# US 2015/0019015 A1 · Unit and method for the automatic hooking of parts onto complex supports > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2015/0019015 A1 - Document ID: US20150019015A1 - Status: Published application - Kind: A1 - Application number: 14/377,802 - Filed: 2013-02-08 - Published: 2015-01-15 - Earliest claimed: 2012-02-10 - Assignees: Sileane - Applicants: Sileane - Inventors: Hervé Emmanuel Henry - Web page: https://patentgrep.com/patent/US20150019015A1 ## CPC - B25J 9/1697: {Vision controlled systems} - B25J 15/0616: {with vacuum} - 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 device for automatic hooking of parts onto complex supports including at least one multi-articulated system designed for performing part hooking operations as such onto complex supports, and including a gripping device for at least one part, a first vision system, connected to the said multi-articulated system and designed to localize the parts in their positions and orientations to enable the said multi-articulated system to grasp in a determined orientation at least one part to be hooked, a positioning device for a complex support near the multi-articulated system, and a second vision system, connected to the multi-articulated system and designed to localize the complex support to enable the said multi-articulated system to hook the said part onto the said complex support. ## Claims ### Claim 1 A device for automatically hooking parts onto complex supports comprising: at least one multi-articulated system designed for performing the part hooking operations as such to complex supports, and includes a gripping device for at least one part; a first vision system, connected to the said multi-articulated system and designed to localize the parts in their positions and orientations to enable the said multi-articulated system to grasp in a determined orientation at least one part to be hooked; a positioning device for a complex support near the multi-articulated system; and a second vision system, connected to the multi-articulated system and designed to localize the complex support to enable the said multi-articulated system to hook the said part onto the said complex support. ### Claim 2 (depends on 1) The device according to claim 1 wherein the gripping device of the multi-articulated system takes the form of at least one plier. ### Claim 3 (depends on 1) The device according to claim 1 wherein the gripping device of the multi-articulated system takes the form of at least one actuator connected to at least one sucker. ### Claim 4 (depends on 3) The device according to claim 3, wherein the gripping device of the multi-articulated system include a centering element for centering the part grasped whereby the centering element is of a shape complementary to the grasped part in order to force it into a defined orientation. ### Claim 5 (depends on 1) The device according to claim 1 wherein it includes supply means of the parts near the multi-articulated system. ### Claim 6 (depends on 1) The device according to claim 1, wherein the first vision system consists of a camera and a lighting system. ### Claim 7 (depends on 1) The device according to claim 1, wherein the second vision system consists of a second camera and a L.A.S.E.R. transmitter with a head splitting the beam of said L.A.S.E.R. transmitter into a linear form with said L.A.S.E.R. transmitter being connected to rectilinear means of translation in a plane parallel to the plane of the vision of the said second camera. ### Claim 8 (depends on 1) The device according to claim 1, wherein the positioning device consist of a second system of axes designed to position the said complex supports near the multi-articulated system with the said complex supports being set out at regular intervals over the surface defined by an element forming a support. ### Claim 9 A method for the automatic hooking of parts onto complex supports, comprising: localizing a part in position and orientation using a first vision system connected to a multi-articulated system, grasping a part by means of said multi-articulated system, positioning a complex support near the multi-articulated system by means of complex support positioning device, localizing by means of a second vision system, the complex support designed to receive the part to be hooked, hooking said part by means of the multi-articulated system and, positioning near the multi-articulated system, and by way of complex support positioning device, another complex support designed to receive another part to be hooked. ### Claim 10 (depends on 9) The method according to claim 9 wherein it includes, before the step which consists in localizing a part in position and orientation, a step consisting in feeding the multi-articulated system with parts by means of the supply means.