• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Device (100), fixing system and method, controllable by means of a mechanical arm (200), where the device (100) comprises at least two folding levers (110) joined together by means of a shaft (130) and by at least one element elastic (140). The folding levers are configured to rotate with respect to the axis (130) between a first position and a second position when pressed by the mechanical arm (200). In the first position, the elastic element (140) is on a first side of the shaft (130), so that the tension of said elastic element (140) presses the folding levers (110) against the mechanical arm (200). In the second position, the elastic element (140) is on a second side of the shaft (130), so that the tension of said elastic element (140) keeps the folding levers (110) in said second position, without contacting the mechanical arm (200), and holding means fix the device (100) to a body (300). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2750880A1
    申请号:ES201830931
    申请日:2018-09-27
    公开日:2020-03-27
    发明作者:De Gabriel Jesús Manuel Gómez；Ramírez Antonio José Muñoz；Palacios Juan Manuel Gandarias；Martín Francisco Pastor；Gómez Joaquín Ballesteros；Cerezo Alfonso José García
    申请人:Universidad de Malaga；
    IPC主号:
    专利说明:

    [0001]
    [0002] Controllable fixing device, system and method using a mechanical arm
    [0003]
    [0004] Object of the invention
    [0005]
    [0006] The present invention relates to the field of mechanics, and more specifically to a device, system and method of fixation controllable by the pressure exerted by a mechanical arm.
    [0007]
    [0008] Background of the Invention
    [0009]
    [0010] There are numerous applications where it is necessary to place a device or a payload instead of difficult manual access. This is the case, for example, of search and rescue operations for victims of accidents or landslides, in which it is necessary to install or place sensing systems that verify their condition and emitters capable of transmitting a location signal for their rescue. There are also many scenarios in which the payload must be fixed to inert bodies remotely, either because the body is located in a dangerous environment (high temperatures, radioactivity, danger of electrocution ...) or inaccessible (high altitudes). , underwater environments, access through small diameter ducts). Therefore, note that, throughout this text, the term "body" refers to any volumetric object, not limited to the meaning of "human body".
    [0011]
    [0012] To address this problem, both mechanical arms and unmanned vehicles have been developed. Unmanned vehicles, which include both aerial drones and vehicles adapted to land and water environments, allow you to control your position and movement remotely, as well as reduce the size of the vehicle, facilitating your access to places that are difficult to reach manually. The recent boom in these technologies has also made it possible to increase the stability and autonomy of this type of vehicle, facilitating their application to the problems described.
    [0013]
    [0014] For example, US2015 / 0021429 A1 features a remotely controlled aerial drone, based on a four-rotor structure linked by a central structure with four arms that fold inward, protecting the rotors. The central structure also includes a bridge capable of housing and transporting cameras, microphones, sensors, etc. In a second example, ES 2614994 A1 presents an aerial drone with hover capability, incorporating a contact device with a plurality of telescopic bodies and segments whose combination provides three degrees of freedom of positioning.
    [0015]
    [0016] For their part, the mechanical arms typically comprise a plurality of segments and joints capable of orienting and / or positioning an object according to the user's wishes. Depending on their particular implementation, the mechanical arms can be controlled both locally and remotely, as well as being controlled manually or automatically, following patterns established by previous instructions or by artificial intelligence. Furthermore, the mechanical arms can be integrated into unmanned vehicles, thus combining the access capabilities of the vehicles with the positioning and operating precision of the mechanical arms.
    [0017]
    [0018] However, when it is desired to use mechanical arms and / or unmanned vehicles to attach a device or payload to a body located in a location that is difficult to access, the additional technological challenge arises of operating said device during the process of attachment to the body and subsequent release of the device to remove the mechanical arm and / or unmanned vehicle.
    [0019]
    [0020] For example, US 2017/0328391 A1 presents an automated delivery system for packages transported by drone, but which requires a specific receiving device, thus limiting its application to scenarios in which said delivery was previously planned. For its part, US 2017/0355460 A presents a payload deposition system from unmanned aerial vehicles using a remotely controlled cable. However, this approach is only applicable to those cases where it can be accessed vertically, requires active control of the load lowering and release process, and does not solve the problem of fixing the load to the target body.
    [0021]
    [0022] US 2016/0023761 A1 presents a method of installing objects using aerial drones adapted to the case of installation on electrical catenaries. As the object to be installed is directly connected to the drone, and does not require pre-installed receivers, the application limitations of the previous examples are solved. However, it still presents the problem that the installation process is complex and with a considerable time duration, which requires, on the one hand, actuators capable of carrying out sequential actions for the installation, and on the other hand, imposes notable restrictions on the drone stability, which must be kept in the same position, without appreciable deviations during the duration of the process.
    [0023]
    [0024] Finally, US 2009/0050750 presents an aerial drone that incorporates a mechanical arm that allows a precise load to be transported and deposited. The device may also incorporate additional tools to assist in placing the load, or perform remotely controlled operations on the load. Although this solution provides greater versatility in terms of control and operation on the load, it still has the previously mentioned limitations in terms of requiring complex operations to fix the load to the target body, as well as high stability throughout the process.
    [0025]
    [0026] Therefore, there is a need in the state of the art for a system for positioning and fixing devices by means of a mechanical arm, which simplifies the actuators necessary to perform said fixing, and which reduces the level and duration of stability imposed on the mechanical arm during fixing operation.
    [0027]
    [0028] Description of the Invention
    [0029]
    [0030] The present invention solves the problems described above by means of a device, positionable by means of a mechanical arm, capable of fixing to a target body quickly and easily, without the intervention of actuators or control electronics during said fixing. The present invention also presents a method and system for fixing said device, both reducing the time required for said fixing, as well as the stability that the mechanical arm needs to maintain during the process.
    [0031]
    [0032] In a first aspect of the invention, a fixing device is presented, adapted to be positioned by means of a mechanical arm on a target body, and to be fixed to said body by means of holding means when the device and the body come into contact. The device comprises at least two folding levers joined together by an axis and by at least one elastic element (for example, a spring or an elastic rubber). Each lever comprises at least one rigid mechanical element that extends longitudinally from the axis, so that the levers form an angle whose vertex is the axis of union between the two.
    [0033]
    [0034] The elastic element is connected to each lever at a distance from said axis, so that, in the absence of external obstacles or pressures, the tension exerted by the elastic element tends to reduce the angle formed by the levers. However, the flip levers are configured to rotate about the axis, so that if external pressure increases the angle formed by the flip levers above 180 °, the tension exerted by the elastic element tends to increase even more. angle, bringing the levers closer to each other, but on the side opposite the axis.
    [0035]
    [0036] Considering the application of the device in a scenario in which a mechanical arm places said device on an objective body to which it is desired to fix said device, two positions are thus defined:
    [0037]
    [0038] • A first position, in which the elastic element is on a first side of the axis that joins the two levers (that is, on said first side, the angle formed by the two levers is less than 180 °). In this first position, the device is configured so that the tension exerted by the elastic element presses the levers against the mechanical arm, so that the device moves in solidarity with said mechanical arm. Preferably, the folding levers comprise protuberances at their ends furthest from the axis that joins them, extending in the direction of the mechanical arm. Said protuberances improve the fixation of the device to said arm before its placement.
    [0039]
    [0040] • A second position, in which the elastic element is on a second side of the axis that joins the two levers (that is, on said second side, the angle formed by the two levers is greater than 180 °). In this second position, the device is configured so that the tension exerted by the elastic element keeps the levers away from the mechanical arm, allowing their release.
    [0041]
    [0042] That is, in the absence of external pressures, both the first position and the second position are stable: if the device is in the first position, the tension of the elastic element maintains the levers in said first position; while, if the device is in the second position, the tension of the elastic element maintains the levers in said second position. However, when the mechanical arm places the device on the target body and exerts pressure between them (that is, the movement of the arm pushes the device against the target body, and consequently pushes one end of said arm against the levers), the Levers open and move from first to second position, thereby releasing the device and attaching it to the target body.
    [0043] Regarding the way of fixing the device to the target body, two preferred ways of implementing the fastening means are presented:
    [0044]
    [0045] • By means of a base with an adhesive surface, which remains fixed regardless of the movements of the levers, and which adheres directly to the target body when in contact with it. Said adhesive surface can be implemented by means of adhesive means selected from among magnetic means, velcro and glue.
    [0046]
    [0047] • By means of at least two clamps attached to the folding levers, so that when the levers are opened, the clamps close on the target body. Each gripper therefore forms an angle less than 180 ° with the lever to which it is attached, in the plane defined by the rotation of said levers.
    [0048]
    [0049] Preferably, the device further comprises a turning mechanism that controls the angle between the device and the target body during the approach between the two. In a first example, said turning mechanism can simply be pivoted with respect to the mentioned axis, which allows the device to be accommodated to the contact surface. In a second example, the turning mechanism may incorporate joints or additional mechanical elements, such as a cardan-type joint, to allow turning perpendicular to said axis.
    [0050]
    [0051] Although the described device can be used to be fixed to any type of objective body, for any type of purpose, one of its main applications is the temporary placement of the device in victims of accidents with difficult access, in order to provide positioning information and the state of said victim to the rescue team. Therefore, in this application, the device comprises at least one transmitter (for example, a radio frequency transmitter, although other communication technologies may be implemented in particular embodiments) and / or at least one sensor configured to measure at least one characteristic of said body or the environment of said body (for example, a temperature sensor or a heart rate meter). In this case, it is recommended to use the clamp-based holding means to fix the device to an extremity of the victim.
    [0052]
    [0053] Note, however, that the incorporation of sensors and transmitters is not exclusive to applications with human victims, being able to incorporate sensors to measure characteristics of inert bodies or their environment, such as, for example, thermometers, anemometers, or any other type of sensing element known in the state of the art.
    [0054]
    [0055] The use of the device in applications with humans has the advantage of allowing continuous triage, unlike solutions based on conventional triage, in which a single initial assessment of the victim's condition is made for classification, but not subsequent changes in status are considered. Continued triage could be done automatically using artificial intelligence, or by an operator. However, note that the invention does not directly provide any diagnosis, planning, or treatment of the human body, nor does it require operation by healthcare personnel. On the contrary, the invention is limited to the tool that allows the described device to be physically arranged. Any subsequent medical use given to the results of the present invention is therefore outside the scope of the invention as claimed.
    [0056]
    [0057] Note that, in all cases, the use of electronic signals to indicate the moment in which the device must be adhered to the body, and the device must be released from the mechanical arm, is avoided, both processes being carried out automatically as an effect of pressure of the device against the body. This not only facilitates the control of the device placement and fixing process, but also reduces the time required by said process, and the stability that the mechanical arm must maintain during its execution.
    [0058]
    [0059] In a second aspect of the invention, a fixing system is presented for the placement of the device of the first aspect of the invention, in any of its particular embodiments and / or preferred options. The system comprises two main elements:
    [0060]
    [0061] • Said device of the first aspect of the invention, in any of its particular embodiments and / or preferred options. That is, a fixing device that comprises at least one clamping means, and at least two folding levers joined together by an axis and by an elastic element.
    [0062]
    [0063] • A mechanical arm adapted to position said fixing device, thus allowing its placement on a target body. The mechanical arm activates also the process of fixing and releasing the device by exerting pressure on the folding levers, without requiring any actuator beyond this pressure.
    [0064]
    [0065] Depending on the particular embodiment of the system, the mechanical arm can be controlled manually by an operator, using any type of local control means known in the state of the art. Note that the term "local control" refers to any means of control, analog or digital, in which the user is in the same location as the system; as opposed to the term "remote control", in which a data transfer is made from the user to the system, both being in different locations.
    [0066]
    [0067] Alternatively, in other preferred embodiments of the system, the mechanical arm is integrated into an unmanned vehicle with remote control means that allows the user to position the fixing device remotely. While the unmanned vehicle may preferably be an aerial drone, there may be particular embodiments of the invention in which said unmanned vehicle is, for example, a land vehicle or a water vehicle.
    [0068]
    [0069] Note that, depending on the particular embodiment of the system, the mechanical arm can be both an articulated arm, with its own device positioning capabilities; as a simple fixed support that simply transmits to the device the movements of the unmanned vehicle or the operator.
    [0070]
    [0071] Finally, in a third aspect of the invention, a fixing method is presented, comprising at least the following steps:
    [0072]
    [0073] i. Provide a fixing device, in accordance with any of its particular embodiments and / or preferred options, in contact with a target body. Said arrangement is carried out by means of a mechanical arm, the device being initially fixed to one end of said mechanical arm so that the movements of the device are integral with those of said end. During this step, the device is therefore in the first previously described position, in which the tension of the elastic element presses the folding levers against the mechanical arm.
    [0074]
    [0075] ii. Using the mechanical arm, press the device against the target body. How Consequently, the end of the mechanical arm to which the device is attached begins to press against the levers, so that the levers rotate about the axis and the angle between them progressively increases. In the case of using a base with an adhesive surface, the device is fixed to the target body in this step.
    [0076]
    [0077] iii. As a consequence of the previous step, lower the levers of the device until reaching the second position in which the tension of the elastic element prevents them from returning to the first position, and therefore releases the device from the mechanical arm. In the case of using tweezers as a holding means, the device is fixed to the target body in this step. Note that to lower the levers it is not necessary for the mechanical arm to fully move them to the second position. Once the 180 ° angle between the two levers has been exceeded, the tension of the elastic element will pull said levers until the end of the journey to the second position. Note also that the particular angles formed by the levers in the first position and in the second position can vary in each particular embodiment, depending on the particular morphologies of the device and the mechanical arm used.
    [0078]
    [0079] iv. Finally, once the device is released from the mechanical arm and attached to the target body, the mechanical arm can be removed.
    [0080]
    [0081] The device, system and method of the invention therefore allow the placement and fixing of devices by means of a mechanical arm in a simple, fast and efficient way; no need for actuators to control the device fixing and release process; and minimizing the stability requirements imposed on the mechanical arm to carry out said process. These and other advantages of the invention will become apparent in light of the detailed description thereof.
    [0082]
    [0083] Description of the figures
    [0084]
    [0085] In order to help a better understanding of the features of the invention in accordance with a preferred example of practical embodiment thereof, and to complement this description, the following figures, which are illustrative and non-limiting:
    [0086] Figure 1 shows, in a schematic perspective view, a first preferred embodiment of the device and system of the invention implemented in which the fastening means comprise a base with an adhesive surface.
    [0087]
    [0088] Figure 2 illustrates, in a series of schematic perspective views, a first preferred embodiment of the method of the invention, for the case in which the fastening means comprise said base with an adhesive surface.
    [0089]
    [0090] Figure 3 shows, in a schematic perspective view, a second preferred embodiment of the device and system of the invention implemented in which the holding means comprise clamps.
    [0091]
    [0092] Figure 4 illustrates, in a series of schematic perspective views, a second preferred embodiment of the method of the invention, for the case in which the holding means comprise said clamps.
    [0093]
    [0094] Figure 5 exemplifies a third preferred embodiment of the system of the invention, in which the mechanical arm is controlled through an aerial drone.
    [0095]
    [0096] PREFERRED EMBODIMENT OF THE INVENTION
    [0097]
    [0098] In this text, the term "comprises" and its derivations (such as "understanding", etc.) should not be understood in an exclusive sense, that is, these terms should not be interpreted as excluding the possibility that what is described and defined can include more elements, stages, etc.
    [0099]
    [0100] Figure 1 presents a first preferred embodiment of the device (100) and system of the invention, in which the fixation of the device (100) to a target body (300) is carried out by means of a base (150) with an adhesive surface (160 ). Said adhesive surface 160 can be made, for example, by glues, velcro, or magnetic elements. The figure also shows a preferred embodiment of a mechanical arm (200) that positions said device (100).
    [0101]
    [0102] The device (100) comprises in this case four folding levers (110), facing each other two by two, and all of them being joined by a shaft (130) that passes through one of its ends, and by an elastic element (140), in this case implemented using a spring. The pier it is arranged parallel to the adhesive surface (160) and to the body surface (300) during the placement of the device (100). Note that the number and morphology of the flip levers can change between particular embodiments of the invention.
    [0103]
    [0104] Each folding lever (110) comprises at its end opposite the axis (130) a protuberance (120) in the direction of the space in which the mechanical arm (200) is arranged, for example, giving rise to a hook shape that guarantees the fixation of the device (100) to the mechanical arm (200) until its subsequent release.
    [0105]
    [0106] The mechanical arm (200), at the end of the mentioned segment (210), comprises a rectangular support (220), and in the particular embodiment shown, also perpendicular to said segment (210). During its positioning, the tension of the elastic element (140) presses the folding levers (110) of the device (100) against said support (220), therefore preventing the device (100) from separating from the mechanical arm (200). For clarity, we will call this first position in which the folding levers (110) press the support (220) as the closed position.
    [0107]
    [0108] In the regions of contact between the support (220) and the folding levers (110), the support (220) comprises rounded projections (230) that extend in the direction of the segment (210). Said projections (230) allow, when pressing the support (220) against the folding levers (110), the angle formed by said folding levers (110) exceeds 180 °, and therefore the tension of the elastic element (140) keep the folding levers (110) in a second position that we will call the open position. In said open position, the device (100) is released from the mechanical arm (200), which can move freely while the device (100) remains attached to the body (300).
    [0109]
    [0110] Figure 2 illustrates the steps of a first preferred embodiment of the method of the invention, for fixing the described first preferred embodiment of the device of the invention, implemented by a base (150) with an adhesive surface (160).
    [0111] The method begins by bringing (401) the device (100) closer to the region where the target body (300) is located on which you want to fix the device (100). During this approach, the device (100) is in the closed position, that is, the tension of the elastic element (140) pushes the folding levers (110) against the support (220) of the mechanical arm (200).
    [0112]
    [0113] Next, the mechanical arm (200) arranges (402) the device in contact with the body (300), and begins to press (403) said device. As a consequence, the adhesive surface (160) is fixed to the body (300). Additionally, the folding levers (110) rotate with respect to the axis (130) that joins them, and fold (404) until reaching the open position in which there is no longer contact with the mechanical arm, which is maintained now thanks to the tension of the elastic element (140). Once released, the mechanical arm (200) withdraws (405), the device (100) being fixed to the body (300).
    [0114]
    [0115] On the other hand, since when the adhesive surface (160) is fixed to the surface (300), the folding levers (110) move to the second position, it could happen that they collide with said surface (300) by the action of the elastic element ( 140), causing again the separation or a defective fixing between both elements. To avoid this, according to a preferred embodiment the base (150) has a height such that the adhesive surface (160) is sufficiently separated from the axis (130) so that the folding levers (110) can go to the second position without touching the surface. (300).
    [0116]
    [0117] Figure 3 presents a second preferred embodiment of the device (100) and system of the invention, in which the device (100) is fixed to the objective body (300) by means of clamps (170) integral with the folding levers (110). ). Note that the use of clamps (170) as clamping means does not modify the implementation of the mechanical arm (200), nor the operation of the folding levers (110) and the elastic element (140). Simply, instead of making an adhesion between surfaces, as was the case with the first mechanical embodiment, in the open position of the folding levers (110) the clamps (170) surround the body (300), making a mechanical fixation to it . In the case of devices for the rescue of victims in places of difficult access, this implementation allows the device (100), once installed by means of the mechanical arm (200), to act as a bracelet in which biometric sensors and transmitters are integrated. radio frequency for sending data or location applications.
    [0118]
    [0119] Figure 4 illustrates the steps of a second preferred embodiment of the method of the invention, for fixing the described second preferred embodiment of the device of the invention, implemented by clamps (170). The steps are similar to the first preferred embodiment of the method: the mechanical arm (200) brings (401) the device (100) in a closed position to the body (300) and arranges it (402) in contact with said body (300) . Then, the mechanical arm (200) presses (403) said device, lowering (404) the folding levers, and allowing the mechanical arm (200) to withdraw (405). Simply, in this second preferred embodiment, instead of fixing the device (100) to the body (300) by adhesive means during the step of pressing (403) said device, the fixing is performed mechanically when the clamps (170) reach their final position when the folding levers are folded down (404).
    [0120]
    [0121] Finally, Figure 5 presents an example of application in which the mechanical arm (200) used to place the fixing device (100) is integrated into a remotely controlled aerial drone (500). However, note that other preferred embodiments of the system of the invention may integrate the mechanical arm (200) into unmanned aerial or ground vehicles, as well as rely on mechanical arms (200) manually operated locally by an operator. Likewise, the morphology and operation of the mechanical arm (200) can be implemented according to any technology known in the state of the art, since it is only required that the support (220) puts pressure on the device (100), without the need for other controlled operations or information exchange.
    [0122]
    [0123] In view of this description and figures, the person skilled in the art will be able to understand that the invention has been described according to some preferred embodiments thereof, but that multiple variations can be introduced in said preferred embodiments, without leaving the object of the invention such and how it has been claimed.
    权利要求:
    Claims (15)
    [1]
    1. Fixing device (100), controllable by means of a mechanical arm (200), comprising fastening means adapted to be fixed to a body (300) when the device (100) comes into contact with said body (300), characterized by that the device (100) comprises at least two folding levers (110) joined together by a shaft (130) and by at least one elastic element (140), said folding levers (110) being configured to rotate with respect to the shaft (130 ) between a first position and a second position when pressed by the mechanical arm (200) when the device (100) comes into contact with the body (300), where:
    - in the first position, the elastic element (140) is located on a first side of the shaft (130), so that the tension of the elastic element (140) presses the folding levers (110) against the mechanical arm (200); Y
    - in the second position, the elastic element (140) is on a second side of the shaft (130), so that the tension of the elastic element (140) keeps the folding levers (110) in said second position, without contact with the mechanical arm (200).
    [2]
    2. Device (100) according to claim 1 characterized in that the fastening means comprise a base (150) with an adhesive surface (160).
    [3]
    3. Device (100) according to claim 2 characterized in that the adhesive surface (160) of the base (150) comprises adhesive means selected from among magnetic means, velcro and glue.
    [4]
    Device (100) according to claim 1, characterized in that the clamping means comprise at least two clamps (170) integral with the at least two folding levers (110).
    [5]
    Device (100) according to any of the preceding claims, characterized in that the at least one elastic element (140) is selected from a spring and an elastic rubber.
    [6]
    Device (100) according to any of the preceding claims, characterized in that the at least two folding levers (110) comprise at least two protuberances (120) adapted to retain the mechanical arm (200) when said at least two folding levers (110) are in the first position.
    [7]
    Device (100) according to any one of the preceding claims, characterized in that it further comprises a turning mechanism configured to control a relative angle between the device (100) and the body (300).
    [8]
    Device (100) according to any of the preceding claims, characterized in that it further comprises at least one transmitter.
    [9]
    9. Device (100) according to claim 8 characterized in that the at least one transmitter is a radio frequency transmitter.
    [10]
    Device (100) according to any of the preceding claims, characterized in that it further comprises at least one sensor.
    [11]
    11. Fixing system, which comprises fastening means adapted to be fixed to a body (300) when it comes into contact with said body (300), characterized in that it further comprises:
    - a fixing device (100) according to any of claims 1 to 10; Y
    - a mechanical arm (200) adapted to control a position of the fixing device (100).
    [12]
    12. System according to claim 11, characterized in that it comprises local control means for manually operating said mechanical arm (200).
    [13]
    13. System according to claim 11 characterized in that the mechanical arm (200) is connected to an unmanned vehicle comprising remote control means to operate said mechanical arm (200).
    [14]
    14. System according to claim 13 characterized in that the unmanned vehicle is an aerial drone (500).
    [15]
    15. Fixing method, which comprises fixing a fastening means to a body (300) upon contacting said body (300), characterized in that it further comprises: - arranging (402) in contact with the body (300), by means of a mechanical arm (200), a fixing device (100) according to any of claims 1 to 10, at least two folding levers (110) of the device (100) in a first position in which the tension of an elastic element (140) presses the folding levers (110) against the mechanical arm (200);
    - pressing (403), by means of said mechanical arm (200), the device (100) against the body (300);
    - fold down (404) the at least two folding levers (110) of the device (100), by rotation with respect to an axis (130) that joins said folding levers (110), until reaching a second position also maintained by the tension of the element elastic (140) in which there is no longer contact between the folding levers (110) and the mechanical arm (200); Y
    - remove (405) the mechanical arm (200).
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    ES2750880B2|2021-05-11|
    WO2020065117A1|2020-04-02|
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    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201830931A|ES2750880B2|2018-09-27|2018-09-27|Fixing device, system and method controllable by means of a mechanical arm|ES201830931A| ES2750880B2|2018-09-27|2018-09-27|Fixing device, system and method controllable by means of a mechanical arm|
    PCT/ES2019/070641| WO2020065117A1|2018-09-27|2019-09-26|Device, system and method for controllable fastening using a mechanical arm|
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