EP3996875A1 - Système de porte-pièce et élément de fixation pour un système de porte-pièce - Google Patents

Système de porte-pièce et élément de fixation pour un système de porte-pièce

Info

Publication number
EP3996875A1
EP3996875A1 EP20740583.8A EP20740583A EP3996875A1 EP 3996875 A1 EP3996875 A1 EP 3996875A1 EP 20740583 A EP20740583 A EP 20740583A EP 3996875 A1 EP3996875 A1 EP 3996875A1
Authority
EP
European Patent Office
Prior art keywords
fixing
base part
fixing element
section
carrier system
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP20740583.8A
Other languages
German (de)
English (en)
Inventor
Martin Freundt
Manuel SCHOELLKOPF
Gunter SPÖCKER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Manz AG
Original Assignee
Manz AG
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.)
Filing date
Publication date
Application filed by Manz AG filed Critical Manz AG
Publication of EP3996875A1 publication Critical patent/EP3996875A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/002—Magnetic work holders
    • 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
    • B25B5/00—Clamps
    • B25B5/003—Combinations of clamps

Definitions

  • the invention relates to a workpiece carrier system with a base part and at least one fixing element for fixing a workpiece on the base part, the fixing element having a fixing section with which the fixing element can be magnetically fixed on the base part.
  • a generic workpiece carrier system is known from DE 40 17 580 A1.
  • the workpiece is secured by means of the fixing element (arranged laterally to the workpiece) or one on the fixing element
  • the known workpiece carrier system is also not suitable for fixing flat workpieces such as flexible flat ribbon cables on the base part. In order to secure a workpiece to be fixed or fixed to the base part against sliding sideways along the base part, the known requires
  • the object of the present invention is therefore to provide an improved
  • a workpiece carrier system with a base part and at least one fixing element for fixing one
  • the fixing element being magnetically fixable at least within a fixing portion on the base part, and wherein the fixing element has a clamping portion different from the fixing portion and a different clamping portion from the fixing portion
  • the clamping section and / or the positioning section are set up to fix the workpiece on the base part at least in one plane, in particular to clamp it on the base part.
  • the workpiece can be on the base part at least in one plane, for example for the purposes of subsequent machining of the
  • the workpiece carrier system can be set up to fix the workpiece in a plane parallel to the side facing the workpiece, in particular the upper side, of the base part.
  • the workpiece can thus be fixed on the base part along the top of the base part.
  • it can be fed to the workpiece carrier system in a direction that is inclined, in particular perpendicular, to this plane and / or can be removed from the workpiece carrier system in this direction. This can be achieved in particular by means of the positioning section.
  • the positioning section can have an elongated shape for this purpose.
  • it can be cylindrical or essentially cylindrical. It can preferably be configured to point in this inclined, in particular vertical, direction.
  • the workpieces preferably have a structure that is suitably complementary to the positioning section; in the case of a cylindrical or essentially cylindrical positioning section, for example, a recess with on the positioning section
  • the workpiece carrier system according to the invention can also be used for flat workpieces, for example flexible ribbon cables.
  • the base part can preferably be designed in the form of a plate.
  • the base part can have at least one flat or at least essentially flat fixing surface.
  • One or more fixing elements, in particular with their respective fixing sections, can then be arranged on the fixing surface.
  • Fixing elements can each clamp a workpiece on the base part.
  • the base part has several fixing surfaces.
  • fixing elements and thus workpieces can be placed on the different fixing surfaces at the same time
  • a workpiece to be machined can then be introduced one after the other, for example into a work area of a machine tool.
  • the fixing element can be secured against the fixing element slipping sideways along the base part.
  • the fixing element and / or the base part, in particular with the respective fixing section and / or the respective fixing surface, can be connected to one another
  • the base part is designed to be magnetizable and / or ferromagnetic, in particular permanently magnetic, at least in one area and / or it has at least one magnet, in particular a permanent magnet.
  • Fixing element especially in the area of its fixing section, - correct Polarity assuming - a magnet, especially one
  • Permanent magnet has or such is formed, or that the fixing element, in particular in the area of its fixing portion, is formed magnetizable.
  • the base part has at least one
  • the position fixation With the position fixation, precise positioning and / or precise alignment of the fixing element relative to the base part can be ensured. In particular, the position fixation can be set up when the
  • the position fixing can take the form of one or more recesses and / or grooves, preferably arranged in a regular grid
  • the fixing element can then preferably also have at least one latching lug, in particular designed to be complementary to at least one of the depressions or grooves.
  • the recess can be matched to the fixing element in such a way that in the recess
  • the top of the base part is flush with an upper edge of the fixing element.
  • the depth of the recess can correspond to the fleas of the fixing element in its installation position.
  • Positioning section can then the base part on its top
  • Equipping the base part with one or more fixing elements can be automated if the workpiece carrier system has a
  • Has handling device which is set up to grip the fixing element by means of a gripping portion, to detach it from the base part and / or to arrange it on the base part.
  • the fixing element can have a grip section.
  • the grip section of the fixing element and the grip section of the handling device can be relative to one another
  • the gripping section can have an electromagnet, wherein the electromagnet can preferably be designed to be controllable.
  • the electromagnet can be designed so that its polarity can be reversed. Knows that
  • Fixing element in particular in its fixing section, on a magnet, or if it is magnetically designed in the fixing section, the fixing element can be adjusted by selecting the appropriate polarity of the
  • the gripping section is a mechanical one
  • mechanical release device is formed, which is set up to release a gripped or to be gripped fixing element from the base part when actuated.
  • the gripping section can be shaped like tongs.
  • the gripping section can have at least two gripping jaws, so that the gripping section can be opened or closed.
  • the gripping section in particular at least one gripping jaw, can have at least one wedge surface.
  • the fixing element can have a wedge surface designed to be complementary to this wedge surface. Then the fixing element can be removed by closing the gripping section Distance the base part and thereby loosen it.
  • the gripping section can also have a lifting lever.
  • the lifting lever can have a lifting lever joint. The lifting lever can be set up to pivot actively and / or passively by means of the lifting lever joint when the gripping section is closed, thereby spacing the fixing element away from the base part.
  • the gripping section can also be designed to grip a plurality of fixing elements, to detach them from the base part and / or on the base part
  • a separate gripping part can be attached to the
  • Handling device in particular can be arranged and / or arranged on the gripping section.
  • the gripping section and / or the gripping part can have a lamellar structure.
  • the lamellar structure allows tolerances to be different, for example with regard to the arrangement, the positioning and / or the dimensions
  • the workpiece carrier system can also have one or more support elements.
  • the support elements can be designed to support the workpiece at least partially or completely and / or to support it laterally.
  • the support elements can be designed to be magnetically fixable on the base part.
  • the support elements can have a magnet, in particular a permanent magnet.
  • a fixing element for fixing a workpiece to a base part of a workpiece carrier system also falls within the scope of the invention, the fixing element having a fixing section with which the fixing element can be magnetically fixed on the base part, and the fixing element having a clamping section different from the fixing section and one from the Fixing section different
  • clamping portion and / or the Positioning section are set up to fix the workpiece on the base part at least in one plane, in particular to clamp it on the base part.
  • the fixing element can in particular be designed to fix the workpiece on a plane parallel to an upper side of the base part.
  • the fixing element can have a cylindrical or essentially cylindrical positioning section.
  • the fixing element can be stepped at one end, in particular at a free end of the clamping section, in order to facilitate the arrangement of the workpiece on the base part.
  • the fixing element can, in particular apart from an optionally separately formed magnet, be formed in one piece, in particular as a pressed, extruded, cast or injection-molded component.
  • the fixing element and / or the support element can each have at least two side surfaces with different surface geometries
  • a fixing magnet in particular a permanent magnet, for fixing the fixing element on the base part can be arranged and / or formed within the fixing section.
  • the fixing section can be designed to be magnetic, in particular permanently magnetic, and / or a magnet, in particular a magnet, can be used in the fixing section
  • Permanent magnet be arranged. A secure fixation of the fixing element on the base part can thereby be achieved; at the same time, the influence of one of the fixing portion
  • clamped workpiece can be kept low.
  • the fixing element has a release aid for releasing or at least making it easier to release the fixing element from the base part.
  • the release aid can have a lever arm and / or be designed as a lever arm.
  • a clamping magnet preferably a permanent magnet
  • the fixing element can thus have at least two magnetic sections and / or one or more magnets.
  • the strength of the fixing of the fixing element on the base part can be determined or adjusted by means of the magnetic fixing section; With the magnetic clamping section, the clamping force FK with which the workpiece is attached to the base part
  • the clamping section can have a clamping arm and / or be designed as such, wherein the clamping arm is preferably arranged and / or designed to be movable relative to the fixing section.
  • the clamping arm can be designed to be elastically deformable.
  • the fixing element can have at least one, in particular elastically deformable, spring element and / or one, in particular elastically deformable, spring section.
  • the spring element or the spring section can be designed as a spring plate.
  • Flexural rigidity of the clamping section or the clamping force FK can be determined by means of a weakening of the clamping section, in particular the
  • the fixing element can preferably have at least one
  • the clamping section in particular the clamping arm, can be prestressed by means of a spring element.
  • the clamping arm and / or the release aid can be actuated using a lever effect if the fixing element has an actuation lever for actuating the clamping arm and / or the release aid.
  • the fixing element is designed to be stackable.
  • the fixing element can have a stack positioning structure through which a fixing element to be stacked automatically aligns itself relative to the rest of the stack when it is placed on a stack of fixing elements.
  • the fixing element can also have a detachment facility by means of which detachment of a fixing element from the stack of fixing elements can be facilitated.
  • Figs. 1 and 2 are schematic cross-sectional views of two
  • 3 to 5 are schematic side views of three different ones
  • Figures 8 and 9 are schematic side views of two
  • FIG. 10 is a schematic perspective view of a
  • 11 and 12 are schematic cross-sectional views of a
  • 13 to 16 are schematic side views of four different ones
  • FIG. 20 shows a schematic cross-sectional view of a further fixing element which can be arranged in a position fixing and has a clamping section.
  • Fig. 1 shows a first embodiment of a
  • the workpiece carrier system 10 has a base part 12 on which a fixing element 14 is arranged.
  • the fixing element 14 is magnetically fixed on the base part 12 within its fixing section 16 by means of a fixing magnet 18 designed as a permanent magnet.
  • the base part 12 is formed from a magnetizable material, in particular from a ferromagnetic material. Alternatively, it is conceivable that only a region of the base part 12 is formed from such a magnetizable material. The area can in particular extend to the surface of the base part 12.
  • the fixing element 14 has a clamping section 20 which is stepped at its free end. With this free end of the
  • the base part 12 is essentially shaped like a plate. It has a plurality of grooves 24 which are arranged regularly, in particular in rows, of which one groove 24 is marked with a reference symbol in FIG. 1 as an example.
  • the grooves 24 form position fixings 25
  • a locking lug 26 which is designed to be complementary to the grooves 24 is formed.
  • the locking lug 26 is thus
  • Fixing element 14 fixed on base part 12 and thus secured against slipping sideways by - at least partially - positive locking.
  • Fig. 2 shows another embodiment of a
  • Embodiment largely corresponds, in particular with its fixing section 16, its fixing magnet 18 and its clamping plate 20.
  • the base part 12 does not have any grooves 24. Rather, its upper fixing surface 28 is flat.
  • the fixing element 14 has, however, instead of the locking lug 26 (FIG. 1), a flaftrifting surface 30.
  • the fixing element 14 is thus secured against slipping sideways by frictional engagement.
  • the fixing element 14 has a clamping section 20 with a
  • the fixing section 16 is magnetically fixed on the base part 12 by means of a fixing magnet 18.
  • the base part 12 that consists of
  • ferromagnetic insert 19 can be formed, for example, from a ferrous metal or can have such.
  • An actuating lever 36 is also provided for actuating the clamping arm 32. Against the magnetic attraction of an im
  • Clamping arm 32 arranged clamping magnets 38 can by means of
  • the actuating lever 36 can be actuated using the corresponding swirling effect of the clamping arm 32.
  • the workpiece 22 can be attached to the base part 12 by means of the clamping section 20 with the
  • Support element 40 which supports the workpiece 22 on the underside.
  • the workpiece 22 can thus be fixed in a position that is elevated relative to the base part 12.
  • the support element 40 itself is to by a
  • Support element magnet 42 magnetically fixed on base part 12.
  • FIGS. 4 and 5 show two further embodiments of FIG
  • Fixing elements 14 each in schematic side views.
  • FIG. 6 and 7 show the respective fixing elements 14 according to FIG. 4 and FIG. 5 in schematic plan views.
  • at least the clamping arms 32 are formed from resilient material.
  • Clamping force FK (FIG. 1) can thus be generated in these embodiments by elastic deformation of the respective clamping arm 32.
  • Fixing elements 14 each have weaknesses 44 designed as openings.
  • the sizes and shapes of the weakenings 44 are selected to match the elastic properties of the clamping arms 32 that are desired in each case.
  • FIGS. 6 and 7 also show that the respective clamping arms 32 or the clamping sections 20 are movably fixed by a screw connection 46 on the rest of the fixing element 14.
  • FIG. 4 shows that in this fixing element 14 a
  • Actuating lever 36 is formed at one end of the clamping arm 32. It can be seen in particular that by pressing, in particular
  • ferromagnetic insert 19 of the base part 12 is magnetically fixed.
  • Bearing point 48 thus functions in conjunction with the actuating lever 36 as a release aid 49.
  • Actuation of the actuating lever 36 detaches the fixing magnet 18 and thus the fixing element 14 as well as the workpiece 22 from the base part 12.
  • the clamping arm 32 can, in particular by means of a solid body joint 47, which is formed in two parts in this embodiment, in a rearward
  • the workpiece 22 can be in a vertical manner
  • a spring element 50 ensures a pretensioning of the clamping arm 32 and thus provides a minimum strength of the clamping force FK in the clamped position
  • the clamping arm 32 can thus be pivoted against the spring force of this spring element 50 by means of the actuating lever 36.
  • FIG. 10 shows a stack 51 of fixing elements 14.
  • the stack 51 can, for example, be arranged in the area of an open area of the base part 12 (FIG. 1).
  • the fixing elements 14 are stackable in this embodiment
  • the fixing elements 14 can be removed from the stack 51 and positioned again on the base part 12, for example. In order to facilitate the removal of a fixing element 14 from the stack 51, the fixing elements 14 have a detachment facility 54.
  • Removal relief 54 is in this embodiment as
  • the detachment relief 54 is formed from a material that differs from the material of the respective fixing element 14 that surrounds it and / or from a non-magnetic and / or non-magnetizable material and / or has such a material.
  • the detachment relief 54 can in particular be embodied as the magnetic flaft force with which a fixing element 14 in the stack 51 is attached to an underlying element
  • Fixing element 14 adheres to reduce.
  • Detachment relief 54 the gripping force required to remove a fixing element 14 from the stack 51 can be reduced, whereby the removal is facilitated.
  • the stack positioning structure 52 is such
  • the fixing elements 14 are each positioned slightly offset from one another in the stack 51 or when they are placed on the
  • Stack 51 are positioned.
  • a gripper or the like can thus be passed through the through-opening here
  • Detachment relief 54 reach through and to detach this uppermost fixing element 14 on the respective one below
  • FIGS. 11 and 12 show another embodiment of a
  • Workpiece carrier system 10 in two different operating states. For handling fixing elements 14, this includes
  • Workpiece carrier system 10 has a handling device 56 with a gripping section 58, which in turn has an electromagnet 60.
  • the electromagnet 60 is designed to be controllable; in particular, the
  • Pole direction of the electromagnet 60 can be adjusted.
  • Electromagnet 60 selected such that the gripping section 58 magnetically attracts a fixing element 14 located below it or its fixing magnet 18. This is symbolized in FIG. 11 by the pole N marked in a lower region of the electromagnet 60.
  • the fixing element 14 is also detached from the base part 12 by the magnetic field of the electromagnet 60.
  • the fixing element 14 can now, for example, from the base part 12
  • the pole S is marked in FIG. 12 in the lower region of the electromagnet 60.
  • Base parts 12 or a simple setting down and thus fixing of the respective fixing element 14 on the respective base part 12 have the handling devices 56, in particular their
  • the gripping sections 58 each have two gripping jaws 57. These can each in a direction X, i. H.
  • the gripping portions 58 can be opened or closed.
  • the gripping sections 58 according to FIGS. 13 and 14 each have a wedge surface 62 on one of the two or on both gripping jaws 57.
  • the gripping jaws 57 together with their wedge surfaces 62 each form the mechanical release devices 61.
  • the associated fixing elements 14 point towards the wedge surfaces 62
  • a lifting lever 66 is articulated to one of the gripping jaws 57 of the gripping section 58 via a lifting lever joint 68 and also via a
  • Lifting lever spring element 69 is resiliently connected to the gripping jaw 57.
  • Handle portion 70 of a fixing element 14 to be gripped is located, the lifting lever 66 rests on the underside of the short leg of the handle portion 70 on the fixing element 14.
  • Lifting lever 66 is rotated upwards or in the Z direction by the fixing element 14, as a result of which the fixing element 14 is in turn spaced apart from the base part 12 in the Z direction and is thereby detached from it.
  • FIG. 16 A further embodiment of a handling device 56 with a gripping section 58 is shown schematically in FIG. 16
  • FIG. 17 Side view and FIG. 17 in a schematic front view.
  • the two gripping jaws 57 of the gripping section 58 form an im
  • Handle portion 70 is formed complementary to the recess
  • the gripping section 58 has a lamellar structure 72.
  • the gripping section 58 is significantly wider than a fixing element 14.
  • several - in FIG. 17 two - fixing elements 14 can be gripped simultaneously with the gripping section 58 or with the handling device 56.
  • the gripped fixing elements 14 are aligned in alignment with one another by the handling device 56, in particular automatically.
  • FIGS. 18 and 19 show a further fixing element 14 in a schematic top view and in a schematic cross-sectional view.
  • the fixing element 14 can be inserted into a suitably designed base part 12 and, as a result, in its position and location relative to the base part 12
  • FIG. 19 which shows a cross-sectional view corresponding to the section line XIX in FIG. 18, this shows
  • base part 12 has a position fixation 25 designed as a recess.
  • the depth of the position fixing 25 is matched to the height of the fixing element 14. As a result, the base part 12 (according to the illustration in FIG. 19) is flush with the upper edge of the upper side
  • Fixing element 14 on. With the exception of a positioning section 21 of the fixing element 14, the base part 12 and the fixing element 14 thus form a uniform, in particular consistently flat, surface along the top.
  • the positioning section 21 is in the embodiment shown
  • a workpiece (not shown in FIG. 18 and FIG. 19), for example, one for
  • Positioning section 21 has complementary opening, can be plugged onto the positioning section 21 or onto the fixing element 14. Due to the positioning section 21, it is thus at least in the plane parallel to the upper side of the base part 12
  • Two positioning aids 27 are arranged in the bottom area of the position fixation 25 and are in particular connected to the base part 12.
  • Positioning aids 27 are at least partially ferromagnetic.
  • the two positioning aids 27 each have a rod-like shape. They are arranged perpendicular to each other.
  • the fixing element 14 has in its lower section, which forms a fixing section 16, two fixing magnets 18 which can each magnetically interact with one of the two positioning aids 27.
  • two grooves are formed on the underside of the fixing element 14, each of which is designed to be complementary to one of the two positioning aids 27.
  • the fixing element 14 can be removed from the position fixation 25 and, for example, put down or inserted in a different position on the base part 12, in particular in a similarly designed, different position fixation.
  • the base part 12 can therefore be flat on its upper side with the exception of one or more position fixings in the form of depressions. Larger workpieces, especially when they are through their
  • the fixing element 14 is introduced into the position fixing 25, it is magnetically pulled by the fixing magnets 18 to the positioning aids 27 and aligned with the positioning aids 27 until it rests on these with its grooves.
  • the fixing element 14 is automatically and precisely aligned in a position and / or position predetermined by the positioning aids 27.
  • the positioning aids 27 are used to compensate for tolerances and to precisely align the fixing element 14 in or on the position fixation 25.
  • a complex precision alignment of the fixation element 14 by, for example, a gripper before and / or during the insertion of the fixation element 14 into the position fixation 25 thus be waived.
  • the fixing element 14 can be introduced into the position fixing 25 more quickly; also can
  • Fixing element 14 can be moved faster from one position fixation to another position fixation corresponding to the position fixation 25.
  • FIG. 20 shows a schematic cross-sectional view of a further fixing element 14 which can be arranged in a position fixing 25
  • Fixing element 14 has a clamping section 20 on one of its side surfaces (on the left in the illustration according to FIG. 20).
  • Fixing element 14 bistable can be brought into a clamping or a non-clamping position.
  • the base part 12 has a
  • the position fixation 25 is preferably again designed as a recess.
  • the fixing element 14 can be tilted at the bearing point 48, according to FIG.
  • Fig. 20 tiltable to the left or right, stored. It has two fixing magnets 18, which are arranged on two opposite sides of the bearing point 48 in and / or on the fixing element 14.
  • the two fixing magnets 18 form a fixing section 16.
  • the fixing magnet 18 belonging to this side is - again at least
  • the laterally arranged clamping section 20 can thus, depending on the tilted position (according to the illustration in FIG. 20), be in an upper or a lower one

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de porte-pièce (10) comprenant une partie de base (12) et au moins un élément de fixation (14) pour fixer une pièce (22) sur la partie de base (12), l'élément de fixation (14) présentant une portion de fixation (16) avec laquelle l'élément de fixation (14) peut être fixé magnétiquement sur la partie de base (12). L'invention est caractérisée en ce que l'élément de fixation (14) présente une portion de serrage (20) différente de la portion de fixation (16) et une portion de positionnement (21) différente de la portion de fixation (16), la portion de serrage (20) et/ou la portion de positionnement (21) étant prévues pour fixer la pièce (22) sur la partie de base (12) au moins dans un plan, en particulier pour la fixer solidement sur la partie de base (12). En outre l'invention concerne un élément de fixation (14) pour un tel système de porte-pièce (10). Le système de porte-pièce (10) selon l'invention ainsi que l'élément de fixation (14) selon l'invention permettent une fixation sûre de pièces (22) et peuvent être utilisés de manière polyvalente.
EP20740583.8A 2019-07-12 2020-07-10 Système de porte-pièce et élément de fixation pour un système de porte-pièce Withdrawn EP3996875A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019118953.5A DE102019118953A1 (de) 2019-07-12 2019-07-12 Werkstückträgersystem und Fixierelement für ein Werkstückträgersystem
PCT/EP2020/069635 WO2021009069A1 (fr) 2019-07-12 2020-07-10 Système de porte-pièce et élément de fixation pour un système de porte-pièce

Publications (1)

Publication Number Publication Date
EP3996875A1 true EP3996875A1 (fr) 2022-05-18

Family

ID=71620429

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20740583.8A Withdrawn EP3996875A1 (fr) 2019-07-12 2020-07-10 Système de porte-pièce et élément de fixation pour un système de porte-pièce

Country Status (3)

Country Link
EP (1) EP3996875A1 (fr)
DE (1) DE102019118953A1 (fr)
WO (1) WO2021009069A1 (fr)

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US12403568B2 (en) 2024-01-30 2025-09-02 Ronald Eugene Speer Work piece holder assembly and method

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WO2021009069A1 (fr) 2021-01-21

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