensor to detect whether the arm robot arrives at an end portion of the extending rail to be introduced into the hidden area; and
a hidden area sensor to detect whether the arm robot is completely introduced into the hidden area or completely withdrawn out of the hidden area.
The system of claim 1 , wherein the server include: an image data comparator configured to compare the image data acquired from the camera with three-dimensional (3D) modeling data of the vehicle, which is stored in the database, to specify the part to be verified in quality; and a quality verifying device configured to determine whether the image data of the specified part satisfies a preset inspection item.
an image data comparator configured to compare the image data acquired from the camera with three-dimensional (3D) modeling data of the vehicle, which is stored in the database, to specify the part to be verified in quality; and
a quality verifying device configured to determine whether the image data of the specified part satisfies a preset inspection item.
The system of claim 9 , wherein the server further includes: an arm robot position determining device configured to determine a position of the arm robot moving around the carrier in each process, to acquire image data of a part additionally assembled in each process, and to determine a position of the camera, which is adjusted, as a joint of the arm robot is controlled at the determined position.
an arm robot position determining device configured to determine a position of the arm robot moving around the carrier in each process, to acquire image data of a part additionally assembled in each process, and to determine a position of the camera, which is adjusted, as a joint of the arm robot is controlled at the determined position.
The system of claim 9 , wherein the server is configured to determine a relevant process as being finished and to perform a photographing operation by the camera, when determining that the carrier associated with the vehicle to be assembled passes a predetermined virtual point.
The system of claim 9 , wherein the image data comparator is configured to receive the image data acquired by photographing the assembled part, information on position coordinates of the camera at a moment that the image data is acquired, and information on a vector direction of a focus of the camera, when receiving the image data from the camera.
The system of claim 9 , wherein the quality verifying device is configured to set at least one inspection item in advance to verify quality of each part, to store the at least one inspection item in an individual part inspection item database (DB) of the DB provided in the server, to compare image data showing a current assembling status of the vehicle with the 3D modeling data of the vehicle, and to determine whether the at least one inspection item is satisfied.
A method for verifying quality of a part using an arm robot, the method comprising: photographing a part assembled in each process by use of a camera to acquire image data, after moving the arm robot coupled to the camera onto a sliding rail of a carrier, comparing, by a server having the image data received through a communication network, the image data with 3D modeling data of a vehicle, which is stored in a DB, to specify the part to be verified in quality; and verifying the quality of the assembled part by determining whether a preset inspection item is satisfied while comparing image data of the specified part with the 3D modeling data of the vehicle.
photographing a part assembled in each process by use of a camera to acquire image data, after moving the arm robot coupled to the camera onto a sliding rail of a carrier,
comparing, by a server having the image data received through a communication network, the image data with 3D modeling data of a vehicle, which is stored in a DB, to specify the part to be verified in quality; and
verifying the quality of the assembled part by determining whether a preset inspection item is satisfied while comparing image data of the specified part with the 3D modeling data of the vehicle.
The method of claim 14 , wherein the acquiring of the image data includes: performing a control operation of separating the arm robot from the sliding rail and storing the arm robot in a hidden area of the carrier for a predetermined time period; and controlling, by a hidden area controller, an upper cover covering an upper portion of the hidden area, to be open so that the arm robot is introduced into the hidden area, when determining that the arm robot moves to an end portion of an extending rail extending from the sliding rail to the hidden area.
performing a control operation of separating the arm robot from the sliding rail and storing the arm robot in a hidden area of the carrier for a predetermined time period; and
controlling, by a hidden area controller, an upper cover covering an upper portion of the hidden area, to be open so that the arm robot is introduced into the hidden area, when determining that the arm robot moves to an end portion of an extending rail extending from the sliding rail to the hidden area.
The method of claim 15 , wherein the hidden area controller is configured to control the upper cover to be closed, when the arm robot is completely introduced into the hidden area or withdrawn out of the hidden area.
The method of claim 14 , wherein the acquiring of the image data includes: determining a relevant process as being finished so that the photographing by the camera is performed, when determining that a carrier associated with a vehicle to be assembled passes a preset virtual point.
determining a relevant process as being finished so that the photographing by the camera is performed, when determining that a carrier associated with a vehicle to be assembled passes a preset virtual point.
The method of claim 14 , wherein the specifying of the part includes: detecting a part additionally assembled in an n-th process provided as a current process, when compared to a (nâ1)-th process provided as a previous process, wherein the n is a natural number greater than or equal to 2.
detecting a part additionally assembled in an n-th process provided as a current process, when compared to a (nâ1)-th process provided as a previous process, wherein the n is a natural number greater than or equal to 2.
The method of claim 14 , wherein the specifying of the part includes: detecting a position and a direction that the image data is acquired through the photographing, by utilizing the image data which is received over the communication network and stored in an image data and camera data DB of the DB provided in the server, information on position coordinates of the camera, and information on a vector direction of a focus of the camera at a photographing time point for acquiring the image data.
detecting a position and a direction that the image data is acquired through the photographing, by utilizing the image data which is received over the communication network and stored in an image data and camera data DB of the DB provided in the server, information on position coordinates of the camera, and information on a vector direction of a focus of the camera at a photographing time point for acquiring the image data.
The method of claim 14 , wherein the verifying of the quality of the assembled part includes: comparing the image data with the 3D modeling data of the vehicle while determining whether an inspection item which is not satisfied is present; and notifying the presence of the inspection item, which is not satisfied, to a worker around a field through a display device or an auditory device, when the inspection item, which is not satisfied, is present.
comparing the image data with the 3D modeling data of the vehicle while determining whether an inspection item which is not satisfied is present; and
notifying the presence of the inspection item, which is not satisfied, to a worker around a field through a display device or an auditory device, when the inspection item, which is not satisfied, is present.
Ref US5319845A: Claims:
An assembling apparatus employing a robot, comprising: a plurality of assembling units, each of said assembly units performing at least one assembly operation and including means for performing assembly operations which are performed by the others of said plurality of assembly units; a part supplying unit for arranging parts necessary for assembly of a first model on a parts pallet and supplying the parts together with the parts pallet; an assembling pallet supplying unit for supplying an assembling pallet on which assembly of a part, which is picked up by any of said assembling units from a parts pallet arriving thereat, is to be performed; a pair of transporting means disposed on opposite sides of said assembly units for individually transporting a parts pallet and said assembling pallet; means for counting the number of units of said first model being assembled to provide a count value for said number; and means for automatically changing the effective assembling program from a first assembling program for production of said first model to a second assembling program for production of a second model, said changing means changing from said first assembling program to said second assembly program when the count value provided by said counting means reaches a predetermined value; wherein said changing means successively provides change instructions to said assembling units indicating the model to be assembled.
a plurality of assembling units, each of said assembly units performing at least one assembly operation and including means for performing assembly operations which are performed by the others of said plurality of assembly units;
a part supplying unit for arranging parts necessary for assembly of a first model on a parts pallet and supplying the parts together with the parts pallet;
an assembling pallet supplying unit for supplying an assembling pallet on which assembly of a part, which is picked up by any of said assembling units from a parts pallet arriving thereat, is to be performed;
a pair of transporting means disposed on opposite sides of said assembly units for individually transporting a parts pallet and said assembling pallet;
means for counting the number of units of said first model being assembled to provide a count value for said number; and
means for automatically changing the effective assembling program from a first assembling program for production of said first model to a second assembling program for production of a second model, said changing means changing from said first assembling program to said second assembly program when the count value provided by said counting means reaches a predetermined value;
wherein said changing means successively provides change instructions to said assembling units indicating the model to be assembled.
An assembling apparatus employing a robot according to claim 1, wherein each of said assembling units includes an X-axis arm and a Y-axis arm extending orthogonally with respect to each other.
An assembling apparatus employing robot according to claim 2, wherein each of said plurality of assembly units further includes a part pallet positioning table said part pallet positioning table receiving parts transported one of said pair of transporting means.
An assembling apparatus employing robot according to claim 3, further including a part pallet feeding back conveyor positioned alongside one of said pair of transporting means.
An assembling apparatus employing robot according to claim 1, wherein each of said plurality of assembly units further includes an assembling head upon which least one of a plurality of tools is attached.
An assembling apparatus employing robot according to claim 5, wherein said assembling head includes a plurality of mount heads each of which can hold said parts.
An assembling apparatus employing robot according to claim 6, wherein each of said plurality of assembly units further includes a CCD camera for measuring the position of said parts when held by said mount heads.
An assembling apparatus employing robot according to claim 1, wherein said part supplying unit includes a pallet rack having a plurality of accommodating portions for holding a plurality of parts pallets.
An assembling apparatus employing robot according to claim 8, wherein said part supplying unit includes a moving unit for transporting said parts pallets from said pallet rack to one of said pair of transporting means.
An assembling apparatus employing robot according to claim 9, wherein said pallet rack has a cupboard construction including a plurality of portions section by vertical and horizontal plates.
An assembling apparatus employing robot according to claim 9, wherein said pallet rack rotates about a vertical axis and has an opening so that a pallet rack stored therein may be removed with said transporting means.
An assembling apparatus employing robot according to claim 1, wherein said changing means includes a model changing unit which supplies an anchor pallet, said anchor pallet being recognizable by said plurality of assembly units as providing parts for a last unit of said first model, thereby causing each of said plurality of assembly unit to provide an indication that said anchor pallet has arrived.
An assembling apparatus employing robot according to claim 12, wherein said changing means further includes a line controlling computer which supplies production conditions to said plurality of assembly units, said production conditions indicating which of said models are to be assembled.
Ref US4785528A: Claims:
A handling and assembly system for positioning and joining a first workpiece and a second workpiece, said system comprising: a first robot arm and a second robot arm cooperable for holding said first workpiece and said second workpiece in adjoining relation, said first robot arm having engaging means forming a permanent part thereof during operation of said first arm in positioning joining of said workpieces for selectively engaging said second arm to move the same, and for selectively grasping said first workpiece, said second arm having engaging means for grasping said second workpiece including means cooperable with engaging means of the first arm for movement of said second arm by said first arm to locate the engaging means of said second arm at a fixed position, and locking means for said second arm characterized by an unlocked condition wherein said second arm is movable by said first arm and a locked condition when said first arm has located said second arm at said fixed position, whereby a workpiece held by said second arm is positionable in accurately predetermined relation with respect to a workpiece held by said first arm.
a first robot arm and a second robot arm cooperable for holding said first workpiece and said second workpiece in adjoining relation,
said first robot arm having engaging means forming a permanent part thereof during operation of said first arm in positioning joining of said workpieces for selectively engaging said second arm to move the same, and for selectively grasping said first workpiece,
said second arm having engaging means for grasping said second workpiece including means cooperable with engaging means of the first arm for movement of said second arm by said first arm to locate the engaging means of said second arm at a fixed position, and
locking means for said second arm characterized by an unlocked condition wherein said second arm is movable by said first arm and a locked condition when said first arm has located said second arm at said fixed position, whereby a workpiece held by said second arm is positionable in accurately predetermined relation with respect to a workpiece 
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