CN104343767B - A kind of oil cylinder stroke measuring apparatus, system, engineering machinery and method - Google Patents
A kind of oil cylinder stroke measuring apparatus, system, engineering machinery and method Download PDFInfo
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- CN104343767B CN104343767B CN201410528989.3A CN201410528989A CN104343767B CN 104343767 B CN104343767 B CN 104343767B CN 201410528989 A CN201410528989 A CN 201410528989A CN 104343767 B CN104343767 B CN 104343767B
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- Prior art keywords
- oil cylinder
- signal
- detection switch
- guide rail
- extension elongation
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
Abstract
The invention discloses a kind of oil cylinder stroke measuring apparatus, system, engineering machinery and method, the equipment includes：Reception device, the telescope signal for receiving the cyclical signal and oil cylinder produced by detection means in oil cylinder telescopic process；And processing unit, length of periodicity according to the telescope signal, the cyclical signal and the detection means calculates the extension elongation of the oil cylinder.The telescope signal of the cyclical signal and oil cylinder by receiving detection means generation of the invention, and the extension elongation of oil cylinder is calculated accordingly, simple, reliable way realizes the measurement to oil cylinder extension elongation in the way of low cost.
Description
Technical field
The present invention relates to oil cylinder stroke e measurement technology, in particular it relates to a kind of oil cylinder stroke measuring apparatus, system, engineering
Machinery and method.
Background technology
Converted accordingly by the length to hydraulic jack, can accurately reflect mechanical structured member attitude,
The information such as position, additionally it is possible to for equipment speed monitoring, motion buffering etc. control direct detection data is provided.
For the stroke measurment of oil cylinder, conventional mode has following two：
First way is that directly oil cylinder stroke is measured by detecting element, such as uses stay wire sensor or mangneto
Telescopic displacement sensor etc., this mode is applied to most of occasions for needing to measure oil cylinder stroke, however, stay wire sensor and
The price of magnetostrictive displacement sensor is higher, general only to use in the case of necessary；
The second way is by the annexation between oil cylinder and structural member, related twisted point relation, using installed in knot
The angle-data that obliquity sensor or rotary encoder on component etc. are obtained, inversely derives corresponding oil cylinder collapsing length, this
The mode of kind is applied to the equipment that foldable arm rack of engineering machinery etc. has compound movement structural member, but, due to this mode pair
Requirement of the dependence and reverse derivation mode of angle detection to data processing controller is very restricted its range of application.
The content of the invention
It is an object of the invention to provide a kind of oil cylinder stroke measuring apparatus, system, engineering machinery and method, for it is low into
This mode solves the problems, such as simply and reliably to measure oil cylinder stroke.
To achieve these goals, the invention provides a kind of oil cylinder stroke measuring apparatus, the equipment includes：Receive dress
Put, the telescope signal for receiving the cyclical signal and oil cylinder produced by detection means in oil cylinder telescopic process；With
And processing unit, the length of periodicity according to the telescope signal, the cyclical signal and the detection means is to calculate
State the extension elongation of oil cylinder.
Correspondingly, present invention also offers a kind of oil cylinder stroke measuring system, the system includes：Above-mentioned oil cylinder stroke measurement
Equipment；Detection means, including：Measurement guide rail, moves with the motion of the piston rod of the oil cylinder, and the measurement guide rail has week
Phase property structure；And first detection switch, for detecting the periodic structure and obtaining the cyclical signal.
Correspondingly, present invention also offers a kind of engineering machinery, including above-mentioned oil cylinder stroke measuring system.
Correspondingly, present invention also offers a kind of oil cylinder stroke measuring method, the method includes：Receive oil cylinder telescopic process
In by detection means produce cyclical signal and the oil cylinder telescope signal；And according to the telescope signal, described
The length of periodicity of cyclical signal and the detection means calculates the extension elongation of the oil cylinder.
By above-mentioned technical proposal, the present invention is by receiving the cyclical signal of detection means generation and stretching for oil cylinder
Signal, and the extension elongation of oil cylinder is calculated accordingly, simple, reliable way realizes and oil cylinder is stretched in the way of low cost
Go out measurement of length.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute the part of specification, with following tool
Body implementation method is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the block diagram of the oil cylinder stroke measuring apparatus that the present invention is provided；
Fig. 2 is the block diagram of the oil cylinder stroke measuring system that the present invention is provided；
Fig. 3 (a) is the schematic diagram of oil cylinder stroke measuring system in the case of oil cylinder is fully retracted that the present invention is provided；
Fig. 3 (b) is the oil cylinder stroke measuring system in the case where (or retraction) is stretched out in oil cylinder part that the present invention is provided
Schematic diagram；
Fig. 4 is the flow chart of the oil cylinder stroke measuring method that the present invention is provided.
Description of reference numerals
The reception device of 10 oil cylinder stroke measuring apparatus 101
The detection means of 102 processing unit 20
The 201 measurement detection switch of guide rail 202 first
The detection switch of 203 second detection switch 204 the 3rd
The oil cylinder of 205 detection plate 30
The piston rod of 301 cylinder barrel 302
Specific embodiment
Specific embodiment of the invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Fig. 1 is the block diagram of the oil cylinder stroke measuring apparatus 10 that the present invention is provided, as shown in figure 1, the equipment 10 includes receiving
Device 101 and processing unit 102.Wherein, reception device 101 is used to receive in oil cylinder telescopic process by detection means generation
The telescope signal of cyclical signal and oil cylinder, telescope signal of the processing unit 102 according to oil cylinder, the week by detection means generation
The length of periodicity of phase property signal and detection means calculates the extension elongation of oil cylinder.
By above description, it should be readily apparent to one skilled in the art that detection means is a kind of dress with periodic structure
Put, will hereinafter be specifically described this device with periodic structure.
Specifically, processing unit 102 is calculated according to the length of periodicity of telescope signal, cyclical signal and detection means
The extension elongation of oil cylinder can be carried out in the following manner：Cyclical signal is counted, indicates oil cylinder to stretch in telescope signal
In the case of going out, counting increases with the increase of the quantity of cyclical signal, and the situation of oil cylinder retraction is indicated in telescope signal
Under, counting reduces with the increase of the quantity of cyclical signal；Then stretching for oil cylinder is calculated according to counting and length of periodicity
Go out length.
The quantity of setting cycle signal is multiplied by length of periodicity for oil cylinder collapsing length measured value, then refer in telescope signal
In the case of showing that oil cylinder stretches out, the extension elongation of oil cylinder can be the oil cylinder collapsing length measured value；Oil is indicated in telescope signal
In the case that cylinder is retracted, the extension elongation of oil cylinder can subtract oil cylinder collapsing length measurement for the maximum of oil cylinder extension elongation
Value, it will be appreciated by those skilled in the art that this calculation be only applicable to only to be stretched out in the once motion of oil cylinder or
The operation only retracted.If in oil cylinder is once moved, having carried out the repeatedly operation stretching out or retract, then computational methods are such as
Under：In the case where telescope signal indicates oil cylinder to stretch out, the extension elongation of oil cylinder can be added for the extension elongation of current oil cylinder
Oil cylinder collapsing length measured value when indicating oil cylinder to stretch out；In the case where telescope signal indicates oil cylinder to retract, oil cylinder stretches out
Length can subtract oil cylinder collapsing length measured value when indicating oil cylinder to retract for the extension elongation of current oil cylinder.
In order to more accurately judge two extreme positions, i.e. oil cylinder be fully retracted or the fully extended state of oil cylinder under oil
Cylinder extension elongation, reception device 101 also receives expression oil cylinder and is fully retracted or fully extended signal.Processing unit 102 is connecing
In the case that receiving apparatus 101 receive the signal that expression oil cylinder is fully retracted, determine that the extension elongation of oil cylinder is 0, filled receiving
Put 101 receive and represent the fully extended signal of oil cylinder in the case of, the extension elongation for determining oil cylinder is maximum.So, exist
In the case that oil cylinder is fully retracted or is fully extended, the extension elongation of oil cylinder can be calibrated.
Fig. 2 is the block diagram of the oil cylinder stroke measuring system that the present invention is provided, as shown in Fig. 2 the system is not only including in Fig. 1
Shown oil cylinder stroke measuring apparatus 10, also including detection means 20.The detection means 20 includes that measurement guide rail 201 and first is examined
Slowdown monitoring switch 202.Wherein measurement guide rail 201 is moved with the motion of the piston rod of oil cylinder, and the measurement guide rail 201 has periodically
Structure, the first detection switch 202 is used to detect the periodic structure of measurement guide rail 201 and obtain cyclical signal.This area skill
Art personnel should be appreciated that processing unit 102 can be by reading the magnetic valve that the executing agency stretched with control cylinder is connected
Judge the direction of motion of oil cylinder to electric situation, that is, oil cylinder telescope signal, i.e. oil cylinder stretches out or retracts.
As shown in figure 3, in order to realize function above, measurement guide rail 201 can be elongated shape, be placed in the upper of oil cylinder 30
The portion and one end parallel to oil cylinder 30 and the measurement guide rail 201 engages with the piston rod 302 of oil cylinder 30, the first detection switch
202 are placed on the cylinder barrel 301 of oil cylinder 30 near the angle position of the side of piston rod 302.Wherein Fig. 3 (a) is that the present invention is provided
The schematic diagram of oil cylinder stroke measuring system in the case of oil cylinder 30 is fully retracted, Fig. 3 (b) be the present invention provide in oil cylinder 30
Point stretch out the schematic diagram of oil cylinder stroke measuring system in the case of (or retraction).As shown in Fig. 3 (a) and Fig. 3 (b), guide rail is measured
Through hole is equally spacedly provided with 201 surface parallel with the length direction of oil cylinder 30, and the aperture of each through hole is identical, i.e.,
Periodic structure.
It should be noted that Fig. 3 (a) and Fig. 3 (b) is only schematic diagram, the measurement shown in Fig. 3 (a) and Fig. 3 (b)
The structure of guide rail 201 is observed the measurement guide rail 201 and is showed by from oil cylinder 30 to the direction (or rightabout) of measurement guide rail 201
The structure for going out, for example, in the schematic diagram shown in Fig. 3 (a) and Fig. 3 (b), in the case where oil cylinder 30 is front view, measurement is led
Rail 201 is upward view or top view.
Cyclical signal include the first detection switch 202 from through hole be transitioned into through hole between interval the first skip signal and
First detection switch 202 is transitioned into the second skip signal of through hole from the interval between through hole.By taking the structure shown in Fig. 3 as an example,
In the case that the through hole of measurement guide rail 201 is moved to the top of the first detection switch 202, first detection switch 202 can send
Signal 0, in the case that the interval between the through hole of measurement guide rail 201 is moved to the top of the first detection switch 202, first detection
Switch 202 can send signal 1, so that, in the case where oil cylinder 30 is moved, the detection measurement guide rail 201 of the first detection switch 202
Periodic structure so as to obtain 0->1->0->1 ... cyclical signal.
Wherein, the length of periodicity for being used when the extension elongation of oil cylinder 30 is calculated can be the aperture of through hole and through hole
Spacing sum.In order that result of calculation is more accurate, and for this periodic structure for being equally spacedly provided with through hole, can be by 0-
>1 is set as the first skip signal, by 1->0 is set as the second skip signal, and processing unit 102 is according to the first skip signal and the
The difference of two skip signals calculates the extension elongation of oil cylinder 30.For example, on the basis of the extension elongation of oil cylinder 30 is for 0,
In the case of detecting four the first skip signals and three the second skip signals, the extension elongation of oil cylinder 30 can be (4 × hole
Footpath+3 × through hole spacing), certainly, because the first detection switch 202 has detection range, so result of calculation is the presence of error
, with the difference of the detection range of the first detection switch 202, the error being calculated is also just different.By reduce aperture with
Through hole spacing, can reduce this error.For the ease of calculating, aperture can be set to equal value with through hole spacing, so,
On the basis of the extension elongation of oil cylinder 30 is for 0, the feelings of four the first skip signals and three the second skip signals are being detected
Under condition, the extension elongation of oil cylinder 30 can be 7 × aperture or 7 × through hole spacing.
In order to detect that oil cylinder 30 is fully retracted or fully extended state, detection means 20 also includes the second detection switch
203rd, the 3rd detection switch 204 and detection plate 205.Wherein, the second detection switch 203 is arranged on the close work of measurement guide rail 201
The side of stopper rod 302, the 3rd detection switch 204 is arranged on the side away from piston rod 302 of measurement guide rail 201, detection plate 205
It is placed on the cylinder barrel 301 of oil cylinder 30 and is close to the side of piston rod 302, as shown in Figure 3.Second detection switch 203 and the 3rd detection
Switch 204 matches with detection plate 205, to cause：In the case where oil cylinder 30 is fully retracted, the second detection switch 203 is detected
To detection plate 205 and corresponding signal is sent, so that processing unit 102 determines that the extension elongation of oil cylinder 30 is 0；It is complete in oil cylinder 30
The 3rd detection switch 204 detects detection plate 205 and sends corresponding signal in the case of stretching out entirely, so that processing unit 102
The extension elongation for determining oil cylinder 30 is maximum.
Wherein, the first detection switch 202 and detection plate 205 are not moved with the motion of piston rod 302, measurement guide rail 201,
Second detection switch 203, the 3rd detection switch 204 are moved with the motion of piston rod 302.Here, the first detection switch
202nd, the second detection switch 203, the 3rd detection switch 204 can be proximity switch.
In the case where the first detection switch 202 is proximity switch 202, moved adjacent in the through hole of measurement guide rail 201
In the case of the top of switch 202, the proximity switch 202 must not be electric, and the interval between the through hole of measurement guide rail 201 moves adjacent to
In the case of the top of switch 202, the proximity switch 202 obtains electric.In order to improve the precision of measurement, guaranteeing to realize above work(
In the case of energy, should be tried one's best as the size of the proximity switch of the first detection switch 202 and the aperture matched with the proximity switch
It is small.
Correspondingly, present invention also offers a kind of engineering machinery, including above-mentioned oil cylinder stroke measuring system.
Correspondingly, present invention also offers a kind of oil cylinder stroke measuring method, the method includes：Receive oil cylinder telescopic process
In by detection means produce cyclical signal and the oil cylinder telescope signal；According to telescope signal, cyclical signal and
The length of periodicity of detection means calculates the extension elongation of oil cylinder.
Fig. 4 is the flow chart of the oil cylinder stroke measuring method that the present invention is provided, as shown in figure 4, first determining whether that oil cylinder 30 is
No is to be fully retracted or fully extended, in the case where oil cylinder is fully retracted, it is determined that the extension elongation of current oil cylinder is 0, in oil
In the case that cylinder is fully extended, it is determined that the extension elongation of current oil cylinder is maximum.Then judge whether oil cylinder has when stretching out
There is signal saltus step, or whether oil cylinder has signal saltus step when retracting, in the case that there is signal saltus step when oil cylinder stretches out
Increase oil cylinder collapsing length measured value, in the case of having signal saltus step when oil cylinder is retracted, oil cylinder collapsing length measured value subtracts
It is few, current oil cylinder extension elongation is then calculated according to length of oil cylinder measured value.
It should be noted that the detail and benefit of the oil cylinder stroke measuring method of present invention offer are provided with the present invention
Oil cylinder stroke measuring system be similar to, in this, it will not go into details.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in range of the technology design of the invention, various letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.For example, being equidistantly provided with for guide rail 201 can will be measured
The structural change of through hole is dovetail groove guide rail, and correspondingly the first detection switch 202 is realized with travel switch.Specifically,
Under this configuration, cyclically there is dovetail groove on measurement guide rail 201, the projection of the dovetail groove guide rail is moved in travel switch
In the case of position, the trip switch is pressed, and such that it is able to send a signal, processing unit 102 can be opened according to stroke
The signal that sends of pass calculates the extension elongation of oil cylinder 30, and the length of periodicity of wherein dovetail groove guide rail is a dovetail groove
Length.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy is no longer separately illustrated.
The oil cylinder stroke measurement scheme that the present invention is provided is simple and easy to apply, compared with existing oil cylinder metering system, due to connecing
Closely switch is cheap, only 1/the tens of stay wire sensor price, so the scheme that the present invention is provided can be very
Save hardware cost in big degree, and compared with stay wire sensor, proximity switch in the course of the work, because no machinery connects
Touch, therefore service life is longer, the stability of system can also be greatly improved.
Additionally, can also be combined between a variety of implementation methods of the invention, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (13)
1. a kind of oil cylinder stroke measuring system, it is characterised in that the system includes：
Oil cylinder stroke measuring apparatus, including：
Reception device, for receiving stretching for the cyclical signal that is produced by detection means in oil cylinder telescopic process and the oil cylinder
Contracting signal；And
Processing unit, length of periodicity according to the telescope signal, the cyclical signal and the detection means is calculated
The extension elongation of the oil cylinder；
Detection means, including：
Measurement guide rail, moves with the motion of the piston rod of the oil cylinder, and the measurement guide rail has periodic structure；And
First detection switch, for detecting the periodic structure and obtaining the cyclical signal；
Wherein, equally spacedly it is provided with through hole on the surface parallel with the length direction of oil cylinder of the measurement guide rail.
2. system according to claim 1, it is characterised in that the processing unit is according to the telescope signal, the week
The length of periodicity of phase property signal and the detection means includes calculating the extension elongation of the oil cylinder：
The cyclical signal is counted, wherein in the case where the telescope signal indicates the oil cylinder to stretch out, counting
Increase with the increase of the quantity of cyclical signal, in the case where the telescope signal indicates the oil cylinder to retract, count
Reduce with the increase of the quantity of cyclical signal；And
The extension elongation of the oil cylinder is calculated according to the counting and the length of periodicity.
3. system according to claim 1 and 2, it is characterised in that
The reception device also receives the expression oil cylinder and is fully retracted or fully extended signal；And
The processing unit is additionally operable to be received in the reception device and described represents that the oil cylinder is fully retracted or fully extended
Signal in the case of, determine the oil cylinder extension elongation be 0 or maximum.
4. system according to claim 1, it is characterised in that the aperture of each through hole is identical.
5. system according to claim 4, it is characterised in that the cyclical signal include first detection switch from
First skip signal at the interval that through hole is transitioned between through hole and first detection switch are transitioned into logical from the interval between through hole
Second skip signal in hole.
6. the system according to claim 4 or 5, it is characterised in that aperture and through hole of the length of periodicity for through hole
Spacing sum.
7. system according to claim 1, it is characterised in that
The top and one end of the measurement guide rail that the measurement guide rail is placed in the oil cylinder connect with the piston rod of the oil cylinder
Close；And
First detection switch is placed on the cylinder barrel of oil cylinder near the angle position of piston rod side.
8. system according to claim 1, it is characterised in that the detection means also includes：
Second detection switch, is arranged on the side near piston rod of the measurement guide rail；
3rd detection switch, is arranged on the side away from piston rod of the measurement guide rail；
Detection plate, is placed on the cylinder barrel of the oil cylinder near the side of piston rod；
Wherein, second detection switch and the 3rd detection switch match with the detection plate, to cause：
In the case where the oil cylinder is fully retracted, second detection switch detects the detection plate and sends corresponding letter
Number, so that the processing unit determines that the extension elongation of the oil cylinder is 0；
In the case where the oil cylinder is fully extended, the 3rd detection switch detects the detection plate and sends corresponding letter
Number, so that the processing unit determines that the extension elongation of the oil cylinder is maximum.
9. system according to claim 8, it is characterised in that first detection switch, the second detection switch and the 3rd
Detection switch is proximity switch.
10. system according to claim 1, it is characterised in that the measurement guide rail is dovetail groove guide rail, first inspection
Slowdown monitoring switch is travel switch；
Wherein, the length of periodicity is a length for dovetail groove.
11. a kind of engineering machinery, it is characterised in that including the oil cylinder row described in any one of claim 1 to 10 claim
Journey measuring system.
The oil cylinder stroke of the oil cylinder stroke measuring system described in a kind of 12. any one of 1 to 10 claims of usage right requirement
Measuring method, it is characterised in that the method includes：
Receive the telescope signal of the cyclical signal and oil cylinder produced by detection means in oil cylinder telescopic process；And
Length of periodicity according to the telescope signal, the cyclical signal and the detection means calculates the oil cylinder
Extension elongation.
13. methods according to claim 12, it is characterised in that the method also includes：
Receive and represent that the oil cylinder is fully retracted or fully extended signal；And
Receive it is described represent the oil cylinder be fully retracted or fully extended signal in the case of, determine stretching for the oil cylinder
Go out length for 0 or maximum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410528989.3A CN104343767B (en) | 2014-10-10 | 2014-10-10 | A kind of oil cylinder stroke measuring apparatus, system, engineering machinery and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410528989.3A CN104343767B (en) | 2014-10-10 | 2014-10-10 | A kind of oil cylinder stroke measuring apparatus, system, engineering machinery and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104343767A CN104343767A (en) | 2015-02-11 |
| CN104343767B true CN104343767B (en) | 2017-05-31 |
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ID=52500045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410528989.3A Active CN104343767B (en) | 2014-10-10 | 2014-10-10 | A kind of oil cylinder stroke measuring apparatus, system, engineering machinery and method |
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| CN (1) | CN104343767B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112408287B (en) * | 2020-11-27 | 2022-05-06 | 江苏徐工工程机械研究院有限公司 | System for monitoring position of telescopic arm of aerial work platform and control method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1201118A (en) * | 1997-03-25 | 1998-12-09 | 三星重工业株式会社 | Method for detecting absolute position of stroke sensitive cylinder |
| JP2000179509A (en) * | 1998-12-16 | 2000-06-27 | Koganei Corp | Position sensitive hydraulic cylinder |
| US6946968B1 (en) * | 2003-09-24 | 2005-09-20 | Johnson Clifford C | Hydraulic stroke measuring system |
| JP2007107574A (en) * | 2005-10-12 | 2007-04-26 | Koganei Corp | Fluid pressure drive apparatus equipped with displacement detector |
| EP2226514B1 (en) * | 2009-03-06 | 2011-12-21 | SICK STEGMANN GmbH | Device for measuring the axial position of a piston rod relatively to a cylinder housing |
| CN103375454A (en) * | 2012-04-20 | 2013-10-30 | 江苏武进液压启闭机有限公司 | Hydraulic cylinder with built-in stroke detecting device |
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2014
- 2014-10-10 CN CN201410528989.3A patent/CN104343767B/en active Active
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| CN104343767A (en) | 2015-02-11 |
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Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Patentee after: Hunan Zoomlion emergency equipment Co., Ltd Patentee after: Zoomlion Heavy Industry Co., Ltd Address before: 410200 No. 997, Jinxing Road, Wangcheng District, Changsha City, Hunan Province Patentee before: Changsha Zhonglian fire fighting Machinery Co., Ltd Patentee before: Zoomlion Heavy Industry Co., Ltd |
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