# US 11,897,141 B2 · Automated fastening system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,141 B2 - Document ID: US11897141B2 - Status: Granted - Kind: B2 - Application number: 16/688,794 - Filed: 2019-11-19 - Published: 2020-05-21 - Granted: 2024-02-13 - Earliest claimed: 2018-11-19 - Assignees: Palletec, LLC - Applicants: Palletec, LLC - Inventors: Case Goodyear; Jerry Vang; Jon Denney; Mark Chevalier - Web page: https://patentgrep.com/patent/US11897141B2 ## CPC - B25J 9/026: {Gantry-type} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 5/04: wherein the guideway is also moved, e.g. travelling crane bridge type - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 11/005: {Manipulators for mechanical processing tasks} - B25J 13/086: {Proximity sensors} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robotic fastening system is operative to autonomously fasten a first subassembly to a second subassembly at a plurality of fastening sites. A set of actuators arranged to move a fastening tool to the various ones of the fastening sites. A proximity sensor is fixed proximate the fastening tool and movable with the fastening tool. A controller circuit is operative to individually control each of the set of actuators and to read an output of the proximity sensor, where the controller circuit is programmed to execute a fastening-tool movement routine to move the fastening tool to a first one of the fastening sites. ## Claims ### Claim 1 A robotic fastening system operative to autonomously fasten a first subassembly to a second subassembly at a plurality of fastening sites, the system comprising: a fastening tool arranged to deploy fasteners to secure portions of the first subassembly to the second subassembly at various ones of the fastening sites; a set of actuators arranged to move the fastening tool to the various ones of the fastening sites, wherein the fastening tool is movable along a longitudinal direction, a transverse direction, and a height direction; a proximity sensor fixed proximate the fastening tool and movable with the fastening tool; a controller circuit operative to individually control each of the set of actuators and to read an output of the proximity sensor, wherein the controller circuit is programmed to execute a fastening-tool movement routine to move the fastening tool to a first one of the fastening sites wherein: the fastening tool is initially moved toward a nominal expected position of the first one of the fastening sites according to a predefined movement profile; on approach of the fastening tool to the first one of the fastening sites, and while the fastening tool is in motion to the first one of the fastening sites an output of the proximity sensor is compared against first detection criteria; in response to satisfaction of the first detection criteria, a speed of the motion of the fastening tool is adjusted while the fastening tool is in motion to the first one of the fastening sites, and the output of the proximity sensor is compared against second detection criteria that is different from the first detection criteria; and in response to satisfaction of the second detection criteria, the fastening tool deploys a fastener to secure the first subassembly to the second subassembly at the first one of the fastening sites. ### Claim 2 (depends on 1) The system of claim 1, wherein the first detection criteria includes criteria to detect a first edge of the second subassembly and wherein the second detection criteria includes criteria to detect a portion of the first subassembly. ### Claim 3 (depends on 1) The system of claim 1, wherein the controller circuit is further operative to process the output of the proximity sensor to store a plurality of proximity measurement samples and compute a running statistical summary of the plurality of samples, and wherein the first detection criteria and the second detection criteria each defines a range of proximity differences between a current at least one proximity sample and the statistical summary. ### Claim 4 (depends on 1) The system of claim 1, wherein the first detection criteria and the second detection criteria are dynamically varied based on speed of the motion of the fastening tool. ### Claim 5 (depends on 1) The system of claim 1, wherein the predefined movement profile includes motion of the fastening tool in a direction perpendicular to an expected edge of the second subassembly. ### Claim 6 (depends on 1) The system of claim 1, wherein the adjusted motion of the fastening tool includes motion in a direction perpendicular to an expected neutral axis of a portion of the first subassembly. ### Claim 7 (depends on 1) The system of claim 1, wherein the adjusted motion of the fastening tool includes motion at a slower speed than the initial movement. ### Claim 8 (depends on 1) The system of claim 1, wherein the predefined movement profile includes translational motion of the fastening tool along a curvilinear trajectory along each of three orthogonal axes. ### Claim 9 (depends on 8) The system of claim 8, wherein the curvilinear trajectory includes a parabolic trajectory. ### Claim 10 (depends on 8) The system of claim 8, wherein the curvilinear trajectory includes an elliptical or semi-elliptical trajectory. ### Claim 11 (depends on 1) The system of claim 1, wherein the initial movement of the fastening tool according to the predefined movement profile includes scanning of the fastening tool in a predefined region proximate the nominal expected position of the first one of the fastening sites. ### Claim 12 (depends on 1) The system of claim 1, wherein the controller circuit is programmed to vary the predefined movement profile in response to the output of the proximity sensor. ### Claim 13 (depends on 12) The system of claim 12, wherein the controller circuit is programmed to vary the predefined movement profile in response to the output of the proximity sensor that includes collision detection. ### Claim 14 (depends on 1) The system of claim 1, wherein the controller circuit is programmed to indicate an exception condition in response to non-satisfaction of the second detection criteria. ### Claim 15 (depends on 1) The system of claim 1, wherein the controller circuit is programmed to forgo deployment of the fastener at the first one of the fastening sites in response to the exception condition indication. ### Claim 16 (depends on 1) The system of claim 1, wherein the proximity sensor comprises at least one laser-based distance sensor. ### Claim 17 (depends on 1) The system of claim 1, wherein the proximity sensor comprises at least one confocal chromatic sensor. ### Claim 18 (depends on 1) The system of claim 1, wherein in response to satisfaction of the first detection criteria, a direction of the motion of the fastening tool is adjusted while the fastening tool is in motion to the first one of the fastening sites.