CN107265009B - Safety handling device for container twist lock - Google Patents
Safety handling device for container twist lock Download PDFInfo
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- CN107265009B CN107265009B CN201710449034.2A CN201710449034A CN107265009B CN 107265009 B CN107265009 B CN 107265009B CN 201710449034 A CN201710449034 A CN 201710449034A CN 107265009 B CN107265009 B CN 107265009B
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- container
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- conveying mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D90/00—Component parts, details or accessories for large containers
- B65D90/0006—Coupling devices between containers, e.g. ISO-containers
- B65D90/0013—Twist lock
- B65D90/002—Apparatus for manual or automatic installation/removal of twist-lock
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a safe handling device for container twist locks, which determines the size specification of a container through a laser scanner and a PLC (programmable logic controller), thereby controlling a positioning mechanism to position the container to a proper position, controlling a vertical conveying mechanism and a horizontal conveying mechanism to move a robot arm to a proper position, and completing automatic handling of the twist locks by utilizing the robot arm, thereby ensuring the personal safety of port workers, improving the handling efficiency of the container twist locks, improving the safety management level of a wharf, greatly reducing the number of field workers, reducing the labor cost and ensuring the personal safety of the field workers.
Description
Technical Field
The invention belongs to the technical field of special equipment for containers, and particularly relates to a safe handling device for container spin-locking under a bridge crane of a container terminal.
Background
With the continuous deepening of the world economy integration, the water transportation is steadily increased, and the container transportation with the characteristics of safety, convenient operation and the like becomes the most rapidly-increased part of the water transportation. In the water transportation process of the container, in order to prevent the container from jolting, sliding and the like to cause property loss, the containers which are adjacent from top to bottom need to be connected together by container twist locks, the container twist locks need to be installed on four corner pieces at the bottom of the container during shipment, and the container twist locks are taken down during unloading. At the present stage, container spin lock loading and unloading are completed manually, the working strength is high, the danger is high, mechanical repetitive work is easy to cause fatigue of operators, the alertness is reduced, and the personal safety of the operators is seriously threatened due to more field fluid machines; along with the rise of the handling capacity of container operation, the operating frequency of the inland river wharf shore bridge is improved, and how to quickly and reliably achieve the screwing and unloading becomes the current difficult problem.
Disclosure of Invention
The invention provides a safe handling device for container twist locks, which realizes automatic handling of container twist locks and obviously improves the wharf operating efficiency.
The specific technical scheme is as follows: a safe handling device for container spin locks comprises a working platform, a robot arm, a vertical conveying mechanism, a horizontal conveying mechanism, a positioning mechanism, a laser scanner, a PLC (programmable logic controller), a first servo motor, a second servo motor, a first electric cylinder, a second electric cylinder, a first driver, a second driver, a third driver, a fourth driver, a pressure sensor, a laser range finder, a cross-shaped slide way, a slide rail and a trolley; the working platform is rectangular and is supported by four brackets, two sliding rails are respectively arranged on the outer sides of two short edges of the working platform, a cross-shaped slideway is arranged on the working platform, the center of the cross-shaped slideway is superposed with the center of the working platform, and positioning mechanisms are arranged at four end points of the cross-shaped slideway; the positioning mechanism comprises a moving mechanism and a positioning block, the moving mechanism comprises a fixing frame, a gear, a rack and a second servo motor, a motor shaft of the second servo motor is connected with the gear, the gear is fixed on the fixing frame, a boss is arranged on the fixing frame, the rack is in sliding connection with the boss of the fixing frame, the rack is positioned below the gear and is meshed with the gear, the positioning block is in a shape of a Chinese character 'tu', the positioning block is fixed with one end, close to the working platform, of the rack through a lower protruding part, and the positioning block slides on the slide way through the rack; the vertical conveying mechanism comprises a screw rod lifter, a first supporting platform and a base, the base is connected with the sliding rail in a sliding mode, a first servo motor is connected with the screw rod lifter through a coupler, the bottom of the screw rod lifter is fixed on the base, and the first supporting platform is fixed with a ball nut of the screw rod lifter; the second electric cylinder is connected with the vertical conveying mechanism base and pushes the vertical conveying mechanism to move along the sliding rail; the horizontal conveying mechanism is fixed on a first supporting platform of the vertical conveying mechanism and comprises a first electric cylinder and a second supporting platform, the first electric cylinder is fixed on the first supporting platform, the second supporting platform is in a convex shape, and a lower protruding part is fixed with the electric cylinder; the trolley and the robot arm are both fixed on an upper platform of a second support table of the horizontal conveying mechanism, and the pressure sensor is fixed at the bottom of the trolley; the laser scanner is fixed on the bridge crane sling; the laser scanner, the laser range finder and the pressure sensor are electrically connected with the PLC; the first servo motor, the first driver and the PLC controller are electrically connected with each other, the second servo motor, the second driver and the PLC controller are electrically connected with each other, the first electric cylinder, the third driver and the PLC controller are electrically connected with each other, and the second electric cylinder, the fourth driver and the PLC controller are electrically connected with each other.
The vertical conveying mechanism is provided with four sliding rails, and two sliding rails are arranged on each sliding rail and are respectively connected with the sliding rails in a sliding manner through the bases.
The horizontal conveying mechanisms are four, and one is fixed on each vertical conveying mechanism;
four robot arms are arranged, and one robot arm is fixed on a second support table of each horizontal conveying mechanism;
the four trolleys are arranged, and one trolley is fixed on a second supporting table of each horizontal conveying mechanism;
the upper surface of a boss on a fixed frame in the positioning mechanism is flush with the surface of the working platform;
the width of a protruding part at the lower part of a positioning block in the positioning mechanism is smaller than the width of a slide way, and the width of an upper platform is larger than the width of the slide way.
The width of a rack in the positioning mechanism is smaller than that of the slide way.
The beneficial effects of the invention are as follows: the automatic handling of twistlocks is realized through the robot arm, the personal safety of port workers is guaranteed, the handling efficiency of container twistlocks is improved, the safety management level of a wharf is improved, the number of field workers can be greatly reduced, the labor cost is reduced, and the personal safety of the field workers is ensured.
Drawings
The invention is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a front view of the structure of the present invention.
FIG. 2 is a top view of the structure of the present invention.
Fig. 3 is a component connection diagram of the present invention.
1-a working platform, 2-a support, 3-a robotic arm, 4-a vertical transport mechanism, 5-a horizontal transport mechanism, 6-a positioning mechanism, 7-a laser scanner, 8-a PLC controller, 9-a second servomotor, 10-a first servomotor, 11-a first electric cylinder, 12-a first driver, 13-a second driver, 14-a third driver, 15-a pressure sensor, 16-a laser rangefinder, 17-a cross slide, 18-a slide, 19-a trolley, 20-a coupler, 21-a mount, 22-a gear, 23-a rack, 24-a positioning block, 25-a lead screw elevator, 26-a first support table, 27-a base, 28-a lead screw elevator ball nut, 29-a second electric cylinder, 30-a second support table, 31-a bridge crane, 32-a bridge crane sling, 33-a mount boss, 34-a fourth driver.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-3, the specific technical solution is as follows: the device comprises a working platform 1, a robot arm 3, a vertical conveying mechanism 4, a horizontal conveying mechanism 5, a positioning mechanism 6, a laser scanner 7, a PLC (programmable logic controller) 8, a first servo motor 10, a second servo motor 9, a first electric cylinder 11, a second electric cylinder 29, a first driver 12, a second driver 13, a third driver 14, a fourth driver 34, a pressure sensor 15, a laser range finder 16, a cross-shaped slideway 17, a slide rail 18 and a trolley 19; the working platform 1 is rectangular, the working platform 1 is supported by four brackets 2, two sliding rails 18 are respectively arranged on the outer sides of two short edges of the working platform 1, a cross-shaped slideway 17 is arranged on the working platform 1, the center of the cross-shaped slideway 17 is overlapped with the center of the working platform 1, and positioning mechanisms 6 are placed at four end points of the cross-shaped slideway 17; the positioning mechanism 6 comprises a moving mechanism and a positioning block 24, the moving mechanism comprises a fixed frame 21, a gear 22, a rack 23 and a second servo motor 9, a motor shaft of the second servo motor 9 is connected with the gear 22, the gear 22 is fixed on the fixed frame 21, a boss is arranged on the fixed frame 21, the rack 23 is in sliding connection with the boss of the fixed frame 21, the rack 23 is positioned below the gear 22 and meshed with the gear 22, the positioning block 24 is in a shape like a Chinese character 'tu', and is fixed with one end, close to the working platform 1, of the rack 23 through a lower protruding part, and the positioning mechanism 6 slides on a slide way through the rack 23; the vertical conveying mechanism 4 comprises a screw rod lifter 25, a first supporting platform 26 and a base 27, the base 27 is connected with the sliding rail 18 in a sliding mode, the first servo motor 10 is connected with the screw rod lifter 25 through a coupler 20, the bottom of the screw rod lifter 25 is fixed on the base 27, and the first supporting platform 26 is fixed with a ball nut of the screw rod lifter 25; the second electric cylinder 29 is connected with the base 27 of the vertical conveying mechanism 4 and pushes the vertical conveying mechanism 4 to move along the slide rail 18; the horizontal conveying mechanism 5 is fixed on a first supporting platform 26 of the vertical conveying mechanism 4, the horizontal conveying mechanism 5 comprises a first electric cylinder 11 and a second supporting platform 30, the first electric cylinder 11 is fixed on the first supporting platform 26, the second supporting platform 30 is in a convex shape, and a lower protruding part is fixed with the electric cylinder; the trolley 19 and the robot arm 3 are both fixed on a platform at the upper part of a second supporting table 30 of the horizontal conveying mechanism 5, and the pressure sensor 15 is fixed at the bottom of the trolley 19; the laser scanner 7 is fixed on a lifting appliance of the bridge crane 31; the laser scanner 7, the laser range finder 16, the pressure sensor 15 and the PLC 8 are electrically connected; the first servo motor 10, the first driver 12 and the PLC controller 8 are electrically connected with each other, the second servo motor 9, the second driver 13 and the PLC controller 8 are electrically connected with each other, the first electric cylinder 11, the third driver 14 and the PLC controller 8 are electrically connected with each other, and the second electric cylinder 29, the fourth driver 34 and the PLC controller 8 are electrically connected with each other.
Four vertical conveying mechanisms are arranged, and two vertical conveying mechanisms are arranged on each sliding rail 18 and are respectively connected with the sliding rails 18 in a sliding manner through bases 27.
Four horizontal conveying mechanisms 5 are arranged, and one horizontal conveying mechanism is fixed on each vertical conveying mechanism;
four robot arms 3 are arranged, and one robot arm is fixed on the second supporting table 30 of each horizontal conveying mechanism 5;
four trolleys 19 are arranged, and one trolley is fixed on the second supporting table 30 of each horizontal conveying mechanism 5;
the upper surface of a boss on a fixed frame 21 in the positioning mechanism 6 is flush with the surface of the working platform 1;
the width of the lower protruding part of a positioning block 24 in the positioning mechanism 6 is smaller than the width of the slide way, and the width of the upper platform is larger than the width of the slide way.
The width of the rack 23 in the positioning mechanism 6 is smaller than that of the slideway.
When the unlocking operation is carried out, a group of containers are placed on the working platform 1 by the lifting appliance 31, when the distance between the lifting appliance and the working platform 1 is smaller than a set value, the laser range finder 16 transmits a distance signal at the moment to the PLC 8, the PLC 8 analyzes the distance signal, the laser scanner 7 starts to work, the laser scanner 7 carries out three-dimensional scanning range finding on the group of containers, the laser scanner 7 transmits measured data to the PLC 8, the PLC 8 analyzes the data, the size specification of the group of containers is determined, and the distance that the four groups of positioning mechanisms 6 need to move is calculated. The PLC 8 sends out an instruction to control the second driver 13 to work, so that the positioning blocks 24 on the four groups of positioning mechanisms 6 are moved to proper positions, and the placement positions of the containers are determined according to the positions of the four groups of positioning blocks 24; after the container is placed at the correct position, the PLC 8 sends an instruction to control the fourth driver 34 to work, control the second electric cylinder 29 to push the four groups of vertical conveying mechanisms 4 to the proper positions along the slide rail 18, control the first driver 12 to work, control the screw lifting tables of the four groups of vertical conveying mechanisms, raise the horizontal conveying mechanisms 5 on the first supporting table 26 to the proper height through ball nuts by the screw lifting tables, control the third driver 14 to work, control the first electric cylinders 11 of the four groups of horizontal conveying mechanisms 5, and move the second supporting table 30 to the proper positions; after the four groups of vertical conveying mechanisms 4 and the horizontal conveying mechanisms 5 complete work, the four robot arms 3 start to work, the twist locks are disassembled and placed in the trolley 19, at the moment, the four pressure sensors 15 transmit pressure change signals to the PLC 8, when the PLC sensors send instructions after analysis, the first driver 12 is controlled to work, the lead screw lifting tables of the four groups of vertical conveying mechanisms are controlled to descend by the height of one container, and then the next step of lock disassembling operation is completed.
When locking is carried out, a container is placed on the working platform 1 by the lifting appliance of the bridge crane 31, when the distance between the lifting appliance and the working platform 1 is smaller than a set value, the laser range finder 16 transmits a distance signal at the moment to the PLC 8, the PLC 8 analyzes the distance signal, the laser scanner 7 starts to work, the laser scanner 7 carries out three-dimensional scanning ranging on the container, the laser scanner 7 transmits measured data to the PLC 8, the PLC 8 analyzes the data, the size specification of the container is determined, and the distance required to be moved by the four groups of positioning mechanisms 6 is calculated. The PLC 8 sends out an instruction to control the fourth driver 34 to work, so that the positioning blocks 24 on the four groups of positioning mechanisms 6 are moved to proper positions, and the placement positions of the containers are determined according to the positions of the four groups of positioning blocks 24; after the container is placed at the correct position, the PLC 8 sends an instruction to control the fourth driver 34 to work, control the second electric cylinder 29 to push the four groups of vertical conveying mechanisms 4 to the proper positions along the slide rail 18, control the first driver 12 to work, control the screw lifting tables of the four groups of vertical conveying mechanisms, raise the horizontal conveying mechanisms 5 on the first supporting table 26 to the proper height through ball nuts by the screw lifting tables, control the third driver 14 to work, control the first electric cylinders 11 of the four groups of horizontal conveying mechanisms 5, and move the second supporting table 30 to the proper positions; after the four groups of vertical conveying mechanisms 4 and the horizontal conveying mechanisms 5 complete work, the four robot arms 3 start to work, the spin locks are taken out from the trolley 19 and loaded on a container, at the moment, the four pressure sensors 15 transmit pressure change signals to the PLC 8, when the PLC sends out an instruction after analysis, the first driver 12 is controlled to work, the lead screw lifting tables of the four groups of vertical conveying mechanisms are controlled to ascend by the height of one container, and then the next step of lock loading operation is completed.
According to the invention, the size specification of the container is determined by the laser scanner 7 and the PLC 8, so that the positioning mechanism 6 is controlled to position the container to a proper position, the vertical conveying mechanism 4 and the horizontal conveying mechanism 5 are controlled to move the robot arm 3 to a proper position, and the automatic loading and unloading of the twist lock are completed by using the robot arm 3, so that the personal safety of port workers is ensured, the loading and unloading efficiency of the twist lock of the container is improved, the safety management level of a wharf is improved, the number of field workers can be greatly reduced, the labor cost is reduced, and the personal safety of the field workers is ensured.
Claims (8)
1. A safe handling device for container twist locks is characterized by comprising a working platform, a robot arm, a vertical conveying mechanism, a horizontal conveying mechanism, a positioning mechanism, a laser scanner, a PLC (programmable logic controller), a first servo motor, a second servo motor, a first electric cylinder, a second electric cylinder, a first driver, a second driver, a third driver, a fourth driver, a pressure sensor, a laser range finder, a cross-shaped slideway, a slide rail and a trolley, wherein the working platform is arranged on the horizontal conveying mechanism; the working platform is rectangular and is supported by four brackets, two sliding rails are respectively arranged on the outer sides of two short edges of the working platform, a cross-shaped slideway is arranged on the working platform, the center of the cross-shaped slideway is superposed with the center of the working platform, and positioning mechanisms are placed at four end points of the cross-shaped slideway; the positioning mechanism comprises a moving mechanism and a positioning block, the moving mechanism comprises a fixing frame, a gear, a rack and a second servo motor, a motor shaft of the second servo motor is connected with the gear, the gear is fixed on the fixing frame, a boss is arranged on the fixing frame, the rack is in sliding connection with the boss of the fixing frame, the rack is positioned below the gear and is meshed with the gear, the positioning block is in a shape of a Chinese character 'tu', the positioning block is fixed with one end, close to the working platform, of the rack through a lower protruding part, and the positioning mechanism slides on the slide way through the rack; the vertical conveying mechanism comprises a screw rod lifter, a first supporting platform and a base, the base is connected with the sliding rail in a sliding mode, a first servo motor is connected with the screw rod lifter through a coupler, the bottom of the screw rod lifter is fixed on the base, and the first supporting platform is fixed with a ball nut of the screw rod lifter; the second electric cylinder is connected with the vertical conveying mechanism base and pushes the vertical conveying mechanism to move along the sliding rail; the horizontal conveying mechanism is fixed on a first supporting platform of the vertical conveying mechanism and comprises a first electric cylinder and a second supporting platform, the first electric cylinder is fixed on the first supporting platform, the second supporting platform is in a convex shape, and a lower protruding part is fixed with the electric cylinder; the trolley and the robot arm are both fixed on an upper platform of a second support table of the horizontal conveying mechanism, and the pressure sensor is fixed at the bottom of the trolley; the laser scanner is fixed on the bridge crane sling; the laser scanner, the laser range finder and the pressure sensor are electrically connected with the PLC; the first servo motor, the first driver and the PLC controller are electrically connected with each other, the second servo motor, the second driver and the PLC controller are electrically connected with each other, the first electric cylinder, the third driver and the PLC controller are electrically connected with each other, and the second electric cylinder, the fourth driver and the PLC controller are electrically connected with each other.
2. A security handling device for a container twistlock according to claim 1, wherein said vertical transport mechanism comprises four, two on each track, each being slidably connected to the track by a base.
3. A security handling device for container twist locks according to claim 1, characterized in that four horizontal transfer means are provided, one on each vertical transfer means.
4. A secure handling apparatus for container twistlocks according to claim 1, wherein said robotic arm is provided with four, one attached to each horizontal transfer mechanism second support platform.
5. A secure handling apparatus for container twistlocks according to claim 1, wherein said trolley is provided with four, one on each horizontal transfer mechanism second support table.
6. A security handling device for a container twistlock according to claim 1, wherein the upper surface of the boss on the mounting bracket of said detent mechanism is flush with the surface of the work platform.
7. A security handling apparatus for a container twistlock according to claim 1, wherein said detent mechanism has a detent block with a lower projection having a width less than the width of the slide and an upper platform having a width greater than the width of the slide.
8. A security handling device for a container twistlock according to claim 1, wherein the width of the rack in said detent mechanism is less than the width of the runner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449034.2A CN107265009B (en) | 2017-06-14 | 2017-06-14 | Safety handling device for container twist lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449034.2A CN107265009B (en) | 2017-06-14 | 2017-06-14 | Safety handling device for container twist lock |
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| Publication Number | Publication Date |
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| CN107265009A CN107265009A (en) | 2017-10-20 |
| CN107265009B true CN107265009B (en) | 2023-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710449034.2A Active CN107265009B (en) | 2017-06-14 | 2017-06-14 | Safety handling device for container twist lock |
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| CN (1) | CN107265009B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES1218139Y (en) * | 2018-06-25 | 2018-12-18 | Tec Container S A | DEVICE FOR AUTOMATIC REMOVAL OF CARGO CONTAINERS |
| CN112368223B (en) * | 2018-07-06 | 2022-06-21 | Psa国际港务集团 | Apparatus and method for container coning and/or debarking |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN102428013A (en) * | 2010-02-03 | 2012-04-25 | 船运科技股份公司 | Device For Coning And/Or Deconing A Container And Methods Related Thereto |
| CN104709623A (en) * | 2015-02-02 | 2015-06-17 | 姜红卫 | Automatic detachment and installation system of container fixed spin lock |
| CN207107488U (en) * | 2017-06-14 | 2018-03-16 | 国投镇江港有限公司集装箱分公司 | A kind of safety loading device for container rotation lock |
-
2017
- 2017-06-14 CN CN201710449034.2A patent/CN107265009B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN102428013A (en) * | 2010-02-03 | 2012-04-25 | 船运科技股份公司 | Device For Coning And/Or Deconing A Container And Methods Related Thereto |
| CN104709623A (en) * | 2015-02-02 | 2015-06-17 | 姜红卫 | Automatic detachment and installation system of container fixed spin lock |
| CN207107488U (en) * | 2017-06-14 | 2018-03-16 | 国投镇江港有限公司集装箱分公司 | A kind of safety loading device for container rotation lock |
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| CN107265009A (en) | 2017-10-20 |
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| PB01 | Publication | ||
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 212132 West Lingjiang Road, Dagang, New District, Zhenjiang City, Jiangsu Province (in Zhenjiang Port Phase III Container and Multipurpose Berth Office Building) Applicant after: Zhenjiang Jingang Port Co.,Ltd. Container Branch Address before: 212132 West Lingjiang Road, Dagang, New District, Zhenjiang City, Jiangsu Province (in Zhenjiang Port Phase III Container and Multipurpose Berth Office Building) Applicant before: SDIC ZHENJIANG PORT Co.,Ltd. CONTAINER BRANCH |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20221220 Address after: 212000 No. 20, Dagang Linjiang West Road, New District, Zhenjiang City, Jiangsu Province Applicant after: Zhenjiang Port International Container Terminal Co.,Ltd. Address before: 212132 West Lingjiang Road, Dagang, New District, Zhenjiang City, Jiangsu Province (in Zhenjiang Port Phase III Container and Multipurpose Berth Office Building) Applicant before: Zhenjiang Jingang Port Co.,Ltd. Container Branch |
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