CS246575B1 - Clamping and ca rying device of lifting mechanism - Google Patents

Clamping and ca rying device of lifting mechanism Download PDF

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Publication number
CS246575B1
CS246575B1 CS83691A CS69183A CS246575B1 CS 246575 B1 CS246575 B1 CS 246575B1 CS 83691 A CS83691 A CS 83691A CS 69183 A CS69183 A CS 69183A CS 246575 B1 CS246575 B1 CS 246575B1
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CS
Czechoslovakia
Prior art keywords
load
lifting mechanism
gripper
displacement
force
Prior art date
Application number
CS83691A
Other languages
English (en)
Other versions
CS69183A1 (en
Inventor
Ulrich Ellger
Hartmut Schirrmann
Joachim Dirksen
Original Assignee
Ulrich Ellger
Hartmut Schirrmann
Joachim Dirksen
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 Ulrich Ellger, Hartmut Schirrmann, Joachim Dirksen filed Critical Ulrich Ellger
Publication of CS69183A1 publication Critical patent/CS69183A1/cs
Publication of CS246575B1 publication Critical patent/CS246575B1/cs

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081Touching devices, e.g. pressure-sensitive
    • B25J13/082Grasping-force detectors
    • B25J13/083Grasping-force detectors fitted with slippage detectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/445Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
    • B66C1/447Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated by hydraulic or pneumatic motors

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Securing Of Glass Panes Or The Like (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)

Description

-1 HA3BAHHE Η30ΒΡΕΤΕΗΗΛ rpyaoHecymee h rpyaosaxBaTHoe npHcnocoSjíeHHe OSjíaCTb ΠρΗΜβΗβΗΗΗ Η3θ6ρβΤβΗΗΗ Η3θ6ρβτ.βΗΗβ othochtcm κ rpy3OHecymeMy κ rpyaoaaxBaTHOMy πρΗβποοοβηβΗΗΐοb coueTaHHH c ποβϊ,θΜΗΗΜ MexaHH3MOM h Kacaerca, b mbcthocth, saxBaTa h nepeHoca Sohiuhxch cnpeccoBKH rpy3OB.
XapaKTepucTHKa HSBecTHMx TexHHnecKHx pememiň B DE-PS 942 349 onncwsaeTCH ποβΒβπιβΗΗωή κ noflbeMHOMy MexaHH3My τρβήφερ,aaxeaTbi κοτοροΓο aaxBáTbiBaioT rpys nocpeflcTBOM rnflpaBjíHMecKoro npecca. Mes- , fly noflteMHMM MexaHHSMOM h rpeňfcepoM HMeeTCH rHflpaBjranecKaH napa, CBH3an-
Haa c npeccoM τηκημ oOpasoM, hto HaxoflHmancH no,q flaBJíeHHeM ot coScTBeHHoroBeca ycTpoňCTBa a Beca rpysa b οηπηηαρθ xHflxocTb hphboaht saxBaTU b flBHxe-Hne uepes rHflpaBJíHqecKHň npecc.
HeflocTaTKOM ΗΒΠΗβτοΗ το, ητο φβκτΗΗβοκκβ ycHJiHH npHxaTHH h cpenjieHHH c rpý30M He noflflawTCH KOHTpojno h κ TOMy xe flonojiHHTejibHO noBhiniiaeTCH hshoc h He-HaflexnocTb rpeňýepa b peaýnbTaTe ΠρΗΜβΗβΗΗΗ rHflpaBjnmecKHX ycrpoňcTB pflaynpaBJíeHHH ycHjiHHMH κ rpyay.
Uejib Η3θ6ρετεΗΗΗ
Uenbio HacToamero ΗβοβρβτβΗΗΗ ABnaeTcn o6ecnenHTb 3axBaTbiBaHne rpy3OB yHH-BepcajibHMM rpysosáxBaTHbíM h rpyaoHécynpiM npHcnocoóneHHeM b 33bhchmocth otHX COČCTBeHHOň Maccbl H HX BHyTpeHHeit yCTOňwHBOCTH.
•H3JioxeHne cyinHocTH H3o6peTeHHH 246575 -2- 3aflaneň H3o6peTeHHH ηβπηθτοη co3flaHne rpy3O3axBaTHoro h rpy3OHecymero npn~cnocoGneHHH, y κοτορογο fleňcTByromee Ha rpya ycHJine πρκκβτΗΗ mex 3axeaTaMOJKeT aBTOMHTHHECKH ynpaBJIHTbCH B 33BHCHM0CTH OT HX npeflejia npOHHOCTH npHCJK3THH. B cooTBeTCTBHH c H3o6peTeHneM Meatfly noflteMHbíM MexaHH3MOM h rpy3O3axBaTHHMh rpy3OHecyinHM npncnocoOjieHHeM pacnonosceH oahh flHHaMOMeTp ajih onpefleneHHHcoficTBeHHoň Maccbi rpyaa, flpyroň αηηημομθτρ απη onpefleneHHH HenocpeflCTBeHHOB03fleňcTByiomero Ha rpy3 ycmiHH npnxaTHH η oflOMeTp Ha rpy3O3axBaTHOM opraHenex απη onpefleneHHH BepTHxanbHoro npocxanb3biBaHHH pacnonoacenbi Meatfly rpy-3OM H rpy303aXBaTHbIM OpraHOM, KOTOpbie CBH33HbI C H3BeČTHbIMH 3JieMeHT3MH flJIHynpaBJíeHHH ycHJiHeM npHacaTHH.
OflOMeTp coctoht H3 pacnoJioSceHHoro na rpy3O3aXBaTHOM opraHe mex BepTHxajib-Horo najibfla, CBH3aHHoro c BepTHxajibHoň BTynxoň nepea φρΗχιχκοΗΗοε cflenneHHeTax, hto b cjiynae npeBbirneHHH rpy3OM chjim TpeHHH noflaeTCH CHrHan o BepTH·*xajibHOM flBHHceHHH najibfla xax o BenHHHHe nepeMemeHHH.
Bjiaroflapn Η3θ6ρβτεΗΗκ> onpeflejineTCH HeoBxoflHMoe ajih jiwBoro rpyaa ycHJiHenpHMaTHH c yneTOM TpeSoBaHHH τθχηηχη 6e3onac«ocTH. IIpHMep ocymecTBJíeHHH Η3θ6ρβτβΗΗΗ H3o6peTeHHe ποηοηηθτοη 6onee ποαρο6ηο Ha npHMepe ocymecTBJíeHHH. Ha πραπο-aceHHbix nepTeacax noxa3aHo:
Φηγ.1: bhh rpy303axBaTHoro h rpy3OHecymero npHcnocoójieHHH Φηγ.2: pa3pe3 no oflOMeTpy
CornacHo Φηγ.1 Memfly ποαϊθμημμ MexaHH3MOM 1 h rpy3O3axBaTHbiM H rpyBoHecy-njeM npncnoco6,neHneM 2 pacnojiomeH flHHaMOMeTp, Hanp. αηηημομθτρ 3, xoTopbiňonpeflenHeT Maccy noflHHMaeMoro rpy3a 4. IÍ3MepHeMaH BenHHHHa noflaeTCH qepeaH3MepHTejibHbiň ycHJiHTenb 5 x ynpaBJíHKHneMy ycTpoňcTBy 6, HanpHMep, x mhxpo-KOMHbioTepy h x HcnojiHHTejibHOMy ycTpoňcTBy 7, HanpHMep,x rHflpaBnHnecxoMycepBoxnanaHy ajih ynpaBJíeHHH rHflpaBJíHnecxHM flaBjíeHHeM Ha rHflpoflHJiHHflpH 8rpy3O3axBaTHoro h rpy3OHecymero npHcnocoójieHHH 2. flonojiHHTeJibHbm flHHaMO-MeTp, HanpHMep, τηγομθρ 9 pacnonoaceH b 3OHe rHflpoflHJiHHflpa 8. BeJiHHHHa,H3MepHeMan 3thm flHHaMOMeTpoM 9 noflaeTCH nepea H3MepMTejibHbift yCHJiHTenb 5Taxate x ynpaBjíHwmeMy ycTpoňcTBy 6,
CornacHo Φηγ.1 h 2 Ha mexax 3axBaTa 10 rpy3OHecymero h rpy3O3axBaTHoronpHcnoco6neHHH 2 b 30He rpy3O3axBaTHoro opraHa 11 pacnonoateH OflOMeTp. Fpy-303axBaTHbiň opraH 11 CBH3aH c rpy3OM 4 nepe3 Φρηχαηοηηοθ ciieiuieHHe h HMeeJrBepTHxajihHbiň najiefl 12, xoTopbiň bxoaht b noflBHacHoe 3afleiuieHHe h cooTBeTCT—Byiomeň BTyjixoň 13 η MoaceT CMemaTbCH b oceeoM HanpaBJíeHHH. B peayjibTaTe βτογο rpy3O3axBaTHbiň oprán 11 HBJíneTCH orpaHHneHO ποβοροτημμh MoaceT conpnraTbCH c φορΜοή rpy3a 4. Ilajien 12 h BTyjixa 13 cBH3aHM Meatflyco6oň Taxace Φρηχαηοηημμ cneruieHHeM. Πρη stom χο3φφΗΐΐΗβΗτ TpeHHH flonaceH6brrb MeHbnie, neM Bce βο3μο»ημθ χο3φφΗΐριεΗτω TpeHHH, χοτορΜβ MoryT bo3hhk-íHyTb HenocpeflCTBeHHO Meamy rpy303axBaTHbiM opraHOM 11 h rpyaoM 4. Πρκ He-Αοοτητοηηομ ycHjiHH npHacaTHH mex 3axBaTa 10 x rpy3y 4 npH noftteMe rpyaa 4 246575 -3-
Mexay nanbueM 12 h BTynxoň 13 BoaHHxaeT BepTHxajibHOe npocxajibabiBaHHe,reHepnpyrcinee b MHxpoBbixjiioHaTejie 14 cHrHajj, KOTopwfl nepe^aeTca κ ynpaBJíaio-meMy ycTpoftcTBy 6 hjih k HcnonHHTejibHOMy ycTpoňcTBy 7 ftna HenpepuBHoro no-BbnneHHH ycmiHH npHxaTHH. Mepes npyxHHy 15 najieu 12 npH paarpyaxe eosepa-maeTca οβρβτΗο' B cepe HcxoflHoe nojioxceHHe. ΠρΜΗΐριπ fleňCTBHa: Πρκ noflbeMe rpysa 4. nepea cnrHaji OflOMeTpa, o6pa0aTbiBaeMbift b ynpaBJíaioqeMycTpoňCTBe η ηοποαηητθπβηομ oprané 6,7', aBTOMannecxH noBbnnaeTca AaBJíeHHenpiocaTHfl mex 3axeaTa 10 κ rpyay 4 nocpencTBOM γηαροηηπηηαροβ 8 no τβχ nopřnoxa BepTHxaJibHoe npocxajibSbiBaHHe He 6yffeT paBHHTbca Hyjno H-ne SypeT ro-CTHmýTo HeoBxoflHMoe φρΗκιριοΗΗοβ cyermeHne Mexny ntexaMH saxsaTa 10 h rpy-3OM 4. 3βτβΜ uepea ΗΗΗβκοΜβτρ 3 Macca rpyea nepenaeTca xax nsMepneMaa BejiHUHHab ynpaBJíaiomee ycTpoňcTBO 6 απη cpaBHeHMB saflaeaeMbtx 3HaqeHnň c φβχτΗΊβοχΚ-mh h onpeflejiaeTca HeoSxoflHMoe c tohxh apeHna τθχηηκβ 6e3onacHocrn ycmnienpHxaTHfl. 3τβ BejiHHHHa noflaeTCH b βηαθ 3HaqenHH flaBJíeHHH x HcnonHHTejihHOMyycTpoftcTBy 7 απη cpaSaTbiBaHHH noflanH flaBJíeHHH Ha rHflpouHJiHHflpbi 8.flononHHTenbHbiň ΑΗΗΗΜΟΜβτρ 9 y rHAPouHJiHHflpa 8 reHepnpyeT HsMepaeMyio BeJiH-HHHy, nepepaĎaTHBaeMyw b ynpaBJíHWmeM ycTpoňCTBe 6 b xanecTBe χοητροββηοΑH3MepaeMoft BejiHMHHM fljia προΒβρκΗ φβχτΗΜβοχκ BoafleftcTBywmero Ha rpya 4 ycH-JIHH npHXaTHfl. ΟηοΜβτρ η ΑΗΗβΜΟΜβτρ 9 ποποπΗΜΤβΠΒΗΟ o6ecnteHHBaioT προτηβ oaeapHiíHyio aanpiTýbo BpeMH Bcero, norpyaoHHO-pasrpyaoHHoro npouecca H3-3a HexoHTponHpyeMoroycxopeHHH rpyaa hjih προτηβ HeflOnycTHMoro cxónbxeHHH rpyaa. 246575 -4- ΦΟΡΜΥΒΑ Η30ΕΡΕΤΕΗΗΗ 1. rpy3O3axBaTHoe η rpy3OHecymee npHcnoco6jieHHe b coueTaHHH c ncwbeMHbíMMexaHH3MOM, b qacTHocTH, fljm 3axBara n nepeHOca ĎOHnmxcH cnpeccoexH rpy-3ob, cocTOHinee H3 mex 3axBaTa, nepeflBHraeMwx napajinejibHo nepe3 cucTeMyΤΗΓ C ΠΟΜΟΠφΙΟ rHflpaBJIHUeCKHX UHJIHHflpOB, npHqeM ycmme npwKaTHH mex 3aXBaTaonpefleJlHeTCH b aaBHCHMoc™ ot coScTBeraoro seca rpyaa, OTJiwidiome“eca τβΜ, ίτο flHHaMOMSTp (3) Meatfly noflteMHbíM MexaHH3MOM (1) h rpysoHecýlUHM H rpy3O3aXBaTHblM ΠρΗΟΠΟΟΟδΠβΗΗβΜ (2) flJIH OnpefleJieHHH COSCTBBHHoňMaccbi rpy3a (4) b coueTaHHH c αοποπηητ&πϊ>ημμ ΑΗΗβΜΟΜβτροΜ (9) απη onpefle-neHHst BÓ3fleňcTByromero HenocpeflCTBeHHo Ha rpy3 yctuiHH npHxaTHH η ορ,ΟΜβτρy rpy3O3axBaTHoro oprana (11) mex aaxBaTa (10) ajih onpeneneHHH BepTHxaJib-ηογο npocxanb3biBaHHH Meatfly rpysoM (4) h mexaMH 3axBaTa (10) CBH3aHbi c H3-BeCTHblMH 3JieM6HTaMH flJIH ynpaBJíeHHH yCHJIH6M npHXaTHH, ΠρΗΗβΜ ΟΟΟΜβΤρ coc-toht H3 pacnonoweHHoro y rpy3O3axBaTHoro opraHa (11) mex 3axBaTa (10) eep-THxajibHoro najibna (12), CBHsaHHoro c BepTHxaJibHoň BTyjixoň (13) tiepee φρκκ-Ηηοηηοθ cuenjieHHe Tax, hto b cjiynae npeBbnneHHH rpy3OM (4) chjih tpshhh ne-peMemeHHe najibija (12) bo BTynxe (13) CHrHaJiH3HpyeTCH uepe3 MHxpoBbiKJiioHa-Tejib (14). 246575 5-
AHHOTAUHH rpysosaxBaŤHoe η rpyaoHecymee npHcnocoCneHHe H9o6peTetuie othochtch k rpyaoaaxBaTHOMy h rpysoHecyqeMy npHcnocoOneHHio bcoqeTaHHH c nonteMHUM μθχβηη9μομ h xacaeTca, b nacTHocTH, saxeaTa h neper*Hoca CoHIHHXCH CnpeCCOBKH rpySOB.
Uejibio HaoCpeTeHHH HBJíaeTcx oSecnentiTb saxeaTbiBaHHe rpyaoB yHHBepcanbHbíMrpyaoHecymtHM h rpyaoaaxeaTHUM npHcnocoSjíeHHeM β 33βηοημο0τη ot hx coOct-BeHHoň Maccbi h hx BHyTpeHHeň ycToňnuBocTH. 3ananeň «BoSpeTemta asnaeTca coaflamte rpyaoHecyqero a rpyaoaaxsaTHoro npn-cnocoGneHHH, y κοτοροΓο seňcTByiomee Ha rpya ycnume npHxaTHH mex aaxeaTaΜοχβτ aBTOMaTHqecKMynpaBnxTbCH b aasHCHMOCTH ot hx npenena προηηοοτη npHCXaTHH. B COOTBeTCTBHH C Η3θ6ρβΤβΗΗβΜ Mexfly nOflbeMHblM MeXaHH3MOM H rpy3O3aXBaTHbMopraHOM pacnonoxeH αηηβμομθτρ λπβ onpeAeneHHH úoOcTBéHHoň Mačců rpyaa,nonoJiHHTejibHbtíi ΑΗΗβΜΟΜβτρ ΑΠΗ onpeneneHHX BoafleňCTBywiuero HenocpeflCTBeHHoJia rpys ycHJiH» πρηχητηη η οηοΜβτρ y rpyaoaaxBaTŘoro opraHa mex aaxeaTafiita onpegeneHHH BepTHxanbHoro npocKanba«BaHHH pacnonoxeHbí Meacny rpysoM hrpyáoaaxBaTHbtM opraHOM, κοτορωε CBaaaHbí c HSBecTHUMH οπβΜβΗτβΜΗ pfla ynpaB-Jiemui yciuiHeM nptixaTWt, npHH.eM οηοΜβτρ coctoht H3 pacnojioxeHHoro ý rpyao-aaxBaTHoro opraHa «ex saxeaTa BepTHxanbHoro nanbua, οβη3βηηογο c Ββρτπ-xanbHoň BTyjixoň nepea φρΗΚηχοΗΗοβ ομβπηβΗΗβ Tax, ητο b cnyqae npeBwmeHHHrpysoM CKnbi τρβΗΗΗ BepTHxanbHoe nepeMemeHHe nanbtta cHrHaJíHSHpyercft wepeaMHKpOBbOUllOHaTejIb . ΠρΗ3ΗΗΗΟ Η3θθρβΤβΗΗβΜ ΠΟ ρβ3γΠΒΤβΤβΜ 9ΚΟΠβρΤΗ3Η, OCymeCTBJíeHHotíl BeflOMCŤBOMno nenaM Hao6peTeHHň η πβτβΗΤΟΒ ΓΉΡ. 2 nepTexa 246575

Claims (1)

  1. 246 575 VYNÁLEZU , Uchycovací a přenášecí ústrojí zvedacího mechanismu, zej-ména k přenášení na tlak citlivých nákladů, skládající sea úchytů posouvaných paralelně soustavou táhel pomoci hyd-raulických válců, přičemž přítlačná síla úchytů je odvozo-vána od hmotnosti nákladů, vyznačující se tím, že dynamometr(5) upravený mezi zvedacím mechanismem (1) a přenášením aúchytným ústrojím, určený ke stanovení hmotnosti nákladu (4),ve spojení s přídavným dynamometrem (9), určeným ke stanovenípřítlačné síly bezprostředně působící na náklad, a posunomě-rem v úchytném prvku (11) úchytu (10), stanovujícím vertikál-ní prokluz mezi nákladem (4) a úchyty (10), jsou spojeny aprvky k řízení přítlačné síly, přičemž posunOmétřse skládáz vertikálního čepu (12) upevněného k úchytnému prvku (11)úchytu (10) a spojeného s vertikálním pouzdrem frikčnímspojením tak, aby v případěpřevýSenítřecí síly tíhou nákladu(4) byl posun čepu (12) v pouzdru (13) signalizován přesmikrovypínač (14).
CS83691A 1982-02-23 1983-02-02 Clamping and ca rying device of lifting mechanism CS246575B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DD23759282A DD206661A3 (de) 1982-02-23 1982-02-23 Lastgreif- und -trageinrichtung

Publications (2)

Publication Number Publication Date
CS69183A1 CS69183A1 (en) 1985-06-13
CS246575B1 true CS246575B1 (en) 1986-10-16

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CS (1) CS246575B1 (cs)
DD (1) DD206661A3 (cs)
DE (1) DE3245715A1 (cs)
SU (1) SU1416429A1 (cs)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5292219A (en) * 1990-02-23 1994-03-08 Auramo Cargo Systems Oy Procedure and apparatus for the handling of loads
FI84715C (fi) * 1990-02-23 1992-01-10 Auramo Cargo Systems Oy Foerfarande och anordning foer behandling av last.
US5417464A (en) * 1993-12-10 1995-05-23 Cascade Corporation Slip-correcting load-clamping system
FR2722488B1 (fr) * 1994-07-12 1996-10-04 Sollac Sa Pince de levage pour cylindre evide axialement a axe horizontal
SE505210C2 (sv) * 1996-04-26 1997-07-14 Nymek Ab Styrning för en lasthanteringsanordning
US6843636B2 (en) 1998-10-07 2005-01-18 Cascade Corporation Adaptive load-clamping system
US6431816B1 (en) 1998-10-07 2002-08-13 Cascade Corporation Adaptive load-clamping system
CA2282198C (en) 1998-10-07 2003-06-10 Cascade Corporation Adaptive load-clamping system
ITVR20020065A1 (it) * 2002-06-12 2003-12-12 Roncari S R L Dispositivo di controllo e comando delle forze per il serraggio di carichi da trasportare mediante carrelli elevatori o simili.
RU2311335C2 (ru) * 2005-10-07 2007-11-27 Федеральное государственное унитарное предприятие "Центральное конструкторское бюро машиностроения" (ФГУП "ЦКБМ") Устройство грузоподъемное
US9964428B2 (en) 2008-10-09 2018-05-08 Cascade Corporation Equalized hydraulic clamp force control
IT201900007533A1 (it) * 2019-05-30 2019-08-30 Euroimpianti S P A Metodo di sollevamento e movimentazione di prodotti e relativa testa di presa
DK180946B1 (da) * 2020-12-08 2022-08-08 Logitrans As Klemmeværktøj og løftesystem med klemmeværktøj

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CS69183A1 (en) 1985-06-13
DE3245715A1 (de) 1983-09-01
DD206661A3 (de) 1984-02-01
SU1416429A1 (ru) 1988-08-15

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