WO2021251740A1 - Dispositif de préhension de boulonnage, dispositif de fixation de boulon le comprenant, et procédé de fixation de boulon - Google Patents

Dispositif de préhension de boulonnage, dispositif de fixation de boulon le comprenant, et procédé de fixation de boulon Download PDF

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Publication number
WO2021251740A1
WO2021251740A1 PCT/KR2021/007184 KR2021007184W WO2021251740A1 WO 2021251740 A1 WO2021251740 A1 WO 2021251740A1 KR 2021007184 W KR2021007184 W KR 2021007184W WO 2021251740 A1 WO2021251740 A1 WO 2021251740A1
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WO
WIPO (PCT)
Prior art keywords
bolt
fastening
screw hole
bolting
gripper
Prior art date
Application number
PCT/KR2021/007184
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English (en)
Korean (ko)
Inventor
배지훈
이동혁
박재한
장가람
최명수
Original Assignee
한국생산기술연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 한국생산기술연구원 filed Critical 한국생산기술연구원
Publication of WO2021251740A1 publication Critical patent/WO2021251740A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose

Definitions

  • the present invention relates to a bolting gripper capable of inserting and fastening a bolt into a screw hole of a workpiece, a bolt fastening device including the same, and a bolt fastening method.
  • a bolt is one of the mechanical elements required for assembling various mechanical devices.
  • a tool such as a spanner is generally used.
  • a lot of force is required, a lot of manpower is input, and there is a problem in that the working time is long.
  • the bolt fastener is fastened to the lifting panel, and the lifting panel is raised and lowered by the driving of the lifting cylinder to fasten the bolt to the screw hole of the workpiece.
  • the bolt fastening device As a separate bolt supply device for aligning and supplying bolts is required, the bolt fastening device has become larger and requires a large space, and there is a problem that the installation cost is also increased.
  • an embodiment of the present invention includes a bolting gripper capable of inserting and fastening a bolt into a screw hole even if the bolt deviates from the screw hole of a work object within a certain range, including the same
  • An object of the present invention is to provide a bolt fastening device and a bolt fastening method.
  • an embodiment of the present invention is to provide a bolting gripper capable of grabbing misaligned bolts and automatically fastening them to the screw holes after moving them to the screw holes, a bolt fastening device including the same, and a bolt fastening method.
  • a bolting gripper includes: a fastening part for fastening the bolt to a screw hole of a work object located under the bolt; a grip portion for holding the bolt; a moving part for moving the grip part so that the bolt is inserted into the fastening part; and an elastic part connected to the fastening part and buffering the shock transmitted when the bolt is inserted into the fastening part by bending upward.
  • the fastening part a fastening motor formed so that the head of the bolt is coupled to one end; It may include a guide member formed on one side of the fastening motor to prevent vibration of the fastening motor in contact with the work object when the bolt is inserted into the screw hole of the work object to a first depth.
  • the guide member may be formed to move upwardly along the outer surface of the fastening motor so as to contact the work object as the bolt is inserted deeper than the first depth into the screw hole of the work object.
  • the lower end of the guide member may be formed in a tapered shape to match the central axis of the bolt and the rotation axis of the fastening motor.
  • the first moving groove is formed on the upper side of the elastic part
  • the second moving groove is formed on the lower side so that when the bolt receives a pressing force for pressing the fastening part, the interval between the second moving grooves increases, and the The gap between the first moving grooves may be reduced.
  • a bump may be formed in the second moving groove to prevent a gap between the second moving grooves from being reduced.
  • the elastic part may include a buffer member formed in a corrugated form in the vertical direction.
  • a plurality of bumps for preventing the buffer member from being bent downward may be provided at the lower end of the buffer member, and the plurality of bumps may be formed to contact each other.
  • the elastic portion may include a bar-shaped preventing member disposed on at least one side portion to prevent the elastic portion from being trusted.
  • the bolt fastening device includes the above-described bolting gripper; a driving unit for driving the bolting gripper so that the bolt is easily inserted into the screw hole; and a control unit for controlling the driving unit.
  • the driving unit may include a first driving member having a first driving shaft formed in a direction perpendicular to the insertion direction of the bolt, and a second driving member connected to the first driving member and having a second driving shaft parallel to the first driving shaft. and wherein the first driving member and the second driving member rotate about the first driving shaft and the second driving shaft, respectively, to move the bolting gripper so that the bolt is easily inserted into the screw hole. .
  • control unit may move the first and second driving members so that the bolt is inserted into the correct position of the screw hole.
  • the bolt fastening method is a fastening method of a bolt using the above-described bolt fastening device, comprising: holding the bolt with a grip part; matching the central axis of the bolt with the central axis of the fastening part; coupling the bolt to the fastening part; moving the fastening part to the screw hole of the workpiece; and inserting and fastening the bolt into the screw hole.
  • the step of inserting and fastening the bolt into the screw hole may include matching a central axis of the bolt with a central axis of the screw hole.
  • the step of inserting and fastening the bolt into the screw hole may include separating the grip portion from the bolt when the bolt is inserted into the screw hole at a depth greater than or equal to a set depth.
  • the elastic part is bent upward to cushion the shock transmitted when the bolt is inserted into the fastening part, damage to the fastening part can be prevented.
  • the bolting gripper can provide a degree of freedom to the bolt through the driving part and the elastic part during the bolt fastening operation, even if the bolt deviates from the screw hole of the workpiece within a certain range, the bolt is inserted into the screw hole. can be fastened.
  • the bolting gripper does not require a separate bolt supply device for arranging and supplying bolts, thereby reducing the installation space, thereby reducing installation costs.
  • FIG. 1 is a perspective view showing a bolting gripper according to an embodiment of the present invention.
  • FIG. 2 is a perspective view illustrating a grip portion of a bolting gripper holding a bolt according to an embodiment of the present invention.
  • FIG 3 is a perspective view illustrating that the moving part of the bolting gripper according to an embodiment of the present invention moves the grip part toward the fastening part to match the central axis of the bolt and the central axis of the fastening part.
  • FIG. 4 is a perspective view illustrating that the bolt fastening device according to an embodiment of the present invention moves the bolting gripper to a screw hole of a work object and matches the central axis of the bolt with the central axis of the screw hole.
  • FIG. 5 is a view showing a fastening portion and an elastic portion of the bolting gripper according to an embodiment of the present invention.
  • FIG. 6 is a side view illustrating a fastening part and an elastic part of the bolting gripper according to an embodiment of the present invention, and showing that a bolt is inserted into the fastening part.
  • FIG. 7 is a side view illustrating that an elastic part is bent upward during a bolt fastening operation using a bolting gripper according to an embodiment of the present invention.
  • FIG. 8 is a flowchart illustrating a bolt fastening method according to an embodiment of the present invention.
  • FIG 9 shows an algorithm of a bolt fastening method according to an embodiment of the present invention.
  • the fastening part side is defined upward, and in the fastening part, the grip part side is defined and explained, and in the driving part, the fastening part side is defined and explained forward, and in the fastening part
  • the driving part side is defined as the rear and will be described.
  • the bolting gripper 10 may include a fastening part 300 , a grip part 400 , a moving part 500 , and an elastic part 200 . .
  • the fastening unit 300 includes a fastening motor 310, and a guide member 330 to fasten the bolt (B) to the screw hole (30h) of the work object 30 located under the bolt (B).
  • the fastening motor 310 may be formed so that the head Ba of the bolt is coupled to one end.
  • a coupling part 311 rotated by the fastening motor 310 and coupled to the head Ba of the bolt may be provided at one end of the fastening motor 310 .
  • the coupling part 311 may include a coupling member and a bolt tip.
  • the coupling member may be connected to the fastening motor 310 and rotated by the fastening motor 310 .
  • one end of the bolt tip may be connected to the coupling member and the other end may be connected to the head Ba of the bolt. And, the bolt tip is rotated together as the coupling member is rotated to rotate the bolt (B), thereby fastening the bolt (B) to the screw hole (30h).
  • the guide member 330 may be formed on one side of the fastening motor 310 . And, the guide member 330 is in contact with the work object 30 when the bolt (B) is inserted to the first depth into the screw hole 30h of the work object 30 to prevent the vibration of the fastening motor 310. have.
  • the first depth is when the bolt (B) is inserted into the screw hole (30h) and spaced apart from the bolt (B) while the grip part 400 places the bolt (B) in the middle of the fastening, the bolt (B) is the screw hole ( 30h) may be inserted in length.
  • the guide member 330 is the outer surface of the fastening motor 310 so as to be in contact with the work object 30 as the bolt (B) is inserted deeper than the first depth into the screw hole 30h of the work object 30 . Therefore, it may be formed to move in an upward direction.
  • the lower end of the guide member 330 may be formed in a tapered shape to match the central axis of the bolt B and the rotation axis of the fastening motor 310 .
  • the guide member 330 may be connected to the fastening motor 310 through the elastic member, move in the upper direction, and then move in the lower direction through the elastic force of the elastic member to return to the original position.
  • a protective body 320 that surrounds and protects the coupling part 311 may be provided on one side of the fastening motor 310 .
  • the guide member 330 may be formed to move upward along the outer surface of the protective body 320 .
  • the guide member 330 may be provided with an elastic spring TS, and may be moved downward through the elastic force of the elastic spring TS to return to the original position.
  • an elastic spring TS may be provided between the guide member 330 and the protective body 320 . Then, the guide member 330 is connected to the protective body 320 and the elastic spring TS to move in the upward direction, and then is moved in the downward direction through the elastic force of the elastic spring TS to return to the original position. .
  • the guide member 330 is moved in the lower direction and then moved upward through the elastic force of the elastic spring TS. It can be returned to its original position.
  • the grip part 400 may hold the bolt (B).
  • the grip part 400 may be provided as a pair, and a grip groove 400h into which the bolt B is fitted may be formed on the opposite surface.
  • the grip part 400 may be moved so as to abut against each other, and the bolt B may be caught by the grip part 400 by fitting the body Bb into the grip groove 400h.
  • the moving part 500 may move the grip part 400 so that the bolt B is inserted into the fastening part 300 .
  • the bolting gripper 10 may be connected to the robot arm 40 and moved from the vicinity of the bolt B to the vicinity of the screw hole 30h of the workpiece 30 .
  • the elastic unit 200 may be connected to the upper portion of the robot arm 40
  • the moving unit 500 may be connected to the lower portion of the robot arm 40 .
  • the moving unit 500 may include a first moving member 510 , a second moving member 520 , and a connecting member 530 .
  • the first moving members 510 may be provided as a pair, and may be respectively installed to face each other while being spaced apart from each other at a predetermined distance in the lower portion of the robot arm 40 .
  • the second moving member 520 may have one end connected to the first moving member 510 and may be rotated upward or downward through the first moving member 510 .
  • the connecting member 530 may have one end connected to the second moving member 520 and the other end connected to the grip unit 400 .
  • the connecting member 530 may be rotated to the left or right through the second moving member 520 with respect to the second moving member 520 .
  • the grip part 400 may be rotated along with the connecting member 530 .
  • the grip unit 400 may be moved toward the bolt B through the moving unit 500 to hold the bolt B, and may be moved toward the fastening unit 300 .
  • the elastic part 200 may be connected to the fastening part 300 . Referring to FIG. 6 , the elastic part 200 may buffer the shock transmitted when the bolt B is inserted into the fastening part 300 by bending upward.
  • a first moving groove 200a may be formed on an upper side
  • a second moving groove 200b may be formed on a lower side.
  • the first moving groove 200a when the bolt B receives a pressing force for pressing the fastening part 300 , the gap between the second moving grooves 200b increases, and the first moving groove 200a ) may be formed such that the interval between them is reduced.
  • the second moving groove (200b) may be provided with a bump 240 to prevent the gap between the second moving grooves (200b) from being reduced.
  • the elastic part 200 may be bent upward, and the shock transmitted when the bolt B is inserted into the fastening part 300 may be buffered.
  • the elastic part 200 may include a preventing member 250 disposed on at least one side portion. The preventing member 250 may prevent the elastic part 200 from being trusted. That is, the preventing member 250 may prevent the elastic part 200 from being twisted.
  • the elastic part 200 may include a rear end bracket 210 , a front end bracket 220 , and a buffer member 230 .
  • the rear end bracket 210 may be connected to the upper portion of the robot arm 40 .
  • the shear bracket 220 may be connected to the fastening part 300 .
  • the buffer member 230 is formed in the form of corrugations in the vertical direction may be bent in the vertical direction. In addition, the buffer member 230 may be bent upward to buffer the shock transmitted when the bolt B is inserted into the fastening part 300 .
  • a plurality of bumps 240 for preventing the buffer member 230 from being bent downward may be provided at the lower end of the buffer member 230 .
  • the plurality of bumps 240 are formed to be in contact with each other to prevent the buffer member 230 from being bent downward due to gravity.
  • the bolt fastening device 20 provides a degree of freedom to the bolt B so that the bolt B can perform the bolt fastening operation even if the bolt B deviates from the screw hole 30h within a certain range.
  • the driving unit 100 may drive the bolting gripper 10 so that the bolt B is easily inserted into the screw hole 30h.
  • the driving unit 100 may include a first driving member 110 and a second driving member 120 .
  • the first driving shaft 111 may be formed in the first driving member 110 in a direction perpendicular to the insertion direction of the bolt (B).
  • the first driving shaft 111 may be connected to the upper portion of the robot arm 40 .
  • a second driving shaft 121 connected to the first driving member 110 and parallel to the first driving shaft 111 may be formed on the second driving member 120 .
  • the second driving member 120 may be connected to the elastic part 200 .
  • first driving member 110 and the second driving member 120 rotate about the first driving shaft 111 and the second driving shaft 121, respectively, so that the bolt B is easily inserted into the screw hole 30h.
  • the bolting gripper 10 can be moved to be inserted.
  • the fastening part 300 may move downward and rearward. And, when the second driving member 120 rotates about the second driving shaft 121 , the fastening part 300 may move downward and forward.
  • the controller may move the first and second driving members 110 and 120 by controlling the driving unit 100 so that the bolt B is inserted into the correct position of the screw hole 30h. And, as the first and second driving members 110 and 120 are operated, the fastening part 300 may be moved forward or backward and may be lowered. Accordingly, the driving unit 100 is able to provide a degree of freedom to the bolt (B).
  • the fastening part 300 may be rotated as it descends during the bolt fastening operation. Accordingly, the central axis of the bolt (B) may deviate from the central axis of the screw hole (30h). At this time, the elastic part 200 can be prevented from being deviating from the central axis of the screw hole (30h) by bending the central axis of the bolt (B) upward. That is, the bolt B may flow by the elastic deformation of the elastic part 200 . Accordingly, the bolt fastening device 20 may perform a bolt fastening operation while providing a degree of freedom to the bolt B through the driving unit 100 and the elastic unit 200 .
  • the robot arm 40 receives the position information of the bolt (B) and the screw hole 30h of the work object 30, or through a sensor connected to the robot arm 40, the bolt ( B) and the position information of the screw hole 30h of the work object 30 can be collected to specify the position of the bolt B and the screw hole 30h of the work object 30 . And, the robot arm 40 may move the bolt fastening device 20 near the bolt B or the screw hole 30h of the work object 30 .
  • the step of holding the bolt with a grip part (S100), the central axis of the bolt and the central axis of the fastening part coincide It may include a step (S200), a step of coupling the bolt to the fastening part (S300), a step of moving the fastening part to the screw hole of the work object (S400), and the step of inserting and fastening the bolt into the screw hole (S500). .
  • the step of holding the bolt by the grip portion (S100) may include a preparation step (S110), a moving step (S120), and a bolt gripping step (S130) to grab the bolt (B) with the grip portion 400 .
  • the grip part 400 may be set in a ready position to hold the bolt (B).
  • the moving step ( S120 ) the grip part 400 may be moved to the upper side of the bolt B through the robot arm 40 .
  • the bolt holding step ( S130 ) may hold the bolt (B) by moving the grip unit 400 through the moving unit 500 .
  • the bolt (B) may be inserted into the grip groove ( 400h ) of the grip part ( 400 ) and caught by the grip part ( 400 ).
  • the moving step (S120) fails, it may be re-executed from the preparation step (S110).
  • the ready posture may be set to one of the remaining ready postures except for the ready posture at the time of the previous implementation. That is, the ready posture may be set in a plurality of forms.
  • the grip part 400 may be moved to the lower end of the fastening part 300 through the moving part 500 .
  • the central axis of the bolt (B) may coincide with the central axis of the fastening part 300 through the guide member 330 .
  • the head Ba of the bolt may be coupled to the fastening part 300 .
  • the fastening part 300 may rotate the bolt (B).
  • the head Ba of the bolt may be coupled to the bolt tip of the coupling portion 311 .
  • the bolt tip may be replaced with a tip corresponding to the head Ba of the bolt.
  • the fastening part 300 may be brought to the vicinity of the screw hole 30h. Additionally, the fastening part 300 may be moved to the vicinity of the screw hole 30h through the robot arm 40 .
  • the step of inserting and fastening the bolt into the screw hole (S500) is a step of matching the central axis of the bolt with the central axis of the screw hole in order to insert and fasten the bolt (B) into the screw hole 30h (S510), finding the position of the screw hole Step (S520), bolt insertion confirmation step (S530), rotation speed adjustment step (S540), bolt displacement confirmation step (S550), separating the grip part from the bolt (S560), stop confirmation step (S570), stop step ( S580) may be included.
  • the step (S510) of matching the central axis of the bolt and the central axis of the screw hole is performed by moving the fastening part 300 to the central axis of the bolt B coupled to the fastening part 300 and the screw hole 30h of the work object 30. ) can coincide with the central axis.
  • the screw hole ( 30h ) can be located by slowly rotating the bolt ( B ) through the fastening part ( 300 ). Additionally, the bolt B flows forward or rearward by the driving unit 100 , and the grip unit 400 flows in the left or right direction through the second moving member 520 , thereby forming the screw hole 30h. You can find the location easily.
  • the bolt insertion confirmation step (S530) it can be confirmed that the bolt (B) is inserted into the screw hole (30h).
  • the rotation speed adjustment step S540 the rotation speed of the bolt B may be increased through the fastening unit 300 to fasten the bolt B to the screw hole 30h.
  • the bolt displacement checking step ( S550 ) it can be confirmed whether the bolt B is inserted into the screw hole 30h by 1 cm or more through the movement displacement of the fastening part 300 .
  • the movement displacement of the fastening part 300 may mean a length in which the fastening part 300 descends as the bolt B is inserted into the screw hole 30h.
  • the grip part 400 may be spaced apart from the bolt B through the moving part 500 .
  • the stop confirmation step ( S570 ) it may be confirmed whether the rotation of the bolt (B) is stopped or the movement displacement of the fastening part 300 is greater than or equal to the length of the bolt (B).
  • the stopping step S580 may stop the bolt B through the fastening part 300 . Additionally, after the stopping step (S580), a removing step (S600) of removing the fastening part 300 from the bolt (B) may be further performed. Then, the bolt fastening operation may be finished.
  • the elastic part 200 can be bent upward to buffer the shock. Accordingly, it is possible to prevent damage to the fastening part 300 .
  • the bolt (B) may flow to the front or rear side by the driving unit 100 .
  • the bolt B may flow by elastic deformation of the elastic part 200 . Therefore, since it is possible to provide a degree of freedom to the bolt B through the driving unit 100 and the elastic unit 200 , even if the bolt B deviates from the screw hole 30h of the work object 30 within a certain range, the bolt (B) can be inserted into the screw hole (30h) to be fastened.
  • the unaligned bolt (B) is acquired through the grip part 400 and the bolt (B) is moved to the fastening part 300 through the moving part 500, and then the bolt's head Ba in the fastening part 300. ) can be combined to perform bolting work. Therefore, since a separate bolt supply device for aligning and supplying the bolts B is not required, the installation space can be reduced, thereby reducing the installation cost.
  • driving unit 110 first driving member
  • first drive shaft 120 second drive member
  • buffer member 240 bump

Abstract

Selon un mode de réalisation, la présente invention se rapporte à un dispositif de préhension de boulonnage, à un dispositif de fixation de boulon le comprenant, et à un procédé de fixation de boulon. Le dispositif de préhension de boulonnage selon un mode de réalisation de la présente invention comprend : une partie de fixation pour fixer un boulon dans un trou de vis d'une pièce à travailler située sous le boulon ; une partie de préhension pour maintenir le boulon ; une partie mobile pour déplacer la partie de préhension de façon à permettre l'insertion du boulon dans la partie de fixation ; et une partie élastique qui est reliée à la partie de fixation et qui absorbe un impact transféré lorsque le boulon est plié vers le haut tout en étant inséré dans la partie de fixation.
PCT/KR2021/007184 2020-06-09 2021-06-09 Dispositif de préhension de boulonnage, dispositif de fixation de boulon le comprenant, et procédé de fixation de boulon WO2021251740A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2020-0069895 2020-06-09
KR1020200069895A KR102370259B1 (ko) 2020-06-09 2020-06-09 볼팅 그리퍼, 이를 포함하는 볼트 체결 장치 및 볼트 체결 방법

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023121468A1 (fr) * 2021-12-24 2023-06-29 Technische Universiteit Eindhoven Ensemble pour guider un corps hélicoïdal dans un matériau viscqueux, pliable et se solidifiant

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JPH05261632A (ja) * 1992-03-17 1993-10-12 Kawasaki Heavy Ind Ltd シールド掘進機用ボルト自動供給装置
KR20110011142A (ko) * 2009-07-28 2011-02-08 상 호 최 나사지지수단을 구비하는 나사드라이버 및 나사드라이버 비트
JP2012161860A (ja) * 2011-02-04 2012-08-30 Seiko Epson Corp ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
KR20140030669A (ko) * 2012-09-03 2014-03-12 텔스타홈멜 주식회사 볼트 공급장치
KR20150125848A (ko) * 2014-04-30 2015-11-10 현대중공업 주식회사 볼트 체결장치

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KR20160018316A (ko) * 2014-08-08 2016-02-17 김대일 볼트체결장치용 볼트공급부
KR20160018314A (ko) * 2014-08-08 2016-02-17 김대일 볼트체결장치용 볼트정렬부
KR20170027981A (ko) * 2015-09-03 2017-03-13 주식회사 로보스타 자동스크류체결기의 스크류이송장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05261632A (ja) * 1992-03-17 1993-10-12 Kawasaki Heavy Ind Ltd シールド掘進機用ボルト自動供給装置
KR20110011142A (ko) * 2009-07-28 2011-02-08 상 호 최 나사지지수단을 구비하는 나사드라이버 및 나사드라이버 비트
JP2012161860A (ja) * 2011-02-04 2012-08-30 Seiko Epson Corp ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
KR20140030669A (ko) * 2012-09-03 2014-03-12 텔스타홈멜 주식회사 볼트 공급장치
KR20150125848A (ko) * 2014-04-30 2015-11-10 현대중공업 주식회사 볼트 체결장치

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023121468A1 (fr) * 2021-12-24 2023-06-29 Technische Universiteit Eindhoven Ensemble pour guider un corps hélicoïdal dans un matériau viscqueux, pliable et se solidifiant
NL2030291B1 (en) * 2021-12-24 2023-06-30 Univ Eindhoven Tech Assembly for guiding a helical body into a viscous, pliable, or solidifying material

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KR102370259B1 (ko) 2022-03-04

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