CN113415564A - Automatic cargo storing and taking system - Google Patents
Automatic cargo storing and taking system Download PDFInfo
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- CN113415564A CN113415564A CN202110733266.7A CN202110733266A CN113415564A CN 113415564 A CN113415564 A CN 113415564A CN 202110733266 A CN202110733266 A CN 202110733266A CN 113415564 A CN113415564 A CN 113415564A
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- conveyor belt
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- end rail
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- 210000000352 storage cell Anatomy 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract 1
- 238000012937 correction Methods 0.000 description 7
- 210000004027 cell Anatomy 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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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
- B65G1/0485—Check-in, check-out devices
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an automatic goods storing and taking system which comprises a three-dimensional goods shelf, a conveyor belt and a storing and taking module, wherein the conveyor belt is transversely arranged at the bottom in front of the three-dimensional goods shelf, the storing and taking module comprises a top end rail, a bottom end rail, a goods transporting frame, a push-pull mechanism and two support rods, the bottom end rail is arranged between the conveyor belt and the three-dimensional goods shelf, the top end rail is arranged above the bottom end rail in parallel, the two support rods are horizontally and vertically arranged between the top end rail and the bottom end rail, the upper end and the lower end of each support rod are respectively provided with a rail wheel for connecting the top end rail and the bottom end rail, the side walls at the left end and the right end of the goods transporting frame are provided with goods transporting wheels, the support rods are provided with racks, the goods transporting frame is meshed with the racks through the goods transporting wheels at the two sides so as to be fixed between the two support rods, and the push-pull mechanism comprises a rail telescopic rod and a rotary clamping plate. Compared with the prior art, the invention has the advantages of simple structure, convenient operation, easy construction and the like.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to an automatic goods storing and taking system.
Background
With the rapid development of social economy, the development of the logistics industry is more rapid, and in the logistics link of storage, the traditional plane warehouse has a great trend of gradually transforming into a stereoscopic warehouse, and the logistics storage link is increasingly emphasized by people. Although the development of the logistics industry is rapid, the goods storage and taking link still needs to be manually searched and carried, so that the labor intensity is high, the goods storage and taking efficiency is low, particularly, when the goods at the high position of a goods shelf need to be stored and taken, a worker needs to stand to a higher place, great potential safety hazards exist, and the operation is very inconvenient.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and to provide an automated cargo storage and retrieval system, which solves the storage problem of large warehouses.
The purpose of the invention can be realized by the following technical scheme:
an automatic goods storing and taking system comprises a three-dimensional goods shelf, a conveyor belt and a goods storing and taking module, wherein the conveyor belt is transversely arranged at the bottom in front of the three-dimensional goods shelf, the goods storing and taking module comprises a top end rail, a bottom end rail, a goods transporting frame, a push-pull mechanism and two support rods, the bottom end rail is arranged between the conveyor belt and the three-dimensional goods shelf, the top end rail is arranged above the bottom end rail in parallel and is higher than the three-dimensional goods shelf, the two support rods are horizontally and vertically arranged between the top end rail and the bottom end rail, the upper end and the lower end of each support rod are respectively provided with a rail wheel for connecting the top end rail and the bottom end rail, the front end and the rear end of the goods transporting frame are provided with openings, goods transporting wheels are arranged on the side walls of the left end and the right end of the goods transporting frame, the push-and-pull mechanism comprises a track telescopic rod and a rotary clamping plate, the track telescopic rod is fixed on the side wall of the freight frame and distributed along the front and back of the freight frame, and the rotary clamping plate is connected with the track telescopic rod in a sliding mode.
Furthermore, the one end of conveyer belt is equipped with the position correction unit, and this position correction unit includes splint and telescopic bracket, and two splint symmetry respectively lie in the both sides of conveyer belt, and two splint can draw close to the centre from the both sides of conveyer belt under telescopic bracket's drive.
Further, one end of the conveyor belt is provided with a photoelectric sensor.
Furthermore, the photoelectric sensor is arranged on a beam of a portal frame, the portal frame stretches across two sides of the conveyor belt, and two support columns of the portal frame are telescopic support columns.
Further, the stereoscopic shelf comprises a plurality of storage cells which are distributed in a matrix form on the front surface of the stereoscopic shelf.
Further, the width of each storage cell is greater than the frame size of the shipping frame.
Further, be equipped with the pivot between the upper end of bracing piece and the rail wheel, be equipped with the rotating electrical machines between the lower extreme of bracing piece and the rail wheel, make the bracing piece can the rotation between the rail wheel, rack on the bracing piece is for the thread tooth who encircles the bracing piece, the freight container wheel has the annular member of oblique screw thread for the inner wall, the outer wall connection fortune goods frame of annular member, simultaneously, the annular member nestification is outside the bracing piece and the bracing piece forms the worm gear structure, drives the annular member and reciprocates when the bracing piece rotation.
Further, the rail wheel is connected with a driving motor.
Further, rotatory cardboard includes micro motor, drive shaft, sliding block and baffle, the baffle passes through drive shaft connection sliding block, sliding block sliding connection track telescopic link, micro motor connects the drive shaft, makes the baffle rotatory around the sliding block.
Furthermore, a supporting foot seat is arranged at the bottom of the conveying belt.
Compared with the prior art, the invention has the following beneficial effects:
the logistics transportation of a large warehouse is realized through the arrangement of the three-dimensional goods shelf, the conveyor belt and the storage module, the storage module is simple in structure, the goods transporting frame can be quickly aligned to the corresponding storage grids of the three-dimensional goods shelf through up-down left-right movement, then the goods are moved by the aid of the push-pull mechanism, and the use is efficient and convenient.
And a position correction unit is arranged at one end of the conveyor belt, so that the conveyed goods are ensured to be out of the middle of the conveyor belt, the subsequent conveying operation is facilitated, and the work is stable and reliable.
Arranging a portal frame and a photoelectric sensor at one end of the conveyor belt, wherein the portal frame limits the height of the goods and prevents the goods from being higher than the storage grids; the photoelectric sensor performs counting and software triggering, and subsequent operation is facilitated.
And fourthly, the support rod and the freight box wheel form a worm structure which can support the freight frame with larger weight.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of an access module.
Reference numerals: 1-three-dimensional goods shelf, 2-conveyor belt, 3-top rail, 4-bottom rail, 5-goods transportation frame, 6-push-pull mechanism, 7-support rod, 8-rail wheel, 9-goods transportation box wheel, 10-rack, 11-rail telescopic rod, 12-rotating clamping plate, 13-clamping plate, 14-telescopic bracket, 15-photoelectric sensor, 16-portal frame, 17-storage grid, 18-sliding block, 19-baffle plate and 20-support foot seat.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 and 2, the present embodiment provides an automatic goods storage and taking system, which includes a three-dimensional rack 1, a conveyor belt 2 and a storage and taking module.
The three-dimensional goods shelf 1 is arranged on the ground, a plurality of storage grids 17 are distributed on the front surface of the three-dimensional goods shelf 1, and the plurality of storage grids 17 are distributed on the three-dimensional goods shelf 1 in a matrix form. The front opening of each cell 17 is unobstructed.
The conveyor belt 2 is a conventional commercially available conveyor belt and is arranged at the front bottom of the three-dimensional goods shelf 1, and the three-dimensional goods shelf 1 has a certain interval for arranging the access module. The lower part of the conveyor belt 2 is provided with a support foot seat 20. The entrance point of conveyer belt 2 is equipped with the position correction unit, and this position correction unit includes splint 13 and telescopic bracket 14, and two splint 13 symmetry respectively lie in the both sides of conveyer belt 2, and two splint 13 can be drawn close to the centre from the both sides of conveyer belt 2 under telescopic bracket 14's drive. The position correction unit ensures that the transported goods are out of the middle of the conveyor belt 2, so that the subsequent transportation operation is facilitated, and the operation is stable and reliable.
The entrance end of the conveyor belt 2 is also provided with a photoelectric sensor 15, the photoelectric sensor 15 is arranged on a beam of a portal frame 16, the portal frame 16 spans two sides of the conveyor belt 2, and two support columns of the portal frame 16 are telescopic support columns. The portal frame 16 limits the height of the goods to prevent the goods from being higher than the storage grid 17; the photoelectric sensor 15 performs counting and software signal triggering, and is beneficial to subsequent operation.
The access module comprises a top end rail 3, a bottom end rail 4, a goods conveying frame 5, a push-pull mechanism 6 and two support rods 7. The bottom end track 4 is arranged between the conveyor belt 2 and the stereoscopic shelf 1, and the top end track 3 is arranged above the bottom end track 4 in parallel and is higher than the stereoscopic shelf 1. Two bracing pieces 7 level is perpendicular to be set up between top track 3 and bottom track 4, and the upper and lower both ends of every bracing piece 7 all are equipped with the rail wheel 8 of connecting top track 3 and bottom track 4, and every rail wheel 8 is connected with independent driving motor. Therefore, the driving motor can drive the two support rods 7 to move along the transverse direction of the three-dimensional goods shelf 1. The shipping frame 5 is opened at the front and rear ends thereof, is installed between two support bars 7, and can move up and down along the support bars 7. The method specifically comprises the following steps: the side walls of the left end and the right end of the freight frame 5 are provided with freight box wheels 9, and the outer rings of the freight box wheels 9 are gear rings. Racks 10 are provided on opposite sides of the two support bars 7, and the cargo carrying wheels 9 themselves are provided with independent driving motors, whereby the fixing and up-and-down movement of the cargo carrying frame 5 is achieved by the engagement of the cargo carrying wheels 9 and the racks 10. The width of the shipping frame 5 is less than the width of each cell 17 to ensure that the goods can enter the cells 17.
In another embodiment, the support rods 7 and the freight box wheels 9 can adopt a worm and gear structure to improve the reliability of ascending and descending. The method specifically comprises the following steps: a rotating shaft is arranged between the upper end of the supporting rod 7 and the rail wheel 8, and a rotating motor is arranged between the lower end of the supporting rod 7 and the rail wheel 8, so that the supporting rod 7 can rotate between the rail wheels 8. The rack 10 on the supporting rod 7 is a thread tooth surrounding the supporting rod 7, the cargo box conveying wheel 9 is a ring-shaped piece with an inclined thread on the inner wall, and the outer wall of the ring-shaped piece is connected with the cargo conveying frame 5; meanwhile, the annular part is nested outside the support rod 7 to form a worm structure, and the annular part is driven to move up and down when the support rod 7 rotates.
In this embodiment, the push-pull mechanism 6 of the access module is mounted in the shipping frame 5 for pushing out or pulling the goods. The push-pull mechanism 6 comprises a track telescopic rod 11 and a rotary clamping plate 12, wherein the track telescopic rod 11 is fixed on the side wall of the freight frame 5 and distributed along the freight frame 5 in the front-back direction, and can extend out of the front end and the rear end of the freight frame 5. The rotating card 12 includes a micro motor, a drive shaft, a slide block 18, and a flapper 19. The baffle plate 19 is connected with a sliding block 18 through a driving shaft, and the sliding block 18 is connected with the track telescopic rod 11 in a sliding mode; the micro motor is connected to the drive shaft to rotate the shutter 19 about the slide block 18. When the rail telescopic rod 11 is stretched, the baffle plate 19 and the rail form a straight line and can extend into two sides of goods; when pushing or pulling the goods, the baffle 19 and the track telescopic rod 11 form 90 degrees to hook the goods to move.
The operation of the present embodiment is divided into two states, namely, warehousing goods and ex-warehousing goods.
Under the condition that the goods are put in storage, the worker stacks the goods on the conveyor belt 2 in order with the face, to which the bar codes are attached, of the goods upwards, and the goods are transported on the conveyor belt 2 in sequence. When goods are placed into the conveyor belt 2 at the beginning, the goods are clamped by the position correction units from two sides so as to ensure that the placement position of the goods cannot deviate. When goods approach the photoelectric sensor 15, the photoelectric sensor 15 recognizes and counts the goods and triggers a background control program to arrange a fixed vacant position on the stereoscopic shelf 1 for the going direction of the goods. The system arranges the goods storage positions according to the principle of proximity, and when the system searches the empty position which is closest to the scanner at present through the sensing result of the gravity sensor of the empty position of each storage grid 17, the moving direction of the goods which is read by the closest scanning is determined as the empty position. The conveyor belt 2 moves forward by a fixed distance according to the position of the first goods, and the goods are parked in front of the designated position. The container 5 is then moved up, down, left and right by the rail wheels 8 and the container wheels 9 until it comes in front of the goods. The rail extension pole 11, which is oriented towards the cargo, is extended to the longest. At this time, the baffle plate 19 and the rail telescopic rod 11 extend to the front end of the goods in a collinear manner, and the baffle plate 19 is rotated to buckle the goods, so that the baffle plate 19 moves towards the goods transportation frame 5 along the rail telescopic rod 11 to bring the goods into the goods transportation frame 5. When the goods are conveyed to the appointed vacant position by the goods conveying frame 5 according to the system instruction, the rail telescopic rod 11 extends to the longest towards one end of the three-dimensional goods shelf 1, the baffle plate 19 moves reversely towards the three-dimensional goods shelf 1 along the rail telescopic rod 11, the goods are pushed to enter the storage grid 17, and the storage of one goods is completed. After the goods are stored, the rail telescopic rod 11 retracts and resets, and the baffle plate 19 returns to the initial position.
Similarly, under the condition of delivery, the goods can be taken out in the same way by inputting the serial numbers or the related information of the goods to be taken out in the background system, and then the bar codes are scanned for delivery.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. An automatic goods storing and taking system is characterized by comprising a three-dimensional goods shelf (1), a conveyor belt (2) and a storing and taking module, wherein the conveyor belt (2) is transversely arranged at the bottom in front of the three-dimensional goods shelf (1), the storing and taking module comprises a top end rail (3), a bottom end rail (4), a goods transporting frame (5), a push-pull mechanism (6) and two supporting rods (7), the bottom end rail (4) is arranged between the conveyor belt (2) and the three-dimensional goods shelf (1), the top end rail (3) is arranged above the bottom end rail (4) in parallel, the height of the top end rail is larger than that of the three-dimensional goods shelf (1), the two supporting rods (7) are horizontally and vertically arranged between the top end rail (3) and the bottom end rail (4), and rail wheels (8) for connecting the top end rail (3) and the bottom end rail (4) are arranged at the upper end and the lower end of each supporting rod (7), the front end and the rear end of the freight frame (5) are opened, freight box wheels (9) are arranged on the side walls of the left end and the right end of the freight frame (5), racks (10) are arranged on the supporting rods (7), the freight frame (5) is meshed with the racks (10) through the freight box wheels (9) on the two sides and is fixed between the two supporting rods (7), the push-pull mechanism (6) comprises a track telescopic rod (11) and a rotary clamping plate (12), the track telescopic rod (11) is fixed on the side wall of the freight frame (5) and distributed along the freight frame (5) in the front-back direction, and the rotary clamping plate (12) is connected with the track telescopic rod (11) in a sliding mode.
2. An automatic goods storing and taking system as claimed in claim 1, wherein one end of the conveyor belt (2) is provided with a position correcting unit, the position correcting unit comprises clamping plates (13) and telescopic supports (14), the two clamping plates (13) are respectively and symmetrically arranged at two sides of the conveyor belt (2), and the two clamping plates (13) can be close to the middle of the conveyor belt (2) from two sides under the driving of the telescopic supports (14).
3. An automated goods-storing and-taking system according to claim 1, characterized in that one end of the conveyor belt (2) is provided with a photoelectric sensor (15).
4. An automated goods storage and retrieval system according to claim 3, wherein the photoelectric sensor (15) is arranged on a beam of a gantry (16), the gantry (16) spans on both sides of the conveyor belt (2), and two support columns of the gantry (16) are telescopic support columns.
5. An automated goods access system according to claim 1, wherein the stereoscopic shelf (1) comprises a plurality of storage cells (17), and the plurality of storage cells (17) are distributed in a matrix form on the front surface of the stereoscopic shelf (1).
6. An automated cargo access system according to claim 5, wherein the width of each storage compartment (17) is greater than the frame size of the shipping frame (5).
7. The automatic goods storing and taking system is characterized in that a rotating shaft is arranged between the upper end of the supporting rod (7) and the rail wheels (8), a rotating motor is arranged between the lower end of the supporting rod (7) and the rail wheels (8), the supporting rod (7) can rotate between the rail wheels (8), racks (10) on the supporting rod (7) are thread teeth surrounding the supporting rod (7), the goods transporting box wheels (9) are ring-shaped parts with inclined threads on the inner walls, the outer walls of the ring-shaped parts are connected with the goods transporting frame (5), meanwhile, the ring-shaped parts are nested outside the supporting rod (7) and form a worm and gear structure with the supporting rod (7), and the rotating ring-shaped parts move up and down when the supporting rod (7) rotates.
8. An automated cargo access system according to claim 1, wherein a drive motor is connected to the rail wheel (8).
9. An automated cargo access system according to claim 1, wherein the rotating catch plate (12) comprises a micro motor, a driving shaft, a sliding block (18) and a blocking plate (19), the blocking plate (19) is connected with the sliding block (18) through the driving shaft, the sliding block (18) is connected with the track expansion rod (11) in a sliding way, and the micro motor is connected with the driving shaft to rotate the blocking plate (19) around the sliding block (18).
10. An automated goods-storing and-taking system according to claim 1, characterized in that the bottom of the conveyor belt (2) is provided with a pedestal (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110733266.7A CN113415564A (en) | 2021-06-29 | 2021-06-29 | Automatic cargo storing and taking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110733266.7A CN113415564A (en) | 2021-06-29 | 2021-06-29 | Automatic cargo storing and taking system |
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| Publication Number | Publication Date |
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| CN113415564A true CN113415564A (en) | 2021-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110733266.7A Pending CN113415564A (en) | 2021-06-29 | 2021-06-29 | Automatic cargo storing and taking system |
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| CN (1) | CN113415564A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006282304A (en) * | 2005-03-31 | 2006-10-19 | Sumitomo Heavy Ind Ltd | Transfer device |
| ATE471899T1 (en) * | 2006-04-04 | 2010-07-15 | Costi Srl | AUTOMATIC WAREHOUSE |
| CN103832770A (en) * | 2012-11-23 | 2014-06-04 | 陕西子竹电子有限公司 | Lifting conveying device of large-area aluminum substrate output unit |
| CN103832837A (en) * | 2012-11-23 | 2014-06-04 | 陕西子竹电子有限公司 | Lifting structure of large-area aluminum substrate output unit |
| CN105346911A (en) * | 2015-11-18 | 2016-02-24 | 江阴名鸿车顶系统有限公司 | Stereoscopic warehouse and storage method thereof |
| CN107902324A (en) * | 2017-11-23 | 2018-04-13 | 长兴华阁耐物流装备有限公司 | A kind of logistics delivery machine of reinforcing PVC bands |
| CN108328191A (en) * | 2018-02-02 | 2018-07-27 | 尊道（上海）自动化设备有限公司 | Four-way walking promotes the container armful folder hoisting mechanism that warehouse trucks are carried in logistics |
| CN111361952A (en) * | 2020-03-23 | 2020-07-03 | 西安工业大学 | Automatic pile up neatly production line of abnormal shape silicon steel sheet |
| CN112875165A (en) * | 2021-01-13 | 2021-06-01 | 李许强 | Adjusting and controlling mechanism for centered conveying of materials on conveying belt |
-
2021
- 2021-06-29 CN CN202110733266.7A patent/CN113415564A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006282304A (en) * | 2005-03-31 | 2006-10-19 | Sumitomo Heavy Ind Ltd | Transfer device |
| ATE471899T1 (en) * | 2006-04-04 | 2010-07-15 | Costi Srl | AUTOMATIC WAREHOUSE |
| CN103832770A (en) * | 2012-11-23 | 2014-06-04 | 陕西子竹电子有限公司 | Lifting conveying device of large-area aluminum substrate output unit |
| CN103832837A (en) * | 2012-11-23 | 2014-06-04 | 陕西子竹电子有限公司 | Lifting structure of large-area aluminum substrate output unit |
| CN105346911A (en) * | 2015-11-18 | 2016-02-24 | 江阴名鸿车顶系统有限公司 | Stereoscopic warehouse and storage method thereof |
| CN107902324A (en) * | 2017-11-23 | 2018-04-13 | 长兴华阁耐物流装备有限公司 | A kind of logistics delivery machine of reinforcing PVC bands |
| CN108328191A (en) * | 2018-02-02 | 2018-07-27 | 尊道（上海）自动化设备有限公司 | Four-way walking promotes the container armful folder hoisting mechanism that warehouse trucks are carried in logistics |
| CN111361952A (en) * | 2020-03-23 | 2020-07-03 | 西安工业大学 | Automatic pile up neatly production line of abnormal shape silicon steel sheet |
| CN112875165A (en) * | 2021-01-13 | 2021-06-01 | 李许强 | Adjusting and controlling mechanism for centered conveying of materials on conveying belt |
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Application publication date: 20210921 |
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