EP3556709B1 - System zum automatischen bewegen eines gelenkarms, insbesondere eines ladekrans - Google Patents

System zum automatischen bewegen eines gelenkarms, insbesondere eines ladekrans Download PDF

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Publication number
EP3556709B1
EP3556709B1 EP19150837.3A EP19150837A EP3556709B1 EP 3556709 B1 EP3556709 B1 EP 3556709B1 EP 19150837 A EP19150837 A EP 19150837A EP 3556709 B1 EP3556709 B1 EP 3556709B1
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Prior art keywords
effector
stored
actuators
absolute
movement
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French (fr)
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EP3556709A1 (de
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Ivan MAFFEIS
Valentino Birolini
Roberto Signori
Rossano Ceresoli
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FASSI GRU SpA
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FASSI GRU SpA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors

Definitions

  • the present invention refers to a system for automatically moving an articulated arm, particularly of an articulated crane.
  • articulated arm means a system provided with a plurality of bodies, consecutively connected to each other, capable of forming an open kinematic chain with a plurality of translative and/or rotative degrees of freedom in the space.
  • Overhead cranes are often used in a yard for example.
  • An overhead crane comprises a U-inverted frame movable along a track (first degree of freedom), and a trolley transversally movable along the frame (second degree of freedom). Therefore, the absolute position of the trolley depends on the absolute position of the frame and on the position of the trolley with reference to the frame. The absolute position of the trolley is matched by only one configuration of the overhead crane and consequently it can be simply registered and reproduced a sequence of movements.
  • the position of an end-effector of the crane can be obtained by different configurations of the crane itself. Therefore, simply registering a manual movement and repeating it do not cause the end-effector to follow the same movements. Indeed, if in the start position the crane has a configuration different from the one it had in a step of storing the movement of the end-effector, just simply repeating the movements performed in the storing step will not enable the end-effector to reach the same stored final position.
  • Document JP 2001 130892 A discloses a system for automatically moving an articulated arm, comprising: said articulated arm, comprising a plurality of bodies consecutively connected to each other in order to form an open kinematic chain with an end-effector, having a plurality of translative and/or rotative degrees of freedom and a plurality of actuators for moving said bodies; a plurality of sensors associated to said bodies adapted to supply signals indicative of linear or angular positions such to enable to determine the (relative) coordinates of the end-effector; a user interface device configured for commanding the articulated arm by an operator; a control unit comprising a memory module and operatively connected to said actuators, said sensors and said user interface device, said control unit being configured for performing: a step of storing a movement of the end-effector, which comprises: receiving
  • the present description will illustratively refer to an articulated crane.
  • the present invention finds an application in the movements of articulated arms of other types, such as for example robotic arms, or aerial work platforms (PLE).
  • PLE aerial work platforms
  • FIG. 1 it shows an example of a possible articulated arm, particularly an articulated crane, for example a hydraulic loading crane (commonly known as "loader crane"), generally indicated by the reference 101.
  • a hydraulic loading crane commonly known as "loader crane”
  • the crane 101 comprises a column 102 pivoting about its axis, and one or more possibly extendable arms 103', 103".
  • the possibility of extending the arms, if provided, is obtained by a plurality of extensions 104 reciprocally translatingly movable in order to modify the axial length of a respective arm.
  • only the second arm 103" is extendable by moving the extensions 104.
  • the first arm 103', devoid of extensions, will be indicated by the term "main arm”, while the second arm 103", provided with the extensions 104, will be indicated by the term "secondary arm”.
  • the free end 105 of the last extension of the secondary arm 103" is commonly known as end-effector.
  • a hook 106 movable for example by a rope winch 107 can be provided at the end-effector 105.
  • the above described crane therefore provides an open kinematic chain, having a plurality of sequentially connected bodies (column, main arm, secondary arm, extensions) and a free end (end-effector).
  • the crane 101 comprises a plurality of actuators, at least one actuator corresponding to a specific degree of freedom.
  • a first hydraulic jack 108 moving the main arm 103' with respect to the column 102
  • a second hydraulic jack 109 moving the secondary arm 103" with respect to the main arm 103'
  • an actuator 110 moving the column 102 with respect to a stationary reference.
  • further actuators for example of a hydraulic-type, for moving the extensions 104, are present.
  • the actuators of the cranes are normally of a hydraulic-type, generally it is possible to provide actuators of a different kind (electric or pneumatic, for example) in the articulated arms.
  • the crane 101 comprises a plurality of sensors capable of enabling to determine the absolute coordinates of the end-effector 105, particularly the Cartesian coordinates thereof. For example, it is assumed that the origin of a Cartesian coordinate system, coincides with the base of the column 102, so that the absolute coordinates of the end-effector 105 are expressable by three values: x, y, z.
  • the plurality of sensors can include, for example:
  • the sensors can include linear or angular encoders, inclinome-ters, magnetostrictive position sensors or similar. From the signals output by the above cited sensors, it is possible to determine, by geometrical relationships, the absolute coordinates of the end-effector 105.
  • the crane 101 comprises a control unit operatively connected to the actuators, for moving them, and to the sensors, for receiving signals indicative of the above cited magnitudes.
  • the control unit comprises a memory module, the operation thereof will be explained in the following.
  • a user interface device connected to the control unit for enabling an operator to manually move the crane and, possibly, to gain access to other functions.
  • the user interface device can comprise a remote control and the control unit can comprise a transmission module for communicating with this latter (a radio transmission module, for example).
  • the operator by acting on a joystick of the remote control for example, can visually move the end-effector 105 among subsequent positions.
  • a position of the end-effector 105 can generally correspond to more than one configuration of the crane, also the movements of the end-effector 105 can be performed in different ways, in other words by sequentially moving several actuators. Consequently, predefined operative logics are generally provided, by which, based on a desired determined movement of the end-effector, corresponding actuators are selected to be operated for obtaining this movement.
  • the control unit is configured so that, upon a movement instruction of the end-effector received from the user interface device, such movement is obtained as a function of a predetermined logic for actuating the actuators.
  • the actuating logics can be one for minimizing the oil flow rate required for actuating the actuators or can be one for minimizing the energy used for moving them.
  • a further logic can be one of the minimum distance travelled by the end-effector for reaching the desired position.
  • a further criterion. often used for example in combination with one of the above listed ones, consists of maintaining the actuators away from the stop position.
  • the predetermined operative logics are per se known and therefore will not be specifically described.
  • the operator can decide which actuators to move: only one or more than one at a time, and consequently can obtain the desired movement of the end-effector.
  • the control unit is particularly configured to perform a step of storing a movement of the end-effector 105, comprising:
  • the real trajectory followed by the end-effector 105 is divided in a plurality of discrete points, each corresponding to a sampling instant, and further the actuators used in the trajectory segments defined by said following points, are stored.
  • control unit can act on the actuators in order to re-perform the stored movement, particularly by automatically moving the crane in the following way.
  • the command unit is configured to implement a step of re-performing the movement stored upon an instruction of automatically re-performing the stored movement.
  • a step of re-performing the movement stored upon an instruction of automatically re-performing the stored movement can be started by the operator by the user interface device.
  • Such step of re-performing the stored movement provides to divide the re-performing step into a plurality of partial re-performing periods, each delimited by two consecutive re-performing instants distanced by a re-performing partial time, which, according to a possible embodiment, is equal to the sampling time.
  • the partial re-performing time could be different from the sampling time (it could be selectable by the operator, for example) and in this case the duration of the re-performing step will be different from the duration of the storing step.
  • the re-performing step comprises, during each partial re-performing period:
  • control unit is therefore configured to:
  • control unit is configured to:
  • the movements of the end-effector 105 between two following points are performed preferably by a closed-loop control of the position of the end-effector (according to the logics P, PI, PD, PI, PID, for example), wherein the reference is the trajectory of the end-effector.
  • the reference trajectory between these points can be set equal to the segment joining such points.
  • control unit is advantageously configured to receive, as an input parameter, a total desired re-performing time.
  • Such parameter can be supplied to the control unit by the user interface device, for example.
  • control unit is configured to:
  • the stored coordinates are effectively manipulated so that they are substituted with new equivalent coordinates which take into account that the movement re-performing step is done at a speed different from the speed of the storing step.
  • control unit is configured to:
  • Figure 2 illustrates the steps of storing a possible trajectory of an articulated arm.
  • the figure schematically shows the articulated arm having the column 102, the main arm 103', the secondary arm 103", and a single extension 104, terminating with the end-effector 105.
  • the initial position of the end-effector 105 is indicated by the coordinates x1, y1, z1.
  • the stored movements are the following:
  • the crane will exactly perform the same movements by actuating the same actuators used in the different segments of the trajectory of the storing step, according to what was shown in Figure 2 .
  • Checking the configuration performed at the point x1, y1, z1 will confirm that the only projection of the extension 104 enables to reach the coordinate x2, y2, z2.
  • control unit once it verifies by the signals of the sensor that the only stored actuators do not enable to reach the position x2, y2, z2 based for example on the minimum flow rate logic, actuates also actuates also the actuators which moves the secondary arm 103" so that the end-effector 105 effectively reaches the position x2, y2, z2.
  • the control unit checks that, in the configuration of the coordinate x2, y2, z2, the end-effector 105 is anyway capable to move to the position x3, y3, z3 by actuating only the stored actuators between the coordinates x2, y2, z2 and x3, y3, z3, in other words the actuators moving the secondary arm 103" and extension 104.
  • These latter perform movements which are slightly different from the stored ones. From this example, it is observed that, even though the initial configuration of the crane is different from the one it had in the storing step, as the stored movement is gradually re-performed, the articulated arm tends to approach to the corresponding configuration it had in the storing step.
  • the control unit moves the end-effector 105, for example according to the minimum flow rate logic, so that this moves to the nearest point along the stored trajectory, a point which does not necessarily coincide with a stored point.
  • point indicated by X, is in the segment between the coordinates x1, y1, z1 and x2, y2, z2.
  • the control unit during the partial re-performing time, will move the end-effector 105 to such nearest point in the stored trajectory and, after that, it tries to move the end-effector to the point of coordinates x2, y2, z2 by actuating only the actuator moving the extension 104 (which was the stored actuator for moving from coordinates x1, y1, z1 to coordinates x1, y1, z1), however, since is not capable of doing it, it will actuates also a second actuator, in this case the actuator moving the secondary arm 103", according to the predetermined set logic. Then, the step of re-performing the movement continues according to what was discussed with reference to Figure 3 . Obviously, if the effective sensed initial point does not coincide with a stored point, but was already present in the trajectory, the end-effector 105 would not be required to be moved to the nearest point of the trajectory since the end-effector is already present in the trajectory.
  • the total re-performing desired time is twice the total sampling time. Therefore, if it is considered, for example, the segment between the coordinates x1, y1, z1 and x2, y2, z2, and the time the crane requires, during the storing step, to move between these two positions (such time being equal to the sampling time), during the re-performing step, the end-effector could reach only a position x12 intermediate between x1 and x2, which represents an equivalent absolute coordinate.
  • control unit will actuate the same actuator used in the storing step for moving from position x1, y1, z1 to position x2, y2, z2, in other words the one moving the extension 104 which, due to the sensed configuration of the crane, enables to reach the position x2, y2, z2 without actuating other actuators. Then, it is followed the same logic along all the trajectory.
  • the end-effector 105 could simultaneously reach, for example, a position x23 intermediate between x2 and x3, which is an equivalent performing coordinate.
  • the control unit will actuate the same actuators used in the storing step for moving between the positions x1, y1, z1 and x2, y2, z2, and between the positions x2, y2, z2 and x3, y3, z3, in other words the actuators which move the extension 104 and the actuator which moves the secondary arm 103". If the point x23 is not reached by means of these actuators due to the sensed configuration, the control unit would further actuate one or more other actuators according to the predetermined operative logic.
  • control unit and also the elements indicated by the expression “module”, could be implemented by hardware devices (central units, for example), by software or by a combination of hardware and software.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Claims (14)

  1. System zum automatischen Bewegen eines Gelenkarmes (101), umfassend:
    - den Gelenkarm (101), umfassend mehrere Körper, die aufeinanderfolgend miteinander verbunden sind, um eine offene kinematische Kette mit einem Endeffektor (105) zu bilden, der mehrere translatorische und/oder rotatorische Freiheitsgrade und mehrere Aktuatoren zum Bewegen der Körper aufweist;
    - mehrere Sensoren, die den genannten Körpern zugeordnet sind und Signale liefern können, die lineare Positionen oder Winkelpositionen anzeigen, so dass die absoluten Koordinaten des Endeffektors (105) bestimmt werden können;
    - eine Benutzerschnittstellenvorrichtung, die zur Steuerung des Gelenkarms durch einen Bediener konfiguriert ist;
    - eine Steuereinheit, die ein Speichermodul umfasst und mit den Aktuatoren, den Sensoren und der Benutzerschnittstellenvorrichtung operativ verbunden ist, wobei die Steuereinheit für die Durchführung der folgenden Aufgaben konfiguriert ist:
    ein Schritt zum Speichern einer Bewegung des Endeffektors (105), Folgendes umfassend:
    - Empfangen von Bewegungsanweisungen des Endeffektors (105) von der Benutzersch nittstellenvorrichtu ng;
    - Betätigen der Aktuatoren, so dass der Endeffektor (105) eine Bewegungssequenz ausführt, die den Bewegungsanweisungen entspricht;
    - Erfassen der Signale von den Sensoren, während der Bewegung, in mehreren aufeinanderfolgenden, voneinander beabstandeten Abtastzeitpunkten;
    - Bestimmen, anhand der Signale der Sensoren, der absoluten Koordinaten des Endeffektors (105) in jedem Abtastzeitpunkt;
    - Speichern, im Speichermodul, der absoluten Koordinaten des Endeffektors (105), die in jedem Abtastzeitpunkt bestimmt wurden, sowie der Aktuatoren, die zum Bewegen des Endeffektors (105) zwischen jeder bestimmten absoluten Koordinate und der im folgenden Abtastzeitpunkt bestimmten absoluten Koordinate verwendet werden;
    ein Schritt des Wiederausführens der Bewegung des Endeffektors (105), der in dem Speicherschritt gespeichert wurde, und zwar auf eine Anweisung zum automatischen Wiederausführen der gespeicherten Bewegung hin, und in mehreren Teilwiederausführungsperioden, die jeweils durch zwei aufeinanderfolgende Ausführungszeitpunkte begrenzt sind, die durch eine Teilwiederausführungszeit beabstandet sind, Folgendes umfassend:
    - Erfassen der Signale von den Sensoren im Wiederausführungszeitpunkt des Beginns jeder Teilwiederausführungsperiode;
    - Bestimmen der effektiven absoluten Koordinaten des Endeffektors (105) und der Konfiguration des Gelenkarms auf der Grundlage der genannten Signale von den Sensoren;
    - Vergleichen der effektiven absoluten Koordinaten des Endeffektors (105) mit den in jedem der Abtastzeitpunkte gespeicherten absoluten Koordinaten des Endeffektors (105);
    - wenn die effektiven absoluten Koordinaten des Endeffektors (105) mit einer der absoluten Koordinaten des Endeffektors, die in einem der Abtastzeitpunkte gespeichert sind, übereinstimmen, Betätigen der gespeicherten Aktuatoren zur Durchführung der Bewegung des Endeffektors in Richtung der im folgenden Abtastzeitpunkt gespeicherten absoluten Koordinate.
  2. System nach Anspruch 1, wobei der Schritt des Wiederausführens der Bewegung des Endeffektors (105) weiterhin Folgendes umfasst:
    - wenn auf der Grundlage der Konfiguration des Gelenkarms festgestellt wird, dass der Endeffektor (105) nicht in der Lage ist, die im folgenden Abtastzeitpunkt gespeicherte absolute Koordinate zu erreichen, weiteres Betätigen eines oder mehrerer zusätzlicher Aktuatoren nach einer vorgegebenen operativen Logik.
  3. System nach Anspruch 1 oder 2, wobei der Schritt des Speicherns der absoluten Koordinaten des Endeffektors (105) in dem Speichermodul ohne Speicherung der Konfiguration des Gelenkarms durchgeführt wird, die durch die Signale der Sensoren erhalten werden kann.
  4. System nach einem der vorhergehenden Ansprüche, wobei der Schritt des Speicherns der für die Bewegung des Endeffektors (105) verwendeten Aktuatoren in dem Speichermodul durchgeführt wird, ohne die Richtungen und Ausmaße der Bewegungen der Aktuatoren zu speichern.
  5. System nach einem der vorhergehenden Ansprüche, wobei der Schritt des Vergleichens der effektiven absoluten Koordinaten des Endeffektors (105) mit den absoluten Koordinaten des Endeffektors (105), die in jedem der Abtastzeitpunkte gespeichert sind, mit einer vordefinierten Toleranz durchgeführt wird.
  6. System nach einem der vorhergehenden Ansprüche, wobei der Schritt des Wiederausführens der Bewegung des Endeffektors (105), wenn die effektiven absoluten Koordinaten des Endeffektors (105) nicht mit einer der absoluten Koordinaten des Endeffektors übereinstimmen, die in einem der Abtastzeitpunkte gespeichert wurden, Folgendes umfasst:
    - Bestimmen der gesamten gespeicherten Bahn des Endeffektors (105);
    - wenn die effektive absolute Koordinate des Endeffektors (105) in einem Segment der Bahn liegt, das zwischen einer ersten und einer zweiten gespeicherten absoluten Koordinate zwischen zwei folgenden Abtastzeitpunkten liegt, Betätigen der gespeicherten Aktuatoren zur Durchführung der Bewegung des Endeffektors (105) zwischen den beiden gespeicherten absoluten Koordinaten zwischen zwei folgenden Abtastzeitpunkten;
    - wenn aufgrund der Konfiguration des Gelenkarms festgestellt wird, dass der Endeffektor (105) nicht in der Lage ist, die zweite gespeicherte absolute Koordinate zu erreichen, Betätigen eines oder mehrerer weiterer Aktuatoren nach einer vorgegebenen operativen Logik.
  7. System nach dem vorhergehenden Anspruch, wobei der Schritt des Wiederausführens der Bewegung des Endeffektors (105), wenn die effektive absolute Koordinate des Endeffektors (105) außerhalb der gespeicherten Bahn liegt, ferner Folgendes umfasst:
    - Berechnen des Punktes der gespeicherten Bahn, der der effektiven absoluten Koordinate des Endeffektors (105) am nächsten liegt;
    - Betätigen der Aktuatoren nach einer vorgegebenen Logik, um den Endeffektor (105) zu diesem Punkt zu bewegen.
  8. System nach einem der vorhergehenden Ansprüche, wobei die Teilwiederausführungszeit gleich der Abtastzeit ist.
  9. System nach einem der vorhergehenden Ansprüche, wobei die Steuereinheit so konfiguriert ist, dass sie als Eingangsparameter eine gewünschte Gesamtwiederausführungszeit empfängt, wobei der Schritt des Wiederausführens der Bewegung des Endeffektors (105), wenn sich die gewünschte Gesamtwiederausführungszeit von der Gesamtzeit für die Bewegung des Endeffektors während des Speicherschritts unterscheidet, Folgendes umfasst:
    - Bestimmen der gespeicherten Bahn des Endeffektors (105);
    - Berechnen, auf der gespeicherten Bahn, von äquivalenten absoluten Koordinaten des Endeffektors, die den absoluten Koordinaten des Endeffektors entsprechen, die im Schritt der Speicherung der Bewegung erkannt würden, wenn der Endeffektor die bestimmte Bahn in der gewünschten Gesamtwiederausführungszeit ausgeführt hätte;
    - Einstellen der absoluten gespeicherten Koordinaten des Endeffektors gleich den genannten äquivalenten absoluten Koordinaten.
  10. System nach dem vorhergehenden Anspruch, wobei der Schritt des Wiederausführens der Bewegung des Endeffektors (105) weiterhin Folgendes umfasst:
    - wenn die gewünschte Gesamtwiederausführungszeit größer als die Gesamtzeit der Bewegung des Endeffektors während des Speicherschritts ist, Speichern der gespeicherten Aktuatoren für jede äquivalente absolute Koordinate entlang des Segments der Bahn, auf dem die äquivalente absolute Koordinate liegt;
    - wenn die gewünschte Gesamtwiederausführungszeit kürzer als die Gesamtzeit der Bewegung des Endeffektors während des Speicherschritts ist, Speichern, für jede äquivalente absolute Koordinate, der Aktuatoren, die in dem Segment der Bahn, auf dem die äquivalente absolute Koordinate liegt, und in allen vorhergehenden Segmenten verwendet wurden.
  11. System nach einem der vorhergehenden Ansprüche, wobei die Steuereinheit so konfiguriert ist, dass sie eine Regelung der Bahn zwischen einer ersten absoluten Koordinate und einer zweiten absoluten Koordinate des Endeffektors (105) durchführt.
  12. System nach einem der vorhergehenden Ansprüche, wobei die absoluten Koordinaten des Endeffektors (105) absolute kartesische Koordinaten in einem dreidimensionalen Raum sind.
  13. System nach einem der vorhergehenden Ansprüche, wobei der Gelenkarm (101) einen Gelenkkran umfasst.
  14. System nach dem vorhergehenden Anspruch, wobei der Gelenkkran Folgendes umfasst:
    eine Säule (102), die sich um ihre Achse dreht, einen Hauptarm (103'), der sich um die Säule (102) dreht, einen Sekundärarm (103"), der sich um den Hauptarm (103') dreht und mindestens eine Verlängerung umfasst, die von dem Sekundärarm selbst translativ ausfahrbar ist, und
    wobei die mehreren Sensoren Folgendes umfassen: einen Winkelsensor zum Messen der Drehung der Säule (102) um ihre Achse, einen Winkelsensor zum Messen der Drehung des Hauptarms (103'), einen Winkelsensor zum Messen der Drehung des Sekundärarms (103"), einen Linearsensor zum Messen der Verschiebung der Verlängerung (104) von dem Sekundärarm (103").
EP19150837.3A 2018-04-19 2019-01-08 System zum automatischen bewegen eines gelenkarms, insbesondere eines ladekrans Active EP3556709B1 (de)

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US12473178B2 (en) 2021-09-06 2025-11-18 Komatsu Forest Ab Crane with crane control

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EP3556709A1 (de) 2019-10-23
PL3556709T3 (pl) 2020-09-21
IT201800004719A1 (it) 2019-10-19
ES2787053T3 (es) 2020-10-14
DK3556709T3 (da) 2020-04-06

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