CN110615376B - Pallet lifting mechanism of shuttle trolley - Google Patents
Pallet lifting mechanism of shuttle trolley Download PDFInfo
- Publication number
- CN110615376B CN110615376B CN201910722519.3A CN201910722519A CN110615376B CN 110615376 B CN110615376 B CN 110615376B CN 201910722519 A CN201910722519 A CN 201910722519A CN 110615376 B CN110615376 B CN 110615376B
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- Prior art keywords
- swing rod
- groove
- left front
- lifting
- gear
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Classifications
-
- 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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0641—Single levers, e.g. parallel links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Handcart (AREA)
Abstract
The invention discloses a tray lifting mechanism of a shuttle trolley, which solves the problem that the existing shuttle trolley is easy to fall back freely in the travelling process. The four-bar mechanism with a parallelogram shape is used as a lifting mechanism to replace the traditional eccentric wheel lifting mechanism, the frame of the shuttle trolley is used as the bottom edge of the four-bar mechanism, the top edge of the four-bar mechanism is used as an actuating mechanism of the jacking tray, and the parallel left-right swinging upright rods are pushed by a gear rack mechanism to realize swinging; when lifting, the gear rack mechanism pushes the two parallel swinging upright rods to pass through the 90-degree vertical position formed by the two swinging upright rods and the carriage plate of the shuttle carriage, and then the two swinging upright rods are limited by the fixed limiting block, so that the lifting position is fixed, the two swinging upright rods pass through the 90-degree vertical position limiting, the self falling of the four-bar mechanism is fundamentally avoided, and the phenomenon that the carriage is left in the middle when the shuttle carriage is used for transporting cargoes is avoided.
Description
Technical Field
The invention relates to a shuttle transfer trolley in a high-density stereoscopic warehouse of a pallet, in particular to a pallet lifting mechanism on the shuttle transfer trolley.
Background
The goods shelves in the high-density intelligent storage system are generally multi-layer three-dimensional frames, trays are movably arranged on two supporting beams of a frame type goods space, stored goods are placed in the trays, a shuttle trolley travelling rail is arranged between the inner sides of the two supporting beams of the goods shelves type goods space right below the trays, shuttle trolleys are arranged on the two shuttle trolley travelling rails, a lifting mechanism of the tray is arranged on a vehicle body of the shuttle trolleys, after the shuttle trolleys enter a goods carrying position, the lifting mechanism of the shuttle trolleys is lifted, the trays and the goods on the trays are lifted to a certain height together, so that the trays are separated from the two supporting beams of the goods shelves, then the shuttle trolleys carry the trays and the goods, after the goods travel to a goods carrying position, the lifting mechanism of the shuttle trolleys falls down, the trays and the goods on the two supporting beams of the goods shelves, and the shuttle trolleys leave after the shuttle trolleys leave. The lifting mechanism on the existing shuttle trolley mainly comprises a lifting plate and an eccentric wheel group below the lifting plate, the lifting mechanism is driven by a motor to rotate the eccentric wheel group by a certain angle, so that an axle of the eccentric wheel group is lifted to a lifting position, a tray above a trolley body is lifted, at the moment, the furthest point on the wheel surface of the eccentric wheel is propped against the lower bottom surface of the lifting plate, in theory, the center point of the axle of the eccentric wheel and the furthest point on the wheel surface of the eccentric wheel are positioned on the same vertical line, the vertical line of the gravity center of goods on the tray passes through the same vertical line, the shuttle trolley is in a stable state in the process of carrying the goods, but due to the control deviation of a driving motor of the eccentric wheel group, and the shaking of the goods in the process of the trolley, the center point of the axle of the eccentric wheel and the furthest point on the wheel surface of the eccentric wheel are often formed between the two points, and the gravity center of a moment is formed between the two points, so that the lifting mechanism freely falls back under the action of the moment in the middle of the moment in the travelling process of the shuttle trolley, the shuttle trolley is caused to leave the goods in the process of carrying the goods, and the goods in the process of leaving in the transportation of the shuttle trolley is caused.
Disclosure of Invention
The invention provides a tray lifting mechanism of a shuttle trolley, which solves the technical problem that the existing shuttle trolley is easy to fall back freely in the travelling process.
The invention solves the technical problems by the following technical proposal:
the present general inventive concept: the four-bar mechanism with a parallelogram shape is used as a lifting mechanism to replace the traditional eccentric wheel lifting mechanism, the frame of the shuttle trolley is used as the bottom edge of the four-bar mechanism, the top edge of the four-bar mechanism is used as an actuating mechanism of the jacking tray, and the parallel left-right swinging upright rods are pushed by a gear rack mechanism to realize swinging; when lifting, the gear rack mechanism pushes the two parallel swinging upright rods to pass through the 90-degree vertical position formed by the two swinging upright rods and the carriage plate of the shuttle carriage, and then the two swinging upright rods are limited by the fixed limiting block, so that the lifting position is fixed, the two swinging upright rods pass through the 90-degree vertical position limiting, the self falling of the four-bar mechanism is fundamentally avoided, and the phenomenon that the carriage is left in the middle when the shuttle carriage is used for transporting cargoes is avoided.
The tray lifting mechanism of the shuttle trolley comprises a shelf support beam rear side guide rail and a shelf support beam front side guide rail, wherein the shuttle trolley is movably arranged between the shelf support beam rear side guide rail and the shelf support beam front side guide rail, a frame of the shuttle trolley consists of a rear groove-shaped frame, a front groove-shaped frame, a left frame and a right frame, a shuttle trolley rear side travelling wheel is arranged on the rear groove-shaped frame, a shuttle trolley front side travelling wheel is arranged on the front groove-shaped frame, a left front swing rod lower end pin shaft is arranged at the bottom of a left end groove of the front groove-shaped frame, a right front swing rod lower end pin shaft is arranged at the bottom of a right end groove of the front groove-shaped frame, a left front swing rod is hinged on the left front swing rod lower end pin shaft, a right front swing rod is hinged on the right front swing rod lower end pin shaft, an upper front connecting rod is hinged between the top of the left front swing rod and the top of the right front swing rod, a front groove inner sliding rail is arranged on the bottom surface of a groove of a front groove frame between a pin shaft at the lower end of a left front swing rod and a pin shaft at the lower end of a right front swing rod, a front groove inner sliding block is movably arranged on the front groove inner sliding rail, a left front pushing block is arranged at the left end of the front groove inner sliding block, a left front pushing roller wheel is arranged on the left front pushing block, the left front pushing roller wheel is movably propped against the left front swing rod, a left front pushing rack is arranged on the top surface of the front groove inner sliding block at the right side of the left front pushing block, a left front pushing gear is meshed on the left front pushing rack, a left front pushing gear shaft is arranged in a gear bearing of the left front pushing gear, the left front pushing gear shaft is connected with a driving gear after penetrating through a rear side plate of the front groove frame, a lifting motor fixing plate is fixedly arranged on the rear side plate of the front groove frame, a lifting driving motor is arranged on the lifting motor fixing plate, a main driving gear is arranged on an output shaft of the lifting driving motor, the main driving gear is meshed with the driving transmission gear; the rear groove frame is internally provided with a left rear push-and-lift mechanism which is the same as the front groove frame in structure and consists of a rear groove inner slide rail, a rear groove inner slide block, a left rear push-and-lift roller wheel, a left rear push-and-lift gear shaft and a left rear push-and-lift gear, and a coupling is connected between the left rear push-and-lift gear shaft and the left front push-and-lift gear shaft.
The inner side surface of the left frame is provided with a swing rod over-position baffle block, and when the left front swing rod is in abutting connection with the swing rod over-position baffle block, an over-position included angle between the central vertical line of the pin shaft at the lower end of the left front swing rod and the central axis of the left front swing rod is 3-5 degrees
According to the invention, the two sets of four-bar mechanisms are used for replacing the lifting mechanism of the eccentric wheel pair on the traditional shuttle trolley, the defect that the lifting mechanism is easy to fall back in the travelling process of the shuttle trolley is overcome, the lifting tray is stable in structure after being in place, the problem that the lifting mechanism falls back due to control errors of the lifting motor and gravity center deviation in the cargo transportation is effectively solved, and the transfer safety of the cargoes is ensured.
Drawings
FIG. 1 is a schematic view of the shuttle car of the present invention;
FIG. 2 is a schematic view of the tray lifting mechanism on the shuttle car of the present invention;
FIG. 3 is a diagram showing the coordination relationship between a four-bar lifting mechanism and a swing rod pushing mechanism in the lifting mechanism of the invention;
FIG. 4 is a schematic view of the four bar linkage of the present invention when the two pendulum rods are raised to a position perpendicular to the ground;
fig. 5 is a schematic structural view of the four-bar linkage lifting mechanism of the present invention after two swing arms are lifted in place.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
the tray lifting mechanism of the shuttle trolley comprises a shelf support beam rear side guide rail 1 and a shelf support beam front side guide rail, wherein the shuttle trolley is movably arranged between the shelf support beam rear side guide rail 1 and the shelf support beam front side guide rail, a frame of the shuttle trolley consists of a rear groove-shaped frame 2, a front groove-shaped frame 5, a left frame 8 and a right frame, a shuttle trolley rear side travelling wheel 4 is arranged on the rear groove-shaped frame 2, a shuttle trolley front side travelling wheel 7 is arranged on the front groove-shaped frame 5, four pairs of travelling wheels are symmetrically arranged on the outer side of the front groove-shaped frame 5 and the outer side of the rear groove-shaped frame 2 of the shuttle trolley, one pair of travelling wheels is a driving travelling wheel pair, the driving travelling wheel pair is connected with a main driving gear 26, two travelling wheels at the right end of the frame of the shuttle trolley are mutually connected into a wheel pair through a long shaft 3, and the other travelling wheels are connected onto the frame of the shuttle trolley through a short shaft 6; a left front swing rod lower end pin shaft 12 is arranged at the bottom of a left end groove of the front groove-shaped frame 5, a right front swing rod lower end pin shaft 14 is arranged at the bottom of a right end groove of the front groove-shaped frame 5, a left front swing rod 11 is hinged on the left front swing rod lower end pin shaft 12, a right front swing rod 13 is hinged on the right front swing rod lower end pin shaft 14, an upper front connecting rod 15 is hinged between the top end of the left front swing rod 11 and the top end of the right front swing rod 13, the left front swing rod 11, the upper front connecting rod 15, the right front swing rod 13 and the front groove-shaped frame 5 form a four-bar mechanism, the front groove-shaped frame 5 of the four-bar mechanism is motionless, and is used as a bottom connecting rod motionless in the four-bar mechanism, the other three swing rods hinged on the bottom connecting rod realize swinging in a plane vertical to a chassis, the left front swing rod 11 forms an acute angle state with the front groove-shaped frame 5 before lifting, and the acute angle formed by the left front swing rod 11 and the front groove-shaped frame 5 becomes a right angle when the lifting mechanism lifts; the lifting swing of the left front swing rod 11 is completed by a pushing mechanism in the front groove-shaped frame 5, and the pushing mechanism has the structure that: a front groove sliding rail 16 is arranged on the bottom surface of a groove of the front groove frame 5 between a pin shaft 12 at the lower end of a left front swing rod and a pin shaft 14 at the lower end of a right front swing rod, a front groove inner sliding block 17 is movably arranged on the front groove sliding rail 16, a left front push block 18 is arranged at the left end of the front groove inner sliding block 17, a left front push roller 19 is arranged on the left front push block 18, the left front push roller 19 is movably propped with the left front swing rod 11, a left front push rack 20 is arranged on the top surface of the front groove inner sliding block 17 at the right side of the left front push block 18, a left front push gear 21 is meshed with the left front push rack 20, a left front push gear shaft 22 is arranged in a gear bearing 23 of the left front push gear 21, the left front push gear shaft 22 is connected with a driving gear 25 after penetrating through the rear side plate of the front groove frame 5, a lifting motor fixing plate 9 is fixedly arranged on the rear side plate of the front groove frame 5, a driving motor 10 is arranged on the lifting motor fixing plate 9, a main gear 26 is arranged on the lifting motor output shaft of the lifting motor driving motor 10, and a main gear 26 is meshed with the driving gear 25; the rear groove-shaped frame 2 is internally provided with a left rear pushing and lifting mechanism which is the same as the front groove-shaped frame 5 in structure and consists of a rear groove inner slide rail, a left rear pushing and lifting roller wheel, a left rear pushing and lifting gear shaft and a left rear pushing and lifting gear, and a coupling 24 is connected between the left rear pushing and lifting gear shaft and the left front pushing and lifting gear shaft 22; the lifting driving motor 10 is controlled to rotate, the main driving gear 26 transmits the pushing force to the driving transmission gear 25, the driving transmission gear 25 drives the left front lifting gear 21 to rotate clockwise, so that the left front lifting rack 20 moves leftwards, the left front lifting rack 20 drives the front inner sliding block 17 to move leftwards along the front inner sliding rail 16, the left front lifting roller 19 at the left end of the front inner sliding block 17 pushes the left front swinging rod 11 leftwards, and the left front swinging rod 11 swings leftwards to lift the upper front connecting rod 15; the lifting mechanism in the rear groove-shaped frame 2 with the identical structure lifts the upper rear connecting rod at the same time, and the upper front connecting rod 15 and the upper rear connecting rod lift the pallet together, so that the pallet and the goods on the pallet are separated from the two support beams of the goods shelf, and the lifting of the pallet and the goods before the shuttle trolley is transferred is realized.
The inner side surface of the left frame 8 is provided with a swing rod over-position baffle 27, and when the left front swing rod 11 is in abutting connection with the swing rod over-position baffle 27, an over-position included angle 30 between a central vertical line 28 of a pin shaft 12 at the lower end of the left front swing rod and a central axis 29 of the left front swing rod 11 is 3-5 degrees; the lifting process of the lifting mechanism is completed when the left front swing rod 11 and the left rear swing rod form an acute angle to an obtuse angle of 93-95 degrees with the trolley underframe, as the left front swing rod 11 passes through the position at right angles with the trolley underframe at the arrival point, goods are eccentric or other moments affecting the swing of the swing rod, the swing rod can only swing leftwards and cannot swing rightwards, the swing rod excessive stop 27 is propped against the left side surface of the left front swing rod 11, the limit of the left front swing rod 11 is realized, and the swing rod cannot fall back in the moving process of the shuttle trolley; a hook is arranged between the left front swing rod 11 and the left front pushing roller 19, after the left front swing rod 11 is lifted in place, the hook is used for hanging the left front swing rod 11 and the left front pushing block 18 together, when the shuttle trolley conveys the pallet and goods to the unloading position, the left front pushing block 18 moves rightwards, the hook is used for pulling the left front swing rod 11 rightwards, the left front swing rod forms an acute angle state from an acute angle state with the trolley underframe to an obtuse angle state of 93-95 degrees, then the left front swing rod 11 falls back under the gravity action of goods, the upper front connecting rod 15 and the upper rear connecting rod fall down, the pallet is placed on two support beams of the goods shelf at the unloading position, and then the shuttle trolley moves to the next working position.
Claims (2)
1. The tray lifting mechanism of the shuttle trolley comprises a shelf support beam rear side guide rail (1) and a shelf support beam front side guide rail, wherein the shuttle trolley is movably arranged between the shelf support beam rear side guide rail (1) and the shelf support beam front side guide rail, a frame of the shuttle trolley consists of a rear groove-shaped frame (2), a front groove-shaped frame (5), a left frame (8) and a right frame, a shuttle trolley rear side travelling wheel (4) is arranged on the rear groove-shaped frame (2), a shuttle trolley front side travelling wheel (7) is arranged on the front groove-shaped frame (5), a left front swing rod lower end pin shaft (12) is arranged at the bottom in a left end groove of the front groove-shaped frame (5), a right front swing rod lower end pin shaft (14) is arranged at the bottom in a right end groove of the front groove-shaped frame (5), a left front swing rod lower end pin shaft (12) is hinged on the left front swing rod (11), a right front swing rod (13) is hinged on the right front swing rod lower end pin shaft (14), an upper end of the left front swing rod (11) is hinged on the top end of the right front groove-shaped frame (13), a front sliding block (16) is connected between the top end of the left front swing rod lower end pin shaft (13) and the front end of the left swing rod lower end pin shaft (16), a front sliding block (16) is arranged in the front groove (16) in the front groove (5), a left front push block (18) is provided with a left front push roller (19), the left front push roller (19) is movably propped against a left front swing rod (11), a left front push rack (20) is arranged on the top surface of a front groove inner slide block (17) on the right side of the left front push block (18), a left front push gear (21) is meshed with the left front push rack (20), a left front push gear shaft (22) is arranged in a gear bearing of the left front push gear (21), the left front push gear shaft (22) passes through a rear side plate of a front groove frame (5) and is connected with a driving transmission gear (25), a lifting motor fixing plate (9) is fixedly arranged on a rear side plate of the front groove frame (5), a lifting driving motor (10) is arranged on the lifting motor fixing plate (9), a main driving gear (26) is arranged on an output shaft of the lifting driving motor (10), and the main driving gear (26) is meshed with the driving transmission gear (25); the rear groove-shaped frame (2) is internally provided with a left rear pushing and lifting mechanism which is identical to the front groove-shaped frame (5) in structure and consists of a rear groove inner sliding rail, a left rear pushing and lifting roller wheel, a left rear pushing and lifting gear shaft and a left rear pushing and lifting gear, and a coupling (24) is connected between the left rear pushing and lifting gear shaft and the left front pushing and lifting gear shaft (22).
2. The tray lifting mechanism of the shuttle trolley according to claim 1, wherein a swing rod over-position baffle (27) is arranged on the inner side surface of the left frame (8), and when the left front swing rod (11) is abutted with the swing rod over-position baffle (27), an over-position included angle (30) between a center vertical line (28) of a pin shaft (12) at the lower end of the left front swing rod and a central axis (29) of the left front swing rod (11) is 3-5 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910722519.3A CN110615376B (en) | 2019-08-06 | 2019-08-06 | Pallet lifting mechanism of shuttle trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910722519.3A CN110615376B (en) | 2019-08-06 | 2019-08-06 | Pallet lifting mechanism of shuttle trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110615376A CN110615376A (en) | 2019-12-27 |
| CN110615376B true CN110615376B (en) | 2023-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910722519.3A Active CN110615376B (en) | 2019-08-06 | 2019-08-06 | Pallet lifting mechanism of shuttle trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110615376B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212049253U (en) * | 2020-04-17 | 2020-12-01 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
| CN112978187B (en) * | 2021-03-15 | 2023-08-15 | 广州市鸿浩光电半导体有限公司 | Intelligent shuttle trolley applied to stacker and application method of intelligent shuttle trolley |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09150913A (en) * | 1995-11-30 | 1997-06-10 | Komatsu Forklift Co Ltd | Maintenance elevator device for stacker crane |
| DE20307005U1 (en) * | 2002-05-30 | 2003-08-21 | Manitec Consulting Ag, Horw | Powered pallet trolley for automated warehouse has a lever-operated gear also linked to the motor and lifting platform |
| CN102689761A (en) * | 2012-06-19 | 2012-09-26 | 上海英锋工业设备有限公司 | Remotely-controlled shuttle car |
| CN205076347U (en) * | 2015-06-03 | 2016-03-09 | 江苏高科物流科技股份有限公司 | Dolly and automatic stereo warehouse shuttle back and forth |
| CN108147033A (en) * | 2018-01-30 | 2018-06-12 | 合肥工业大学 | A kind of two level boom shuttle with rack-and-pinion |
| CN210340204U (en) * | 2019-08-06 | 2020-04-17 | 山西东杰智能物流装备股份有限公司 | Tray lifting mechanism of shuttle trolley |
-
2019
- 2019-08-06 CN CN201910722519.3A patent/CN110615376B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09150913A (en) * | 1995-11-30 | 1997-06-10 | Komatsu Forklift Co Ltd | Maintenance elevator device for stacker crane |
| DE20307005U1 (en) * | 2002-05-30 | 2003-08-21 | Manitec Consulting Ag, Horw | Powered pallet trolley for automated warehouse has a lever-operated gear also linked to the motor and lifting platform |
| CN102689761A (en) * | 2012-06-19 | 2012-09-26 | 上海英锋工业设备有限公司 | Remotely-controlled shuttle car |
| CN205076347U (en) * | 2015-06-03 | 2016-03-09 | 江苏高科物流科技股份有限公司 | Dolly and automatic stereo warehouse shuttle back and forth |
| CN108147033A (en) * | 2018-01-30 | 2018-06-12 | 合肥工业大学 | A kind of two level boom shuttle with rack-and-pinion |
| CN210340204U (en) * | 2019-08-06 | 2020-04-17 | 山西东杰智能物流装备股份有限公司 | Tray lifting mechanism of shuttle trolley |
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| CN110615376A (en) | 2019-12-27 |
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Address after: 030008 No.51 Xinlan Road, Jiancaoping District, Taiyuan City, Shanxi Province Applicant after: Dongjie Intelligent Technology Group Co.,Ltd. Address before: 030008 No.51 Xinlan Road, Jiancaoping District, Taiyuan City, Shanxi Province Applicant before: SHANXI ORIENTAL MATERIAL HANDLING Co.,Ltd. |
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