EP0165911B1 - Méthode et plate-forme robot pour le lavage, le sablage et la peinture dans une cale sèche - Google Patents

Méthode et plate-forme robot pour le lavage, le sablage et la peinture dans une cale sèche Download PDF

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Publication number
EP0165911B1
EP0165911B1 EP85830133A EP85830133A EP0165911B1 EP 0165911 B1 EP0165911 B1 EP 0165911B1 EP 85830133 A EP85830133 A EP 85830133A EP 85830133 A EP85830133 A EP 85830133A EP 0165911 B1 EP0165911 B1 EP 0165911B1
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EP
European Patent Office
Prior art keywords
platform
sandblasting
washing
painting
trolley
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.)
Expired - Lifetime
Application number
EP85830133A
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German (de)
English (en)
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EP0165911A2 (fr
EP0165911A3 (en
Inventor
Rosario Scuderi
Piero Lumachi
Enzo Bolcato
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Vianova SpA
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Vianova SpA
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Filing date
Publication date
Application filed by Vianova SpA filed Critical Vianova SpA
Priority to AT85830133T priority Critical patent/ATE59172T1/de
Publication of EP0165911A2 publication Critical patent/EP0165911A2/fr
Publication of EP0165911A3 publication Critical patent/EP0165911A3/en
Application granted granted Critical
Publication of EP0165911B1 publication Critical patent/EP0165911B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces

Definitions

  • the present invention relates to a robot platform for washing, sandblasting, and painting in shipbuilding dry dock and related method of actuation.
  • the invention is particularly suitable for use in the washing, sandblasting, and painting of vessels in dry docks.
  • platforms are well known on articulated arm mounted on trolley sliding lengthwise along the sides of the dry dock or shipbuilding dock provided with manual movement control at the platform side and with operators on the platform using known manual equipments, such as washing nozzles, sandblasting nozzles and spray guns.
  • Rotor platforms for treating the surface of vessels are well known in the art (see for instance (DE-A-3027677, FR-A-2324490, US-A-- 4445451
  • These known devices further comprise different operative units such asforwashing, sand blasting and painting, but these units are not yet conceived to operate in a single device universally structured for different treatments necessary before painting the respective surface.
  • the invention as claimed is intended to provide a remedy to the above-mentioned disadvantages. It solves the problem providing a robot platform for washing, sandblasting and painting in shipbuilding dry dock, of the type insertable into the side structures provided with guide rails of a shipbuilding dock or dry dock preferably for middle and large size vessels, comprising at least one support translation structure provided with sliding trolley horizontally controlled on said guide rails on the dock sides, said trolley structure supporting a swinging and/or variable in length arm, at the end thereof a platform being mounted articulated so as to stay always oriented in a predetermined direction independently of the movements thereof, said platform comprising:
  • said trolley structure is operatively connected to a "tender" trolley suitable for transporting all the equipments and materials necessary to the robots located on the platform.
  • a convenient embodiment of the invention provides essentially a support arm structure supporting said platform, said support arm being connected articulated to a trolley structure consisting of two upper trolleys and one lower trolley.
  • the assembly is suitable for accomplishing the functions corresponding to the various washing, sandblasting, and painting phases as well as for providing, by means of an extracting plant, to the recovery of dusts, the whole being automated.
  • the washing unit is designed to operate in fully automatic way on the vessel broadsides.
  • the use of water at a pressure of about 250-300 bars allows to reach about 700 m 2 /h productivity.
  • the motor pump unit conveniently sized, is placed at a distance of about 60 m from the nozzles.
  • the supply includes all the equipment such as hoses, nozzles, pipe fittings, etc.
  • the sandblasting unit is conveniently designed to operate in fully automatic way on the vessel broadsides, with a productivity equal to about 70 m 2 /h.
  • the sandblasting nozzles are mounted on a special support integral with the revolving platform.
  • the automatic control ensures continuous working system and uniformity of jets.
  • the support frame of the sandblasting nozzles made of strong rolled steel sections, is constructed in such a way as to be able to tilt the nozzles by simple two fixed position movement of a pneumatic cylinder.
  • the nozzles are Ventury-type nozzles, with tungsten carbide exits.
  • the diameter may vary from 6 to 8 mm and length from 100 to 150 mm.
  • the distance and arrangement of the nozzles from the vessel broadside is constant and convenient.
  • the facilities machines, including sand silos are placed at a distance of about 60 m from the operative head.
  • the plant comprises sand silo, sandblasting machines complete with valves, pipes and pipe fittings, all mechanical equipment and carpentry for support and automatic positioning of the sandblasting unit, movement pneumatic cylinders, fuel mixture feed pipes, flow control valves, etc..
  • a high head dust extracting plant is further provided also placed at a distance of about 60 m and is connected direct to the metal covering case within which the sandblasting head is situated. Constant suction pressure allows removal of dusts produced during working as well as partial recovery of the sand used.
  • the dust extracting plant obviously includes also a cyclone separator, filters, and pipe fittings.
  • the painting unit is designed to operate in fully automatic way on the vessel broadsides, with a productivity equal to about 700 m 2 /h based on 50 micron thickness. All equipments, except spray guns, are placed at a distance of about 60 m from the revolving platform.
  • the nozzles are mounted on a suitable trolley which moves backwards and forwards and is capable of two-way painting.
  • the automatic control ensures economical spraying system and uniform paint application, thus reducing waste to a minimum.
  • the nozzles, two in number, with relative supports, are placed on a painting trolley suspended from four points by means of ball bushings running on cylindrical hardened and tempered steel rails. The full extent of such rails is covered so as to protect same against paint. Covering is easily removable.
  • the painting trolley is operated at fluid-dynamic motor. All supports for cables and tubes are provided. The distance of the nozzles from the vessel broadside is constant and about 300 mm measured along the paint spray.
  • the movement of the platform supporting arm and relative support trolley structure is integrated by the translation of the trolley carrying the spray guns which is placed on the platform and which will be rotated for this purpose with the respective side against the vessel surface to be painted.
  • Such trolley must have conveniently flexible movements so as to adapt to the various painting requirements.
  • the equipment will be obviously known to those skilled in the art and will work preferably by airless spraying in order to operate with all types of paints available on the market.
  • the plant is operated by high pressure pump and is provided with paint recirculating system, thus obtaining a considerable advantage with respect to everyday cleaning.
  • the equipment comprises a high pressure air-lift pump, compressed air treatment unit, pneumatic hoister, plenum chamber, filters, etc. and is provided with all the necessary pressure gauges, valves, and unions, and the plant will obviously be completed with all pipes and necessary pipe fittings for connecting pump with nozzles, as well as with air-operated agitator, with bladed propellers provided with speed regulator in accordance with well known prior art.
  • Autoshifter motion and operation of washing, sandblasting, and painting plants can be fully automatized. Such automation is ensured by four- axis hardware medium managed by dedicated microcomputer executing and controlling all operations as shown in Tables 1 and 2 as set forth below.
  • the hardware medium is suitable for the simultaneous control of four independent movements and management of all the tasks of the separate plants.
  • Hardware is used by suitable software in order to ensure all process of motion, operating and control so as to make the operative machines fully autonomic.
  • Executive software contains special parameters related to the machine and control operating. These data are stored and assisted by battery should a blackout occur. Address information received from the input data selects the axis to be positioned and provides command for motion thereof. Information received from input data provides command for the execution of movements.
  • the trajectory along which the unit moves is controlled by function generators with linear or circular interpolation depending on the selection executed by the preparatory functions. The generators supply simultaneous positioning commands to the axes concerned. Movements are kept under constant control by servomotors for maintaining the actuated positions.
  • the feedback unit indicates the error between the machine position and the controlled position. Any difference between the two values, representing the position error delivers to the servomotor a signal which moves said servomotor so as to correct such position error.
  • the control has on-line self-checking system which clearly indicates errors or malfunction.
  • the platform includes the following devices and elements:
  • the platform is carried out by using strong section bars and plates and is provided with the necessary eyebolts for easy transport by means of crane to the operating site.
  • Figure 1 is a perspective view of the automatized platform during working on a vessel hull;
  • Figure 2 is a front view (from the dock side) of the trolley associated with the translation truck;
  • Figure 3 is a side view of the arm connected to said trolley structure, showing at the end the relative "platform” swinging in three different positions: upwards (shortened), horizontal, and downwards (partial representation) respectively;
  • Figure 4 is a plan view of the trolley structure with arm and platform and relative tender near the trolley structure;
  • Figure 5 is an enlarged view of the platform mounted on the end of the arm showing the washing nozzles in operative condition;
  • Figure 6 is an enlarged plan view of the end of the arm with relative platform of Figure 5;
  • Figure 7 is a further enlarged side view of the platform showing details regarding sandblasting (in the operative phase at the head to the supporting arm) and painting (inoperative at the side, i.e. frontally in the drawing);
  • Figures 8 and 8/1 show further enlarged details relating to the spray guns and painting trolley;
  • the invention consist of a support structure for use in a dry dock A, within which a vessel hull S is situated.
  • the structure A internally and sideways externally opposite to the hull S, is provided with two sliding rocking trolley means connected between them B,B' supporting arm C and platform D and tender/ go-devil respectively.
  • the support structure A consists of a steel framing which supports the whole machine. On the top thereof the trolley means B,B' hang sliding from guides 1 and on the bottom slide on guides 2.
  • the washing motor pump 4, painting unit 5, sandblasting unit provided with silos 6, sandblasting machines 7, and dust extracting plant 8 are placed on the tender trolley means B'.
  • the rotation unit of the arm C is housed with relative motor and rocking unit of said arm with articulated supports of the hoisting cylinders. All the motion motors, electric and hydraulic systems, and fluid-dynamic power gearcase with the main motor which may be electric/diesel or diesel/electric motor are also housed on said structure.
  • the upper structures relative to the trolley means B and B' are made of steel structural work, mechanically worked. All the vertical stresses of the machine, all the horizontal stresses in traverse direction, and part of the transversal stresses resulting from eccentric loads when the machine is working discharge on said upper structures.
  • Each trolley means is secured to the structure by means of special non-stiff bearing, the function of which is to make the system statically determined.
  • Each trolley means is provided with: horizontal axis wheels, vertical axis wheels 3, an effective antiderailment mechanical lock system for safety purpose, fluid-dynamic operated motor reducers for the sliding of the whole machine.
  • the lower structures of the trolley means B and B' are made of strong steel structural work, mechanically worked. All the horizontal stresses in direction opposite to traverse, and part of the torsional stresses resulting from eccentric loads when the machine is working discharge on said lower structures. Also this portion of trolley means is secured to the structure by means of special non-stiff bearing, the function of which is to make the system statically determined. Said portion of trolley means is provided with vertical axis wheels 3 and another effective mechanical lock system for safety purpose.
  • the swinging arm C is made of a strong steel structural work, mechanically worked. On the top thereof the unit for rotating the work platform D is housed. On the bottom there are: the vertical axis system for rotating said arm, a verical axis thrust bearing system, the motion motor reducer.
  • the arm is provided with linkage arranged so as to keep the work platform D horizontal, whatever the inclination of the arm. On the top of the arm, steps to reach the platform are placed, protected by a double row of grab rods. At the interior and at the bottom of the arm all the tubes and electric cables necessary to the treatment plants are housed.
  • the work platform D is made of a strong steel structural work. At the bottom thereof the rotation unit and operating motor reducer are housed with all the safety locks. At the sides of the platform, on suitable structures acting also as grab rods there are: the sandblasting nozzles 8, orientable and movable by motor means 9, sand collector 10, trolley 11 supporting spray guns 12 and provided with motion system therefor by fluid-dynamic motor and rack, including limit switches, solenoid valves, sensors, etc.. At the side supporting the sandblasting nozzles 8, the hood is placed for extracting the sandblasting residual dusts 10.
  • washing unit 13 is situated as well, provided with suction sump 14, operating alternately (either one or the other).
  • the respective feeding and positioning sensors 15 are obviously installed, controlling the position of the platform and operative units according to the vessel hull being treated.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Road Repair (AREA)
  • Manipulator (AREA)

Claims (5)

1. Plate-forme robot pour laver, sabler et peindre en cale sèche de construction navale, du type à introduire sur les structures pourvues de rails (1) de bassin de construction navale ou cale sèche (A) de préférence pour navires (S) de taille moyenne ou large, comprenant au moins une structure de support à translation (B) pourvue de chariot roulant horizontalement contrôlé sur les dits rails (1) sur les bords du bassin (A), la dite structure de chariot supportant un bras (C) oscillant et/ou de longueur variable, à la fin de celui çi une plate-forme (D) étant montée et articulée de façon à rester toujours orientée en une direction prédéterminée indépendamment des mouvements de celui çi, la dite plate-forme (D) comprenant:
-Une unité de lavage avec jets de lavage (13),
-Une unité de sablage avec canons de sablage (8) pourvue de moyens de récupération (10) de la poussière, et
-Une unité de peinture sur chariot (11) se déplaçant de façon alternative de chaque côté de la plate-forme pourvue de respectifs canons (12) vaporisateurs se déplaçant orthogonalement;
-Un dit équipement suplémentaire comprenant un robot contrôlé par ordinateur et moyens de programmation et détection (15) de la surface à traiter de façon à contrôler à distance et déplacer automatiquement ou par opérateur l'assemblage çi dessus décrit pour laver sabler et peindre les flancs correspondants du navire concerné, caractérisée en ce que
-La dite plate-forme (D) est rectangulaire en vue plane, la dite unité de peinture (11, 12) est placée sur le côté plus long de la plate-forme (D), et du côté adjacent de l'unité de peinture (11 est placée au moins une des autres unités opératives de lavage (13) et/ou de sablage (8),
-la dite plate-forme étant tournante de façon à présenter respectivement devant la surface du navire, l'un ou l'autre des côtés.
2. Une plate-forme comme revendiqué précédemment, caractérisée en ce que les unités de stockage et de respective transmission du matériel de traitement (4, 5, 6, 7) sont placées près de la dite structure à translation du chariot (B), et placées sur un conténiteur (B') pouvant être décroché, relié à la dite structure à translation du chariot (B).
3. Une plate-forme comme revendiqué précédemment, caractérisée en ce que les moyens de contrôle du mouvement de l'assemblage sont placés sur la dite structure à translation du chariot (B).
4. Equipement pour laver, sabler et peindre en construction navale ou cale sèche (A) pour navires (S) de taille moyenne ou grande, caractérisé en ce que le dit équipement comprend au moins une structure de plate-forme robot conformément au points revendiqués précédemment, la dite structure de plate-forme robot étant placée sur rails horizontaux (1) sur les bords du bassin (A).
5. Méthode pour laver, sabler et peindre utilisant au moins une plate-forme robot ou équipement conformément aux points revendiqués pré- cedemment, caractérisée en ce que la dite méthode comprend les phases suivantes, sans nécessité de travail sur la plate-forme pour le traitement de la surface du navire:
Phase de lavage
Au début du cycle de travail, chaque plate-forme robot peut être positionnée en tout point du flanc du navire. La juste position est assurée par un tracé approprié placé sur la platte-forme mobile. Au signal de départ une unité de pompe à moteur commence à agir et l'équipement commence le lavage au moyen de jets à pression, se déplaçant longitudinalement à une vitesse prédéterminée. Tel mouvement longitudinal continue à parcourir toute la distance prédéterminée. A ce moment la plate-forme mobile s'abaisse automatiquement d'une longueur convenable de façon à assurer par le voyage successif dans la direction opposée la complète superposition avec la portion déjà lavée. Telles opérations se répètent cycliquement sur l'entier parcours vertical de la longueur déterminée. Le premier cycle étant complété, la machine transfère et positionne le cycle successif.
Phase de sablage
Le cycle de lavage étant complétée, la machine est positionnée pour commencer la phase de sablage. La tête de sablage (8) étant placée sur la plate-forme du même côté que les jets de lavages (13). Au signal de départ des soupapes solénoïdes contrôlant l'entrée du mélange air-sable s'ouvrent et l'équipement commence l'opération de sablage avec tous les jets travaillant conformément au cycle opératif décrit pour la phase de lavage, la tête des jets de sablage étant logées dans un fourreau métalique (10), l'intérieur du dit fourreau étant constamment vide.
Phase de peinture
Le cycle de sablage étant terminé, l'entière plate-forme (D) effectue une rotation de 90° présentant ainsi le côté plus long parallèle au flanc au navire. Sur cette portion de la plate-forme est placé un châssis avec rails sur lesquels court un chariot (11) supportant deux canons vaporisateurs pour la vaporisation sans air (12). La machine est positionnée à une extrémité de la surface à traiter, la plate-forme se déplaçant sur un bord supérieur du flanc du navire et les canons vaporisant la peinture allant et venant le long de la respective surface à traiter longitudinalement sur une distance égale au parcours du dit chariot (environ 3 mètres) sur la plate-forme. A la fin du parcours du canon vaporisateur, la couche étant complétée, l'entière plate-forme s'abaisse le long de la trajectoire programmée sur une distance égale à l'extention prévue pour la vaporisation. Durant cette phase, le chariot vaporisant encore dans la direction opposée suivant un mouvement alternatif, le cycle étant répété jusqu'au bout de la trajectoire verticale le long du flanc du navire;
Le même cycle étant successivement répété sur une trajectoire adjacente à la première. Travaillant sur portions circulaires en direction longitudinale étant corrigée en tournant la plate-forme mobile contrôlé par transducteurs.
EP85830133A 1984-06-22 1985-06-04 Méthode et plate-forme robot pour le lavage, le sablage et la peinture dans une cale sèche Expired - Lifetime EP0165911B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT85830133T ATE59172T1 (de) 1984-06-22 1985-06-04 Verfahren und robotplattform zum waschen, sandstrahlen und streichen in einem schiffsdock.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT8337384 1984-06-22
IT83373/84A IT1181188B (it) 1984-06-22 1984-06-22 Piattaforma robotizzata per lavaggio, sabbiatura e pitturazione in bacino di carenaggio e costruzione per natanti

Publications (3)

Publication Number Publication Date
EP0165911A2 EP0165911A2 (fr) 1985-12-27
EP0165911A3 EP0165911A3 (en) 1987-09-09
EP0165911B1 true EP0165911B1 (fr) 1990-12-19

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Application Number Title Priority Date Filing Date
EP85830133A Expired - Lifetime EP0165911B1 (fr) 1984-06-22 1985-06-04 Méthode et plate-forme robot pour le lavage, le sablage et la peinture dans une cale sèche

Country Status (5)

Country Link
EP (1) EP0165911B1 (fr)
AT (1) ATE59172T1 (fr)
DE (1) DE3580941D1 (fr)
DK (1) DK569484A (fr)
IT (1) IT1181188B (fr)

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WO2018006547A1 (fr) * 2016-07-07 2018-01-11 上海交通大学 Système pour éliminer la rouille de la surface de la coque d'un navire
US10780550B2 (en) 2018-01-11 2020-09-22 Anthony Cibilich System for blast-cleaning a barge deck, sides, and fittings
US11027396B2 (en) 2018-01-11 2021-06-08 Anthony Cibilich System for blast-cleaning a barge bottom

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CN101284264B (zh) * 2007-04-11 2011-06-22 刘雨盈 智能型汽车底盘喷漆装置
ITMO20100263A1 (it) 2010-09-21 2012-03-22 Vincenzo Rina Apparecchiatura per la verniciatura di scafi di imbarcazioni navali o simili
CN108127571B (zh) * 2018-02-23 2023-10-20 湖南云思智能科技有限公司 一种自动输送式钢板双面液体喷砂机
CN111617913B (zh) * 2020-06-19 2024-04-16 侯马市风雷管模制造股份有限公司 一种铸铁管离心铸造用全自动喷涂装置
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FR1557648A (fr) * 1966-07-16 1969-01-13
NL7316929A (nl) * 1973-12-11 1975-06-13 Delnoz Maastrich Maschf Inrichting voor het behandelen van een scheepshuid.
DE2849040C2 (de) * 1978-11-11 1982-06-16 Paul 4740 Oelde Hammelmann Gerät zum Reinigen oder Konservieren von senkrechten oder geneigten Flächen, insbesondere Schiffsbordwänden
DE3027677C2 (de) * 1980-07-22 1983-11-24 Paul 4740 Oelde Hammelmann Gerät zum Warten, Reparieren, Reinigen und/oder Anstreichen von Bordwänden eines Schiffes
NL8004610A (nl) * 1980-08-14 1982-03-16 Stork Serv Bv Dokinrichting.

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018006547A1 (fr) * 2016-07-07 2018-01-11 上海交通大学 Système pour éliminer la rouille de la surface de la coque d'un navire
US10780550B2 (en) 2018-01-11 2020-09-22 Anthony Cibilich System for blast-cleaning a barge deck, sides, and fittings
US11027396B2 (en) 2018-01-11 2021-06-08 Anthony Cibilich System for blast-cleaning a barge bottom
US11964362B2 (en) 2018-01-11 2024-04-23 Anthony Cibilich System for blast-cleaning a barge deck, sides, and fittings

Also Published As

Publication number Publication date
IT8483373A0 (it) 1984-06-22
ATE59172T1 (de) 1991-01-15
DK569484D0 (da) 1984-11-30
EP0165911A2 (fr) 1985-12-27
EP0165911A3 (en) 1987-09-09
IT1181188B (it) 1987-09-23
DK569484A (da) 1985-12-23
DE3580941D1 (de) 1991-01-31

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