DETAILED ACTION
Response to Amendment
Claims 1, 2 and 4 – 31 are pending in current application.
Claims 1, 2, 16, 21, 26, 27 and 30 are amended.
Claim 3 is canceled.
Foreign Priority
Receipt is acknowledged of certified copies of papers required by 37 CFR 1.55.
Information Disclosure Statement
The information disclosure statement (IDS) submitted is in compliance with the provisions of 37 CFR 1.97. Accordingly, the information disclosure statement is being considered by the examiner.
Claim Rejections - 35 USC § 102
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 (i.e., changing from AIA to pre-AIA ) 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 the appropriate paragraphs of 35 U.S.C. 102 that form the basis for the rejections under this section made in this Office action:
A person shall be entitled to a patent unless –
(a)(2) the claimed invention was described in a patent issued under section 151, or in an application for patent published or deemed published under section 122(b), in which the patent or application, as the case may be, names another inventor and was effectively filed before the effective filing date of the claimed invention.
Claims 1 - 4, 7 - 10, 12, 13, 16-18, 22, 23, 26 and 30 are rejected under 35 U.S.C. 102(a)(2) as being anticipated by Adachi et al (US Pat Pub No. 2016/0288321).
Regarding claim 1, Adachi et al shows a robot apparatus (See at least figure 4 for robot apparatus) comprising,
a support having two portions (See at least Para 0006 for pair of support portions A and B paired also shown on figure 3; also on Para 0012 for first component 11 and second component 12 also shown on figure 5);
a unit including (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within) a speed reducer (See at least Para 0006 and 0041 for speed reducer 17 also on figure 3), a motor provided on the speed reducer (See at least Para 0006 and 0041 for motor 15 is on the speed reducer 17),
a bearing provided on the speed reducer (See at least Para 0047 - 0050 for hollow bearing on the same x axis provided for the speed reducer for rotational movement),
and the motor (See at least Para 0047 - 0050 for motor on the same x axis with hollow bearing mounted provided for x axis rotational movement),
the bearing being integrally assembled together as the unit and mounted on the two portions (See at least Para 0047 - 0050 for speed reducer, motor and bearing are all aligned mounting within the same x-axis with hollow bearing as integral part for robot joint rotational movement within unit 10 also shown figure 3);
the unit is attached to the support such that the motor (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within as a single cast component on Para 0058),
the speed reducer (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within as a single cast component on Para 0058) and bearing (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within as a single cast component on Para 0058)
are detachable together from the support in an integrated state (See at least figure 5 for removing unit 10 by removing/loosening the bolts 13 and removing the second component 12 and first component 11 detach the unit form the support).
Regarding claim 30, Adachi et al shows method of assembling an apparatus (See at least Para 0010 and 0011 for the robot apparatus assembling method with proposed U shape housing for assembly),
including a support having two portions (See at least Para 0006 for pair of support portions A and B paired also shown on figure 3; also on Para 0012 for first component 11 and second component 12 also shown on figure 5),
fixing a speed reducer and a motor to a first member (See at least Para 0012 for housing 10 is formed of a first L shaped component 11 and a second I shaped component 12 together forming U shape also shown on figure 5; also on at least Para 0041 and 0042 for wall portion 14 fixed with speed reducer 17 and fixed via adaptor 18 for motor 15 also shown on figure 3)
such that the speed reducer and the motor are positioned (See at least Para 0047 - 0050 for motor on the same x axis with hollow bearing mounted provided for x axis rotational movement);
fixing the speed reducer and a bearing to a second member (See at least figure for cylindrical hollow shaft 10a and outer wall portion 14b is for the robot arm output side where the speed reducer 17 with motor 15 are on the opposite provide output to bearing; also on Para 0007 for cylindrical hollow shaft portion 10a and outer wall portion 14b creating/spacing opening portion 14c that is recessed for hollow bearing 16 and hollow shaft portion 10a inserted into bearing fixing where the hollow shaft portion 10a is formed in the housing as being integrate the bearing into unit fixed positioning also shown on figure 3)
such that the speed reducer and the bearing are positioned (See at least Para 0047 - 0050 for speed reducer, motor and bearing are all aligned mounting within the same x-axis with hollow bearing as integral part for robot joint rotational movement within unit 10 also shown figure 3);
supporting the first member (See at least Para 0012 for housing 10 is formed of a first L shaped component 11 and a second I shaped component 12 together forming U shape also shown on figure 5; also on at least Para 0041 and 0042 for wall portion 14 fixed with speed reducer 17 and fixed via adaptor 18 for motor 15 also shown on figure) and the bearing by the two portions of the support (See at least Para 0012 for housing 10 is formed of a first L shaped component 11 and a second I shaped component 12 together forming U shape also shown on figure 5; also on at least Para 0041 and 0042 for wall portion 14 fixed with speed reducer 17 and fixed via adaptor 18 for motor 15 also shown on figure);
together as the unit (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within as a single cast component on Para 0058), the unit is attached to support such that the motor (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within as a single cast component on Para 0058),
the speed reducer (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within as a single cast component on Para 0058),
and the bearing are detachable together from the support in an integrated state (See at least figure 3 for housing 10 enclosed speed reducer 17, motor 15 and bearing 16 within as a single cast component on Para 0058; on at least figure 5 for removing unit 10 by removing/loosening the bolts 13 and removing the second component 12 and first component 11 detach the unit form the support).
Regarding claim 2, Adachi et al shows the support has a U shaped portion (See at least Para 0012 for U shaped housing 10 also shown on figure 5).
the two portions being part of U shaped portion (See at least Para 0012 for housing 10 is formed of a first L shaped component 11 and a second I shaped component 12 together forming U shape also shown on figure 5).
Regarding claim 4, Adachi et al shows the unit includes a first member configured to position the motor and the speed reducer (See at least Para 0041 and 0042 for wall portion 14 fixed with speed reducer 17 and fixed via adaptor 18 for motor 15 also shown on figure 1).
Regarding claim 7, Adachi et al shows the first member is supported by the U-shaped portion (See at least Para 0012 for housing 10 is formed of a first L shaped component 11 and a second I shaped component 12 together forming U shape also shown on figure 5).
Regarding claim 8, Adachi et al a second member configured to integrate the bearing into the unit and position the bearing in the unit (See at least Para 0007 for cylindrical hollow shaft portion 10a and outer wall portion 14b creating/spacing opening portion 14c that is recessed for hollow bearing 16 and hollow shaft portion 10a inserted into bearing fixing where the hollow shaft portion 10a is formed in the housing as being integrate the bearing into unit fixed positioning also shown on figure 3).
Regarding claim 9, Adachi et al shows one of an inner ring and an outer ring of the bearing is supported by the second member ( See at least Para 0007 and 0050 for inner ring of the hollow bearing 16; Para 0054 for outer ring of the hollow bearing 16), and the other is supported by the support (See at least Para 0054 for outer ring coupled with opening portion of the arm surface).
Regarding claim 10, Adachi et al shows the other of the inner ring and the outer ring of the bearing is fixed to the support via a coupling member (See at least Para 0054 for outer ring coupled with opening portion of the arm surface; inner ring coupled with hollow shaft).
Regarding claim 12, Adachi et al shows the second member is fixed to an output side of the speed reducer (See at least figure for cylindrical hollow shaft 10a and outer wall portion 14b is for the robot arm output side where the speed reducer 17 with motor 15 are on the opposite provide output to bearing ), and positions the speed reducer and the bearing (See at least Para 0047 - 0050 for speed reducer, motor and bearing are all aligned mounting within the same x-axis with hollow bearing as integral part for robot joint rotational movement within unit 10 also shown figure 3).
Regarding claim 13, Adachi et al shows the second member is fixed to the output side of the speed reducer by a plurality of fastening members arranged in a circumferential direction ( See at least Para 0043 and 0044 for bolts as the fastening member for wall portion 14a fix the speed reducer with output portion 17a, for the output wall portion 14b of speed reducer being fixed on figure 1 creating a circumferential direction),
a diameter of an imaginary circle passing through centers of the plurality of fastening members is smaller than an outer diameter of the bearing (See at least following figure 1 where the indicated bolts as fastening member revolve with aligned center axis distance as diameter of imaginary circle smaller than the bearing outer diameter; also on Para 0042 for annular adaptor 18 describing the surface shape of the wall portion).
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Regarding claim 16, Adachi et al shows the U-shaped portion includes a base portion (See at least above for the U shaped portion with a base 10c that is enclosed by the U shaped housing 10) and a pair of support portions disposed on the base portion (See at least figure above for the support portion A and B) while being spaced apart from each other in a predetermined direction (See at least figure above for the support portion A and B), the support portions being the two portions (See at least figure above for the support portion A and B), and the unit is supported by the pair of support portions (See at least figure above for the support portion A and B used for mounting motor, speed reducer and bearing).
Regarding claim 17, Adachi et al shows each of the pair of support portions includes an annular portion to which the unit is fixed (See at least Para 0043 for annular adaptor 18).
Regarding claim 18, Adachi et al et al shows the pair of support portions are integrally molded with the base portion (See at least Para 0012 for U shape housing 10 with base portion 10c is tightened together with support portion A and B without spacing as molded into base portion also shown on the figure above).
Regarding claim 22, Adachi et al shows the pair of support portions are fastened to the base portion by fastening members in a direction intersecting the predetermined direction (See at least Para 0012 for U shape housing 10 with base portion 10c is tightened together with support portion A and B without spacing using bolts intersecting the predetermined direction as shown on the figure above).
Regarding claim 23, Adachi shows the support is a first link (See at least 0040 for U shape housing with support portion A and B as first link ),the apparatus further includes a second link supported by the unit so as to be rotationally driven by the unit with respect to the first link (See at least Para 0041 for arm 14 is the second link rotationally swung on x - axis).
Regarding claim 26, Adachi shows a robot comprising a first link (See at least figure 4 and Para 0010 for wrist link), a second link ( See at least figure 4 and Para 0010 for second link as robot hand 41), a joint (See at least figure 4 for wrist joint 42) and the apparatus (See at least Para 0011 further discussed joint unit using the U shaped housing 10).
Claim Rejections - 35 USC § 103
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.
The factual inquiries for establishing a background for determining obviousness under 35 U.S.C. 103 are summarized as follows:
1. Determining the scope and contents of the prior art.
2. Ascertaining the differences between the prior art and the claims at issue.
3. Resolving the level of ordinary skill in the pertinent art.
4. Considering objective evidence present in the application indicating obviousness or nonobviousness.
Claim 5, 6,11 and 14 are rejected under 35 U.S.C. 103 as being unpatentable over Adachi et al (US Pat Pub No. 2016/0288321) in view of Manome (US Pat Pub No. 2022/0388152).
Regarding claim 5, Adachi et al shows the first member includes a housing configured to house a rotor of the motor (See at least Para 0041 and 0042 for wall portion 14 as part of the housing fixed via annular adaptor 18 for motor 15 also shown on figure 1 and claim 3 fore rotor); however, Adachi does not further specify a stator of the motor.
Manome shows a stator of the motor (See at least Para 0062 for housing 31a houses a stator and rotor also shown on figure 3).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide a stator and rotor of Manome, for the motor of Adachi, in order to provide fundamental machinal component of a motor, as desired by the motor of Adachi et al since combining a known prior art element/stator for the known motor operation method of Adachi would yield predictable result.
Regarding claim 6, Adachi et al shows the unit components discussed above yet does not further discuss the oil seal.
Manome further shows the unit includes a first oil seal provided on an input side of the speed reducer (See at least Para 0055 for oil seal 24 seals the grease of the speed reducer and mounted on the motor shaft as shaft input on Para 0052) and supported by the first member (See at least Para 0055 for oil seal is hold by oil seal holder 1b of arm 1 where the arm itself as the first member with arm structure wall; also on Para 0023 for oil seal inside recess and outside supported by the housing).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide an oil seal of Manome, for the motor and reducer of Adachi, in order to provide fundamental oil leaking prevention of a motor, as desired by the motor of Adachi et al since combining a known prior art element of oil seal for the known motor operation method of Adachi would yield predictable result.
Regarding claim 11, Adachi et al shows the unit components discussed above yet does not further discuss the oil seal.
Manome further shows a second oil seal provided on an output side of the speed reducer and supported by the second member (See at least Para 0062 and 0066 for second oil seal 34 that is mounted on the motor output shaft 31b seals the grease of speed reducer 32 with housing 31a).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide an oil seal of Manome, for the motor and reducer of Adachi, in order to provide fundamental oil leaking prevention of a motor, as desired by the motor of Adachi et al since combining a known prior art element of oil seal for the known motor operation method of Adachi would yield predictable result.
Regarding claim 14, Adachi discussed the unit above yet does not further discuss a brake.
Manome further discusses a brake (See at least Para 0066 for the brake 33 holds the motor 31).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide the brake of Manome, for the motor of Adachi, in order to provide fundamental brake actuation control of a motor, as desired by the motor of Adachi et al since combining a known prior art element of motor brake of Manome for the known motor operation method of Adachi would yield predictable result.
Claims 15, 28, 29 and 31are rejected under 35 U.S.C. 103 as being unpatentable over Adachi et al (US Pat Pub No. 2016/0288321) in view of Osaka (US Pat Pub No. 2017/0015004).
Regarding claim 15, Adachi et al discussed the unit above yet does not further discuss the does not further shows the unit includes an encoder.
Osaka et al further shows an encoder (See at least Para 0044 for joint with motor 1 and encoder 10 also shown on figure 2).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide the encoder of Osaka, for the motor of Adachi, in order to provide fundamental servo control of a motor, as desired by the motor of Adachi et al since combining a known prior art element of servo encoder of Osaka for the known motor operation method of Adachi would yield predictable result.
Regarding claim 28, Adachi et al does not further discuss controlling the apparatus.
Osaka et al further shows controlling apparatus (See at least Para 0041 for controlling apparatus 200 controls robot arm 100).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide an apparatus control of Osaka, for the motor apparatus structure of Adachi, in order to provide the apparatus structure utilization operation, as desired by the apparatus structure of Adachi in order to yield predictable operation control for the structure of Adachi.
Regarding claim 29, Osaka et al further shows manufacturing an article by using the robot (See at least Para 0051 and 0120 and figure 4 for producing workpieces/article as industrial products manufactured).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide an apparatus application utilization of Osaka, for the robot apparatus of Adachi, in order to provide the application outcome realization, as desired by the apparatus structure of Adachi in order to yield predictable application outcome for the robot structure of Adachi.
Regarding claim 31, Osaka et al further shows a non-transitory computer-readable recording medium recording a program for causing a computer to execute the control method (See at least Para 0182 for computer executes program with computer readable storage medium recorded the program).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide an apparatus control realization using computer of Osaka, for the motor apparatus structure of Adachi, in order to provide the apparatus structure utilization realization, as desired by the apparatus structure of Adachi in order to yield predictable operation control for the structure of Adachi.
Claims 19 – 21, 24 and 25 are rejected under 35 U.S.C. 103 as being unpatentable over Adachi et al (US Pat Pub No. 2016/0288321) in view of Ogata (JP 2017124465 in view of US Pat Pub No.20190009417).
Regarding claim 19,Adachi shows a pair of support portions yet does not further specify the support portions has a draft angle.
Ogata shows the support portions has a draft angle and the angle increase (See at least figure 1 below for support portions 214 and 73 each has a draft angle; also on figure 4 and Para 0054 for deformation elastic member 823 that is placed parallel integrated with inner wheel 821, outer wheel 822 from upon the joint support portion for detecting deviation force based on deviation distance, Para 0046 and 0047 with respect to center axis C upon joint rotation, Para 0056, 0057 deformed to a degree).
It would have been obvious for one of ordinary skill in the art, at the time of the filing to provide a draft opening angle with elastic force detection member as shown by Ogata, for the removable joint of Adachi, in order to provide ease access for the joint removal/attach operation with respect to changeable different bearing and motor sizes as discussed on Para 0008 and 0014, in order to provide appropriate force control as a known support portion draft angle provided to the known support portion of Adachi in substitution in order to yield predictable result.
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Regarding claim 20,Adachi shows a pair of support portions yet does not further specify the draft angle increases as a distance from the base portion increases
Ogata further shows the draft angle increases as a distance from the base portion increases (See at least figure 1 above for the angle as the smallest upon the base portion and wider angle upon joint axis connection portion).
It would have been obvious for one of ordinary skill in the art, at the time of the filing to provide a draft opening angle with elastic force detection member as shown by Ogata, for the removable joint of Adachi, in order to provide ease access for the joint removal/attach operation with respect to changeable different bearing and motor sizes as discussed on Para 0008 and 0014, in order to provide appropriate force control as a known support portion draft angle provided to the known support portion of Adachi in substitution in order to yield predictable result.
Regarding claim 21,Adachi shows a pair of support portions yet does not further specify the draft angle increases as a distance from the center of the pair of support portions increase in a direction parallel to the base portion.
Ogata shows the draft angle increases as a distance from the center of the pair of support portions increase in a direction parallel to the base portion (See at least figure 1 above for a distance from the center increases in a direction parallel to the base portion for draft angle).
It would have been obvious for one of ordinary skill in the art, at the time of the filing to provide a draft opening angle with elastic force detection member as shown by Ogata, for the removable joint of Adachi, in order to provide ease access for the joint removal/attach operation with respect to changeable different bearing and motor sizes as discussed on Para 0008 and 0014, in order to provide appropriate force control as a known support portion draft angle provided to the known support portion of Adachi in substitution in order to yield predictable result.
Regarding claim 24, Adachi does not further discuss a force sensor disposed between the unit and the second link.
Ogata further shows a force sensor disposed between the unit and the second link (See at least Para 0007 for torque force sensor dispose between each link and drive portion).
It would have been obvious for one of ordinary skill in the art, at the time of the filing to provide an elastic force detection member as the known apparatus shown by Ogata, for the removable joint of Adachi , in order to provide appropriate force control to the known robot joint arm of Adachi in order to yield predictable result.
Regarding claim 25, Adachi does not further discuss a force sensor disposed between the unit and the first link.
Ogata further shows a force sensor disposed between the unit and the second link (See at least Para 0007 for torque force sensor dispose between each link and drive portion).
It would have been obvious for one of ordinary skill in the art, at the time of the filing to provide an elastic force detection member as the known apparatus shown by Ogata, for the removable joint of Adachi , in order to provide appropriate force control to the known robot joint arm of Adachi in order to yield predictable result.
Claims 27 is rejected under 35 U.S.C. 103 as being unpatentable over Adachi et al (US Pat Pub No. 2016/0288321) in view of Jun et al (US Pat Pub No. 2014/0343728).
Regarding claim 27, Adachi show a driving structure that includes the apparatus according to claim 1 yet does not further specify an automobile adapting the driving structure of Adachi.
Jun et al further discusses the automotive adapting the driving structure apparatus of Adachi (See at least Para 0111 for joint module with motor, gear, bearing and drive reducer as for the application of autonomous vehicle, AUV, Para 0004).
It would have been obvious for one of ordinary skill in the art, at the time of filing, to provide an application of the driving motor apparatus in automotive of Jun, for the motor apparatus of Adachi, as applying a known motor operation technique, for the known automotive device of Jun as yielding predictable result of motor replacement of Adachi, for the improvement of the autonomous device of Jun.
Response to Arguments
In response to applicant’s remark that Adachi shows the motor 15, speed reducer 17 and hollowing bearing 16 are mounted to different structure portions and detached to different steps since Adachi shows hollowing bearing is detached by removing bearing mounting member 21 and the motor 15 and speed reducer is removed through opening portion 14c; however, applicant’s remark does not particularly precise and comprehensive;
In this instant case, applicant’s remark discussed the removing of hollow bearing 16 and motor 15 removal from the unit as hollowing bearing and motor 15 removal from the unit yet does not discuss “the unit detach from the support” as claimed.
Further, applicant’s attention is directed to applicant’s written description, Para 0080 along with Figure 5 for the unit of applicant’s invention where shows the motor 151, speed reducer 152 and the bearing 153 are also in different structure and requires multiple steps for component removal for each individual as the same with Adachi.
In this instant case, Para 0084 and 0086 of applicant’s written description also states motor, speed reducer and bearing assembled via a plurality of members and assembled in axially aligned manner.
Furthermore, Figure 5 and 9 of applicant’s invention shows the positioning member 161 connecting with motor bearing 1516 (part of the motor 151) utilizing fastening member 171 for fastening connection purpose along with fastening member 172 for speed reducer 152.
Thus, applicant’s invention also shows the motor, speed reducer and hollowing bearing mounted to different structure and requires multiple steps for detachment.
Applicant’s attention is also further directed to Para 0015 of Adachi where states the structure including motor, speed reducer and hollow bearing is enclosed within the housing 10 where Adachi on Para 0015 states that the housing 10 is entirely formed of a single cast component as in an integrated state where housing 10 removal only requires remove L shaped component 11 and I shaped component 12 on Para 0012 of Adachi.
Therefore, in this instant case, removing each individual component as the motor, speed reducer and bearing requires the removing the U shape housing 10 precedent as one single cast component on Para 0012 as in one integrated state together form the robot arm detachment before removing each individual component.
Thus, Adachi indeed shows the motor, speed reducer, and the bearing are detached together, as the U shape component 10 in an integrated state, together from the support.
Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure.
Tanaka, US Pat Pub No. 20140060223.
Ogata, US Pat Pub No. 10583,570.
Nagasaka, US Pat Pub No. 2011/0239788.
Hasegawa, US Pat Pub No. 2015/0209958.
Nagata, US Pat Pub No. 2017/0113346.
Kiyosawa, US Pat Pub No. 2008/0245172.
THIS ACTION IS MADE FINAL. 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 nonprovisional extension fee (37 CFR 1.17(a)) 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 mailing date of this final action.
Any inquiry concerning this communication or earlier communications from the examiner should be directed to Ian JEN whose telephone number is (571)270-3274. The examiner can normally be reached 11AM - 7PM.
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/Ian Jen/Primary Examiner, Art Unit 3657
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