CN106586354B - Access device for heavy duty stacker - Google Patents
Access device for heavy duty stacker Download PDFInfo
- Publication number
- CN106586354B CN106586354B CN201610965475.3A CN201610965475A CN106586354B CN 106586354 B CN106586354 B CN 106586354B CN 201610965475 A CN201610965475 A CN 201610965475A CN 106586354 B CN106586354 B CN 106586354B
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- Prior art keywords
- drag hook
- protective shell
- plate
- gear
- access device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The access device that the invention discloses a kind of on heavy duty stacker, including mobile device, plug-type access device, two access module limiting devices, roller cage and several rollers；Several rollers are sequentially fixed in roller cage, are constituted and are rolled platform, and mobile device setting is on rolling platform, and on the mobile device, two access module limiting devices are symmetricly set between mobile device and roller cage for plug-type access device setting.Access mode of the invention has abandoned traditional formula access mode of cupping one hand in the other before the chest, and uses instead in conjunction with the plug-type access mode for rolling platform, solves the problems, such as the carrying of the medium and heavy cargo of tiered warehouse facility, structure is simple, high reliablity.
Description
Technical field
The present invention relates to storage facilities, and in particular to a kind of access device for heavy duty stacker.
Background technique
With the continuous propulsion of industrial automation technology, automated job becomes the main trend of industrial development, logistics
It is unexceptional.For heavy goods (10T or more), the main carrying means of domestic logistics are manually to use gantry crane by cargo at present
Another point is transported to from a bit.The automatic stereowarehouse of this heavyweight is quite few at home, and Liu Changqi is in " warehousing system facility
Equipment selection and design " in a text, a kind of piler access device that conventional stereo warehouse is equipped with is disclosed, for formula of cupping one hand in the other before the chest,
Its operating procedure is usually that piler moves to corresponding warehouse compartment, protrudes horizontally up and cups one hand in the other before the chest, backtracking again of cupping one hand in the other before the chest after jacking up cargo, will
Cargo is transported on piler from warehouse compartment.But tradition is cupped one hand in the other before the chest, formula access device is generally only applicable to removing for medium and small heavy weight goods
Fortune almost jacks up heavy goods structure of cupping one hand in the other before the chest, while the operating efficiency of artificial gantry crane operation is also at a fairly low.
Summary of the invention
The purpose of the present invention is to provide a kind of access device for heavy duty stacker, solves tradition and cup one hand in the other before the chest formula stacking
The problem of cantilever strength of cupping one hand in the other before the chest when machine access heavy goods is excessive, leads to not access.
The technical solution for realizing the aim of the invention is as follows: a kind of access device for heavy duty stacker, including movement
Device, plug-type access device, two access module limiting devices, roller cage and several rollers；Several rollers according to
It is secondary to be fixed in roller cage, it constitutes and rolls platform, mobile device setting is on rolling platform, plug-type access device setting
On the mobile device, two access module limiting devices are symmetricly set between mobile device and roller cage.
The mobile device includes mobile drive deivce, drive shaft, driven shaft, bottom plate, four gears, three gear protections
Shell, two toothed racks, the first axle body protective shell, the second axle body protective shell, four end caps and two rack gear mounting racks；Two rack gear peaces
It shelves and is respectively symmetrically fixed on cylinder support top of the trellis, rack gear is fixed on rack gear mounting rack, and bottom plate is surrounded by side plate, mutually
Parallel drive shaft and driven shaft be each passed through with the vertically disposed two blocks of side plates of roller, drive shaft and driven shaft both ends are equipped with
Gear is engaged by wheel and rack, and end cap, the axial displacement for limiting gear are equipped on the outside of gear；The first axle body protection
Shell and the second axle body protective shell parallel interval are fixed on bottom plate, and thermal window is provided at the top of the second axle body protective shell, mobile to drive
Dynamic device is fixed on the first axle body protective shell；The gear and drive shaft and the ipsilateral tooth of the second axle body protective shell at driven shaft both ends
Gear protective shell is respectively equipped on wheel；Plug-type access device is fixed on bottom plate.
Compared with prior art, the present invention its remarkable advantage is:
(1) mode of transport that the present invention uses is most intuitively to push or pull on mode, and part is few, and structure is simple.
(2) pulling device be equipped with spring drag hook is become in operation process can automatic adjustable, pull movement operation
Steadily, the unnecessary damage of drag hook is avoided, is improved service life.
(3) heavy duty stacker access device of the invention runs smoothly reliably, is suitble to working continuously for heavy type tiered warehouse facility.
(4) transport operation of heavy goods is realized, provides a kind of new mode of transport, section for heavy goods tiered warehouse facility
Human-saving material resources improve operating efficiency.
Detailed description of the invention
Fig. 1 is structure top view of the present invention for the access device of heavy duty stacker.
Fig. 2 is three dimensional structure diagram of the present invention for the access device of heavy duty stacker.
Fig. 3 is top view of the present invention for the mobile device of the access device of heavy duty stacker.
Fig. 4 is front view of the present invention for the mobile device of the access device of heavy duty stacker.
Fig. 5 is top view of the present invention for the plug-type access device of the access device of heavy duty stacker.
Fig. 6 is front view of the present invention for the plug-type access device of the access device of heavy duty stacker.
Fig. 7 is three dimensional structure diagram of the present invention for the modulus block limiting device of the access device of heavy duty stacker.
Fig. 8 is front view of the present invention for the access module limiting device of the access device of heavy duty stacker.
Fig. 9 is partial enlargement diagram of the present invention for the access device of heavy duty stacker, wherein figure (a) is heavy heap
The partial left side view of the access device of stack machine, figure (b) are the partial enlargement diagram for scheming access module limiting device in (a).
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In conjunction with Fig. 1 ~ 9, a kind of access device for heavy duty stacker, including mobile device 2, plug-type access device 5,
Two access module limiting devices 7, roller cage and several rollers 1(are for 11).11 rollers 1 are sequentially fixed at
It in roller cage, constitutes and rolls platform, for transmitting cargo, the setting of mobile device 2 is on rolling platform, plug-type access dress
5 settings are set in mobile device 2, two access module limiting devices 7 be symmetricly set on mobile device 2 and roller cage it
Between.
In conjunction with Fig. 3 and 4, the mobile device 2 includes mobile drive deivce, drive shaft 2-7, driven shaft 2-8, bottom plate 2-
12, four gear 2-9, three gear protective shells 10, two toothed rack 2-10, the first axle body protective shell 9-1, the second axle body protective shell
9-2, four end cap 2-11 and two rack gear mounting racks 3.Two rack gear mounting racks 3, which are respectively welded, is symmetrically fixed on roller cage
Top, rack gear 2-10 are fixed by screws on rack gear mounting rack 3, and bottom plate 2-12 is surrounded by side plate, the driving being parallel to each other
Axis 2-7 and driven shaft 2-8 be each passed through with 1 vertically disposed two block of side plate of roller, drive shaft 2-7 and the both ends driven shaft 2-8 are equal
It is cased with gear 2-9, is engaged by gear 2-9 with rack gear 2-10, so that gear 2-9 walks on rack gear 2-10.On the outside of gear 2-9
Axial displacement equipped with end cap 2-11, for limiting gear 2-9.The first axle body protective shell 9-1 and the second axle body protective shell 9-2 is flat
Row interval is fixed by screws on bottom plate 2-12, for protecting drive shaft 2-7 and driven shaft 2-8, the second axle body protective shell 9-2
Top is provided with thermal window, and mobile drive deivce is fixed on the first axle body protective shell 9-1.The gear 2-9 at the both ends driven shaft 2-8
Gear protective shell 10 is respectively equipped with on drive shaft 2-7 and the second axle body protective shell 9-2 ipsilateral gear 2-9.Plug-type access
Device 5 is fixed on bottom plate 2-12.
In conjunction with Fig. 3 and Fig. 4, the mobile drive deivce includes decelerating motor 2-1, torque limiter 2-6, active synchronization wheel
2-3, synchronous belt 2-5 and tensioning synchronizing wheel 2-4.Tensioning synchronizing wheel 2-4, which is covered, does not set the one of gear protective shell 10 in drive shaft 2-7
End is tensioned synchronizing wheel 2-4 between gear 2-9 and end cap 2-11, the output shaft 2-2 and torque limiter of decelerating motor 2-1
2-6 connection, active synchronization wheel 2-3 are connected together by the flange on torque limiter 2-6 with it, the output of decelerating motor 2-1
Axis 2-2 is located above drive shaft 2-7, and synchronous belt 2-5 covers on active synchronization wheel 2-3 and tight synchronizing wheel 2-4, to make the electricity that slows down
The power of machine 2-1 obtains for delivery on drive shaft 2-7.
In conjunction with Fig. 5 and Fig. 6, the plug-type access device 5 includes driving motor 5-1, the first drag hook 5-3, the second drag hook
5-4, shaft 5-5,11, two bearing block 5-12 of drag hook protective shell, two drag hook mounting base 5-9, two drag hook bottom support plates
5-8, two drag hook locating piece 5-10, four spring 5-7, two spring support seat 5-6, four U-shaped push plates 4 and four short distances
Sensor 5-11.Drag hook protective shell 11 is fixed between the first axle body protective shell 9-1 and the second axle body protective shell 9-2, and first draws
Hook 5-3, the second drag hook 5-4, shaft 5-5, two bearing block 5-12, two drag hook mounting base 5-9, two drag hook bottom support plates
5-8, two drag hook locating piece 5-10, four spring 5-7 and two spring support seat 5-6 are arranged in drag hook protective shell 11.
Driving motor 5-1 is fixed by screws on bottom plate 2-12, and top passes through the second axle body protective shell 9-2 thermal window, driving
Bearing block 5-12 and drag hook mounting base 5-9, drag hook mounting base 5-9 are located at two axis there are two setting on the output shaft 5-2 of motor 5-1
It holds between a 5-12, with key connection between drag hook mounting base 5-9 and output shaft 5-2；First drag hook 5-3 passes through with the second drag hook 5-4
Shaft 5-5 and drag hook mounting base 5-9 is rotatablely connected, and the first drag hook 5-3 and the second drag hook 5-4 are located at drag hook mounting base 5-9
Front and back, two drag hook bottom support plate 5-8 pass through front and the back that screw is connected in drag hook mounting base 5-9 respectively
Face, and be respectively positioned below drag hook, the positioning for drag hook falling direction.Two drag hook locating piece 5-10 are symmetrically fixed by screw
On bottom plate 2-12, it is located at the lower section of the first drag hook 5-3 and the second drag hook 5-4, which is provided with switch, when drag hook mounting base
When 5-9 turns to the switch that drag hook touches on locating piece 5-10, driving motor 5-1 stops operating；Two spring support seat 5-6 are logical
Cross the front and back that screw is symmetrically fixed on the top drag hook mounting base 5-9；Two are respectively equipped on each spring support seat 5-6
Spring 5-7, the spring 5-7 other end is connect with drag hook, so that certain angle can be freely rotated in two drag hooks respectively.Bottom plate 2-12 and rolling
Four U-shaped push plates 4 are respectively fixed on the parallel two sides side wall of 1 central axis of cylinder, for pushing cargo 6 to be put in storage, U-shaped push plate 4 is opened
Mouth end and bottom plate 2-12 side wall are connected by screw, and closed end center is equipped with through-hole, and Proximity Sensor 5-11 setting is pushed away U-shaped
In plate 4, induction part is stretched out through the through-hole of U-shaped push plate 4, whether arrived push-and-pull position for incuding.On 6 side wall of cargo
Equipped with U-shaped hook plate 6-1, for being docked with the first drag hook 5-3 and the second drag hook 5-4.
The cross section of the rack gear mounting rack 3 is L-type.
In conjunction with Fig. 7 to Fig. 9, the access module limiting device 7 includes limit plate 7-1, several lateral multi-directional ball 7-2
(for 31) and several bottoms multi-directional ball 7-3(are for 31).31 lateral multi-directional ball 7-2 are successively set on rack gear
On the lateral wall of mounting rack 3；31 bottom multi-directional ball 7-3 are successively set on the lower section of 3 extension of rack gear mounting rack；Limit plate
Part 7-1 is bending part, including sequentially connected first plate, the second plate, third plate and fourth panel, they are integrated system
It makes, the first plate is fixed on bottom plate 2-12 and axis body protective shell, and the second plate and the gear protective shell 10 at the top of it are connected, the
Three plate inner walls are contacted with lateral multi-directional ball 7-2, and fourth panel is contacted with bottom multi-directional ball 7-3, when access goods movement process
In, if whole device is shifted by longitudinal force or cross force, multi-directional ball can effectively keep whole device in correct track
Upper correct walking.
In conjunction with Fig. 1 ~ 2, when this state is that cargo hook is taken and be moved on access device by access device, this access device
It for heavy goods, and requires the corresponding position on cargo that hook plate is installed, roller is installed in each warehouse compartment bottom of shelf, that is, is wanted
It asks with drum-type shelf.Two drag hooks of access device can realize the right and left bidirectional access cargo.
In conjunction with Fig. 5 and Fig. 6, the effect of spring 5-7 is described.The entire access device is one of piler
Point, and piler needs a jacking system, when cargo largely enters piler, the buffer unit of jacking system can be caused
As soon as piler is made to have a downward thin tail sheep, this, which causes to hook, takes the drag hook on cargo to need to be flexibly connected, and be rigidly connected meeting
Cause service life of a machine to shorten, or even directly crumble, what spring 5-7 was provided is exactly drag hook flexible connection.
In conjunction with Fig. 1 ~ 8, it is described by taking the right cargo in access device access figure as an example.When needing picking, slow down electricity
Machine 2-1 obtains signal and starts turning, and power passes to drive shaft 2-7 by driving device 2, drives entire access device to right travel
When sensing to Proximity Sensor 5-11 close to cargo, i.e., when U-shaped push plate 4 touches cargo, driving motor 5-1 obtains signal and opens
Beginning, driving motor 5-1 stopped operating when turning to the switch that drag hook mounting base 5-9 is touched on drag hook locating piece 5-10, and at this time the
One drag hook 5-3 has been hooked into the hook plate 6-1 on cargo 6, and decelerating motor 2-1 obtains signal and rotates backward, and drag hook pulls cargo 6 to move
It moves and rolls corresponding position on platform.Hereafter piler, which is moved to, needs the position of cargo to carry out stock, first driving motor 5-1
It obtains signal to pull out the first drag hook 5-3, rotates backward extreme position, i.e. the second drag hook 5-4 touches left side drag hook locating piece
The button of 5-10, then decelerating motor 2-1 is rotated, and cargo 6 is pushed into required position by U-shaped push plate 4, is then returned, thus
One circulation terminates.
The above case study on implementation is designed by heavy automatic stereowarehouse, is a part of piler in tiered warehouse facility,
Need to be with traditional drum-type shelf, piler elevating mechanism, piler walking mechanism, which is used together, can embody its practical significance.
Claims (4)
1. a kind of access device for heavy duty stacker, it is characterised in that: including mobile device (2), plug-type access device
(5), two access module limiting devices (7), roller cage and several rollers (1)；Several rollers (1) are sequentially fixed at
It in roller cage, constitutes and rolls platform, on rolling platform, plug-type access device (5) setting exists for mobile device (2) setting
In mobile device (2), two access module limiting devices (7) are symmetricly set between mobile device (2) and roller cage；
The mobile device (2) includes mobile drive deivce, drive shaft (2-7), driven shaft (2-8), bottom plate (2-12), four teeth
Take turns (2-9), three gear protective shells (10), two toothed racks (2-10), the first axle body protective shell (9-1), the second axle body protective shell
(9-2), four end caps (2-11) and two rack gear mounting racks (3)；Two rack gear mounting racks (3) are respectively symmetrically fixed on roller branch
At the top of support, rack gear (2-10) is fixed on rack gear mounting rack (3), and bottom plate (2-12) is surrounded by side plate, the drive being parallel to each other
Moving axis (2-7) and driven shaft (2-8) are each passed through and roller (1) vertically disposed two blocks of side plates, drive shaft (2-7) and driven shaft
The both ends (2-8) are equipped with gear (2-9), are engaged by gear (2-9) with rack gear (2-10), and end cap is equipped on the outside of gear (2-9)
(2-11) is used for the axial displacement of limiting gear (2-9)；The first axle body protective shell (9-1) and the second axle body protective shell (9-2) are flat
Row interval is fixed on bottom plate (2-12), is provided with thermal window at the top of the second axle body protective shell (9-2), mobile drive deivce is fixed
On the first axle body protective shell (9-1)；The gear (2-9) and drive shaft (2-7) and the second axle body at the both ends driven shaft (2-8) are protected
Gear protective shell (10) are respectively equipped on the ipsilateral gear (2-9) of shell (9-2)；Plug-type access device (5) is fixed on bottom plate (2-
12) on；
The plug-type access device (5) includes driving motor (5-1), the first drag hook (5-3), the second drag hook (5-4), shaft
11, two bearing blocks (5-12) of (5-5), drag hook protective shell, two drag hook mounting bases (5-9), two drag hook bottom support plate (5-
8), two drag hook locating pieces (5-10), four springs (5-7), two spring support seats (5-6), four U-shaped push plates (4) and four
A Proximity Sensor (5-11)；Drag hook protective shell 11 is fixed on the first axle body protective shell (9-1) and the second axle body protective shell (9-
2) between, the first drag hook (5-3), the second drag hook (5-4), shaft (5-5), two bearing blocks (5-12), two drag hook mounting bases
(5-9), two drag hook bottom support plates (5-8), two drag hook locating pieces (5-10), four springs (5-7) and two spring branch
Support seat (5-6) is arranged in drag hook protective shell 11；Driving motor (5-1) is fixed on bottom plate (2-12), and top passes through the
Two axis body protective shell (9-2) thermal windows, set on the output shaft (5-2) of driving motor (5-1) there are two bearing block (5-12) and
Drag hook mounting base (5-9), drag hook mounting base (5-9) are located between two bearing blocks (5-12), drag hook mounting base (5-9) and output
With key connection between axis (5-2)；First drag hook (5-3) and the second drag hook (5-4) pass through shaft (5-5) and drag hook mounting base (5-9)
Rotation connection, the first drag hook (5-3) and the second drag hook (5-4) are located at the front and back of drag hook mounting base (5-9), and two
The front and back in drag hook mounting base (5-9) is respectively fixedly connected in drag hook bottom support plate (5-8), and is respectively positioned below drag hook, uses
In the positioning of drag hook falling direction；Two drag hook locating pieces (5-10) are symmetrically fixed on bottom plate (2-12), are located at first
The lower section of drag hook (5-3) and the second drag hook (5-4), which is provided with switch, determine when drag hook mounting base (5-9) turns to drag hook and touches
When switch on position block (5-10), driving motor (5-1) stops operating；Two spring support seats (5-6) are symmetrically fixed on drag hook
The front and back on the top mounting base (5-9)；Two springs (5-7), spring are respectively equipped on each spring support seat (5-6)
(5-7) other end is connect with drag hook, so that certain angle is freely rotated in two drag hooks respectively；Bottom plate (2-12) and roller (1) center
Four U-shaped push plates (4) are respectively fixed on the parallel two sides side wall of axis, U-shaped push plate (4) open end and bottom plate (2-12) side wall are solid
Even, closed end center is equipped with through-hole, and Proximity Sensor (5-11) setting is in U-shaped push plate (4), and induction part is through U-shaped
The through-hole of push plate (4) stretches out, and whether arrived push-and-pull position for incuding；Cargo (6) side wall is equipped with U-shaped hook plate (6-1), uses
It is docked in the first drag hook (5-3) and the second drag hook (5-4).
2. the access device according to claim 1 for heavy duty stacker, it is characterised in that: the rack gear mounting rack
(3) cross section is L-type.
3. the access device according to claim 1 for heavy duty stacker, it is characterised in that: the mobile drive deivce
Including decelerating motor (2-1), torque limiter (2-6), active synchronization wheel (2-3), synchronous belt (2-5) and tensioning synchronizing wheel (2-
4)；Tensioning synchronizing wheel (2-4), which is covered, does not set one end of gear protective shell (10) in drive shaft (2-7), and tensioning synchronizing wheel (2-4) is located at
Between gear (2-9) and end cap (2-11), the output shaft 2-2 of decelerating motor (2-1) is connect with torque limiter (2-6), actively
Synchronizing wheel (2-3) is by the flange on torque limiter (2-6) and is connected, and the output shaft 2-2 of decelerating motor (2-1) is located at driving
Above axis (2-7), synchronous belt (2-5) covers in active synchronization wheel (2-3) and tight synchronizing wheel (2-4), to make decelerating motor (2-
1) power obtains for delivery on drive shaft (2-7).
4. the access device according to claim 1 for heavy duty stacker, it is characterised in that: the access module limit
Device (7) includes limit plate (7-1), several lateral multi-directional balls (7-2) and several bottom multi-directional balls (7-3)；Several
Lateral multi-directional ball (7-2) is successively set on the lateral wall of rack gear mounting rack (3)；Several bottom multi-directional balls (7-3) are successively set
It sets in the lower section of rack gear mounting rack (3) extension；Plate (7-1) is limited as bending part, including sequentially connected first plate,
Second plate, third plate and fourth panel, the first plate are fixed on bottom plate (2-12) and axis body protective shell, the second plate with
Gear protective shell (10) at the top of it is connected, and third plate inner wall is contacted with lateral multi-directional ball (7-2), fourth panel and bottom ten thousand
It is contacted to ball (7-3), it is universal if whole device is shifted by longitudinal force or cross force during accessing goods movement
Ball can effectively keep whole device correctly to walk on the right track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610965475.3A CN106586354B (en) | 2016-11-01 | 2016-11-01 | Access device for heavy duty stacker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610965475.3A CN106586354B (en) | 2016-11-01 | 2016-11-01 | Access device for heavy duty stacker |
Publications (2)
| Publication Number | Publication Date |
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| CN106586354A CN106586354A (en) | 2017-04-26 |
| CN106586354B true CN106586354B (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610965475.3A Active CN106586354B (en) | 2016-11-01 | 2016-11-01 | Access device for heavy duty stacker |
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| CN (1) | CN106586354B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573431B (en) * | 2018-11-27 | 2021-04-20 | 中民筑友科技投资有限公司 | Automatic access elevator and automatic access lifting system |
| CN113233166A (en) * | 2021-05-13 | 2021-08-10 | 哈尔滨岛田大鹏工业股份有限公司 | Material pushing and conveying device for various marine engine cylinder bodies |
| CN117483247B (en) * | 2024-01-03 | 2024-03-01 | 江苏跋涉智能设备有限公司 | Turntable type express sorting equipment capable of classifying, identifying and inducing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4218193A1 (en) * | 1992-06-03 | 1993-12-09 | Heinrich Langhammer | Pulling out pallets stacked in frame - involves journals at crank ends of lift frame engaging in downwardly opening U-rails attached to underneath of pallets across their direction of movement |
| GB2283739B (en) * | 1993-11-05 | 1997-12-10 | Rack Eng | Improvements relating to rack storage systems |
| JP5835556B2 (en) * | 2011-07-20 | 2015-12-24 | 株式会社Ihi | Transfer device and transfer method |
| WO2016092019A1 (en) * | 2014-12-10 | 2016-06-16 | Swisslog Evomatic Gmbh | Load-receiving device |
| CN204845950U (en) * | 2015-08-25 | 2015-12-09 | 徐州工程学院 | One -way couple braking formula mine car |
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| CN106586354A (en) | 2017-04-26 |
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