CN114277878A - Adaptation system and method for forward control and rotation angle of crawler excavator - Google Patents
Adaptation system and method for forward control and rotation angle of crawler excavator Download PDFInfo
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- CN114277878A CN114277878A CN202210041254.2A CN202210041254A CN114277878A CN 114277878 A CN114277878 A CN 114277878A CN 202210041254 A CN202210041254 A CN 202210041254A CN 114277878 A CN114277878 A CN 114277878A
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Abstract
The invention belongs to the technical field of excavator control, and discloses a self-adaptive system for forward control and rotation angle of a crawler excavator, which comprises a position sensor, a control rod and a control module, wherein the position sensor is positioned below the control rod and used for monitoring the angle change of the control rod; the rotation angle sensor is used for monitoring the rotation angle of the cab; the walking controller is used for receiving signals of the position sensor and the rotation angle sensor and further judging the motion direction of the walking motor; and the walking electromagnetic valve is integrated on the main valve and used for receiving the control signal of the walking controller and controlling the walking motor through the received control signal so as to realize the forward and backward movement of the excavator. According to the self-adaptive system provided by the invention, the rotation direction of the cab is combined with the rotation angle sensor, so that the self-adaptive adjustment of the advancing direction and the excavator bucket direction can be effectively realized.
Description
Technical Field
The invention relates to the technical field of excavator control, in particular to a system and a method for self-adapting forward control and rotation angle of a crawler excavator.
Background
A crawler excavator is an earth moving machine that excavates material above or below a load bearing surface with a bucket and loads it into a transport vehicle or unloads it to a stockyard. After the cab of the existing excavator rotates 180 degrees, the operation direction of the forward push rod is opposite to the actual direction, for example, the control lever is originally pushed forward to move forward, and after the cab rotates 180 degrees, the control lever is pushed forward to move backward corresponding to the direction of the driver, so that the driver needs to consciously recognize the change, otherwise, certain potential safety hazard is caused.
The whole set of walking mechanism of the existing excavator comprises a control lever, a main pump, a main valve and a walking motor. Referring to fig. 1, the work flow of the crawler excavator in the prior art is as follows: the control rod controls the pilot oil through position change, and the pilot oil controls the oil port A and the oil port B of the main valve to distribute hydraulic oil to the walking motor, so that the walking and the rotation of the excavator are realized. The oil ports A and B respectively represent two oil inlet ports of the walking motor, when the oil ports A supply oil, the walking motor rotates forwards, and when the oil ports B supply oil, the walking motor rotates backwards. When the cab does not rotate, the operating rod is pushed forwards, the oil port A supplies oil, the motor rotates forwards, and the traveling direction of the excavator is the advancing direction; after the cab rotates 180 degrees, the operating lever is pushed forward, the oil port A supplies oil, the motor rotates forwards, the running direction of the excavator is a backward direction relative to the direction of the cab, under the condition, the motor can be controlled to rotate backwards only when the operating lever is pushed backwards to supply oil to the oil port B, and then the running direction of the excavator is a forward direction relative to the direction of the cab. The control system of the crawler excavator in the prior art can not identify the rotation angle, after the cab rotates for 180 degrees, the advancing direction is opposite to the direction of the control lever, and the control system cannot be self-adaptive, so that the operation difficulty is caused, and the potential safety hazard is great.
Therefore, it is an urgent need to solve the problems of the art to provide a system and a method for adaptive control of the forward movement and rotation angle of a crawler excavator, which have the advantages of uniform joystick and forward movement direction of the excavator and adaptive adjustment capability.
Disclosure of Invention
In view of the above, the invention provides a self-adaptive system for forward control and rotation angle of a crawler excavator, wherein the rotation direction of a cab is combined with a rotation angle sensor to provide signals to a travel controller, and the travel controller is controlled by full electric control to output signals to control an electromagnetic valve, so that the opening or closing of hydraulic oil inlet and outlet of a travel motor is controlled, and the self-adaptive adjustment of the forward direction and the excavator bucket direction is realized.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a crawler-type excavator advances to control and gyration angle self-adaptation system, includes control lever, main pump, main valve, swing motor and walking motor, still includes:
a position sensor located below the joystick for monitoring angular changes of the joystick;
the rotation angle sensor is mounted on a rotation mechanism of the excavator and used for monitoring the rotation angle of the cab;
the walking controller is used for receiving signals of the position sensor and the rotation angle sensor and further judging the motion direction of the walking motor;
and the walking electromagnetic valve is integrated on the main valve and used for receiving the control signal of the walking controller and controlling the walking motor through the received control signal so as to realize the forward and backward movement of the excavator.
Preferably, in the system for self-adaptation of forward control and rotation angle of the crawler excavator, the traveling electromagnetic valve is respectively communicated with the oil hole a and the oil hole B, and hydraulic oil is respectively pumped to the oil hole a and the oil hole B through the main pump.
Preferably, in the system for self-adaption of forward control and rotation angle of the crawler excavator, the walking motor is provided with an oil port A and an oil port B;
the traveling controller controls the traveling electromagnetic valve to push the oil hole A to supply oil to the oil hole A of the traveling motor, and the traveling controller controls the traveling electromagnetic valve to push the oil hole B to supply oil to the oil hole B of the traveling motor.
Preferably, in the system for adaptive forward control and slewing angle of a crawler excavator, the travel controller determines the slewing angle using the travel motor as a reference and the cab as a variation.
Preferably, in the advancing control and rotation angle adaptive system of the crawler excavator, the cab is in an original state when facing to the front, when the cab is not rotated, a signal of the rotation angle sensor is unchanged, the traveling controller acquires orientation information of the cab, when the control lever is pushed currently, the traveling controller acquires a signal of the position sensor so as to judge that the vehicle needs to advance, and the traveling controller controls the traveling electromagnetic valve to push the oil hole A to supply oil to the oil hole A of the traveling motor so as to drive the traveling motor to rotate forwardly, so that the excavator can advance towards the direction of the cab;
further, when the operating lever is pulled backwards, the walking controller acquires a signal of the position sensor, and then judges that the vehicle needs to retreat, and the walking controller controls the walking electromagnetic valve to push the oil hole B to supply oil to the oil hole B of the walking motor, so that the walking motor is driven to rotate reversely, and the excavator can move forwards in the opposite direction of the cab.
Preferably, in the system for adaptive forward control and rotation angle of the crawler excavator, the cab is in an original state when facing the front, when the rotation angle of the cab facing any direction exceeds 90 °, the signal of the rotation angle sensor changes, the traveling controller acquires the facing information of the cab, determines that the driving direction is changed to the opposite direction, and when the control lever is pushed forward, the traveling controller acquires the signal of the position sensor, determines that the vehicle needs to advance, controls the traveling solenoid valve to push the oil hole B to supply oil to the oil hole B of the traveling motor, and drives the traveling motor to rotate reversely, so that the excavator advances towards the direction of the cab;
further, when the operating lever is pulled backwards, the walking controller acquires a signal of the position sensor, and then judges that the vehicle needs to retreat, and the walking controller controls the walking electromagnetic valve to push the oil hole A to supply oil to the oil hole A of the walking motor, so that the walking motor is driven to rotate forwards, and the excavator can move forwards in the opposite direction of the cab.
The invention also discloses a self-adaptive method for forward control and rotation angle of the crawler excavator, which is realized by adopting the self-adaptive system for forward control and rotation angle of the crawler excavator and comprises the following steps:
(1) the position sensor monitors the angle change of the operating lever, transmits an acquired angle change signal of the operating lever to the walking controller, and judges whether the operating lever is pushed forwards or pulled backwards;
(2) the rotation angle sensor transmits the recognized cab rotation angle signal to the walking controller, and the orientation angle of the cab is judged;
(3) the walking controller judges the motion direction of the walking motor by combining the electric signals sent by the position sensor and the rotation angle sensor;
(4) the walking controller outputs a control signal to the walking electromagnetic valve, so that the walking electromagnetic valve supplies oil to the oil port A or the oil port B of the walking motor, and the excavator can move forwards or backwards.
Preferably, in the method for self-adapting the forward control and the rotation angle of the crawler excavator, the travel solenoid valve drives the travel motor to rotate forward when supplying oil to the oil port a of the travel motor;
and when the traveling electromagnetic valve supplies oil to the oil port B of the traveling motor, the traveling motor is driven to rotate reversely.
Through the technical scheme, compared with the prior art, the invention discloses a self-adaptive system and a self-adaptive method for forward control and rotation angle of the crawler excavator, and the system and the method have the following advantages:
the self-adaptive system of the invention cancels a pilot oil pipeline, adds a position sensor below the operating lever, adds a rotary angle sensor on the rotary mechanism, adds a walking controller and an integrated walking electromagnetic valve on the main valve,
the control lever and the excavator can be unified in the advancing direction, the forward pushing control lever is the advancing direction of the cab, the backward pulling control lever is the retreating direction of the cab, and after the cab rotates to the opposite direction of the original state, the forward pushing of the control lever is still the advancing direction, and the backward pulling of the control lever is the retreating direction;
the invention combines the rotation direction of the cab with the rotation angle sensor, provides signals to the walking controller, outputs signals through the full electric control walking controller to control the walking electromagnetic valve, thereby controlling the opening or closing of the hydraulic oil inlet and outlet of the walking motor for driving, and realizing the self-adaptive adjustment of the advancing direction and the excavator bucket direction.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic workflow diagram of a conventional crawler excavator;
FIG. 2 is a schematic flow chart of the operation of the crawler excavator of the present invention;
FIG. 3 is an assembly schematic of a crawler excavator of the present invention;
FIG. 4 is a schematic view of the angle change of the cab of the crawler excavator according to the present invention.
In the figure:
the control lever 1, the main pump 2, the main valve 3, the travel solenoid valve 31, the rotary motor 4, the travel motor 5, the port a 51, the port B52, the position sensor 6, the rotary angle sensor 7, the travel controller 8, the port a 91, the port B92, and the cab 10.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The following is a description of preferred embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1, the conventional crawler excavator forward control and rotation angle system comprises a joystick 1, a main pump 2, a main valve 3, a rotation motor 4 and a travel motor 5, and the working process of the conventional crawler excavator is as follows:
the control lever 1 controls the pilot oil through the position change, the pilot oil controls the oil hole 91A of the main valve 3 to distribute the hydraulic oil to the oil hole 51A of the traveling motor and controls the oil hole 92B to distribute the hydraulic oil to the oil hole 52B of the traveling motor 5, and the traveling and the rotation of the excavator are realized.
The oil port a 51 and the oil port B52 represent two oil inlet ports of the traveling motor 5, respectively, and when the oil port a 51 supplies oil, the traveling motor 5 rotates forward, and when the oil port B52 supplies oil, the traveling motor 5 rotates backward. When the cab does not rotate, the control lever 1 is pushed forward, the main valve 3 drives the oil hole A91 to supply oil to the oil hole A51, the motor rotates forward, and the traveling direction of the excavator is the advancing direction; when the rotation angle of the cab exceeds 90 degrees, the forward push operating lever 1 and the oil port A51 supply oil, the traveling motor 5 rotates forwards, the traveling direction of the excavator is a backward direction relative to the cab, in this case, the traveling motor 5 can be controlled to rotate backwards only when the backward push operating lever 1 enables the oil port B52 to supply oil, and then the traveling direction of the excavator is a forward direction relative to the cab.
Referring to the accompanying drawings 2-3, the invention discloses a self-adaptive system for forward control and rotation angle of a crawler excavator, which comprises a control lever 1, a main pump 2, a main valve 3, a rotation motor 4 and a traveling motor 5, and further comprises:
a position sensor 6 located below the joystick 1 for monitoring an angle change of the joystick 1;
a rotation angle sensor 7 for monitoring the rotation angle of the cab 10 and mounted on the rotation mechanism of the excavator;
the walking controller 8 is used for receiving signals of the position sensor 6 and the rotation angle sensor 7 so as to judge the movement direction of the walking motor 5;
and a traveling solenoid valve 31 integrated with the main valve 3 for receiving a control signal from the traveling controller 8 and controlling the traveling motor 5 according to the received control signal to realize forward and backward movement of the excavator.
The traveling electromagnetic valve 31 is respectively communicated with the oil hole A91 and the oil hole B92, and hydraulic oil is respectively pumped to the oil hole A91 and the oil hole B92 through the main pump 2; the walking motor 5 is provided with an oil port A51 and an oil port B52; the traveling controller 8 controls the traveling solenoid valve 31 to push the oil hole a 91 to supply oil to the oil hole a 51 of the traveling motor 5, and the traveling controller 8 controls the traveling solenoid valve 31 to push the oil hole B92 to supply oil to the oil hole B52 of the traveling motor 5; the main valve 3 supplies oil to the rotary motor 4 to drive the rotary mechanism of the excavator to rotate.
Further, the travel controller 8 determines the turning angle using the travel motor 5 as a reference and the cab 10 as a variation.
Further, the cab 10 is in the original state when it is oriented straight ahead, i.e., in the position of (r) in fig. 4. When the cab 10 does not rotate, the signal of the rotary angle sensor 7 is unchanged, the traveling controller 8 acquires the orientation information of the cab 10, when the joystick 1 is pushed forward, the traveling controller 8 acquires the signal of the position sensor 6, and further judges that the vehicle needs to advance, the traveling controller 8 controls the traveling electromagnetic valve 31 to push the oil hole A91 to supply oil to the oil hole A51 of the traveling motor 5, and the traveling motor 5 is driven to rotate forwards, so that the excavator can advance towards the orientation direction of the cab 10;
when the control lever 1 is pulled backwards, the traveling controller 8 acquires a signal from the position sensor 6, and further determines that the vehicle needs to go backwards, and the traveling controller 8 controls the traveling solenoid valve 31 to push the oil B hole 92 to supply oil to the oil B hole 52 of the traveling motor 5, so as to drive the traveling motor 5 to rotate backwards, and thus the excavator moves forwards in the opposite direction of the cab 10.
Referring to fig. 4, in another embodiment of the present invention, the cab 10 is in an original state when it is oriented straight ahead, i.e., in the position of (r) in fig. 4. When the rotation angle of the cab 10 in any direction exceeds 90 degrees, namely the position is in the position of the third in the figure 4, the signal of the rotary angle sensor 7 is changed, the traveling controller 8 acquires the direction information of the cab 10, the driving direction is judged to be changed to the opposite direction, when the control lever 1 is pushed forward, the traveling controller 8 acquires the signal of the position sensor 6, the vehicle is further judged to advance, the traveling controller 8 controls the traveling electromagnetic valve 31 to push the oil hole B92 to supply oil to the oil hole B52 of the traveling motor 5, the traveling motor 5 is driven to rotate reversely, and the excavator is enabled to advance towards the direction of the cab 10;
when the control lever 1 is pulled backwards, the traveling controller 8 acquires a signal from the position sensor 6, and further determines that the vehicle needs to go backwards, the traveling controller 8 controls the traveling solenoid valve 31 to push the oil hole a 91 to supply oil to the oil hole a 51 of the traveling motor 5, and drives the traveling motor 5 to rotate forwards, so that the excavator moves forwards in the opposite direction of the cab 10.
The self-adaptive method for realizing the advancing control and the rotation angle of the crawler excavator by adopting the system comprises the following steps:
(1) the position sensor 6 monitors the angle change of the operating rod 1, transmits the acquired angle change signal of the operating rod 1 to the walking controller 8, and judges whether the operating rod 1 is pushed forwards or pulled backwards;
(2) the rotation angle sensor 7 transmits the identified rotation angle signal of the cab 10 to the walking controller 8, and judges the orientation angle of the cab 10;
(3) the walking controller 8 judges the moving direction of the walking motor 5 by combining the electric signals sent by the position sensor 6 and the rotation angle sensor 7;
(4) the travel controller 8 outputs a control signal to the travel solenoid valve 31 to cause the travel solenoid valve 31 to supply oil to the port a 51 or the port B52 of the travel motor 5, thereby realizing the forward or backward movement of the excavator.
Further, when the travel solenoid valve 31 supplies oil to the oil port a 51 of the travel motor 5, the travel motor 5 is driven to rotate forward; when the travel solenoid valve 31 supplies oil to the B port 52 of the travel motor 5, the travel motor 5 is driven to rotate reversely.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the scheme disclosed by the embodiment, the scheme corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (8)
1. The utility model provides a crawler-type excavator advances to control and gyration angle self-adaptation system, includes control rod (1), main pump (2), main valve (3), swing motor (4) and walking motor (5), its characterized in that still includes:
a position sensor (6) located below the joystick (1) for monitoring the change in angle of the joystick (1);
a turning angle sensor (7) for monitoring the turning angle of the cab (10);
the walking controller (8) is used for receiving signals of the position sensor (6) and the rotary angle sensor (7) and further judging the motion direction of the walking motor (5);
and the walking electromagnetic valve (31) is integrated on the main valve (3) and is used for receiving the control signal of the walking controller (8) and controlling the walking motor (5) through the received control signal so as to realize the forward and backward movement of the excavator.
2. The advancing control and rotation angle self-adaption system of the crawler excavator is characterized in that the walking electromagnetic valve (31) is communicated with the oil hole A (91) and the oil hole B (92), and hydraulic oil is pumped to the oil hole A (91) and the oil hole B (92) through the main pump (2).
3. The system for adaptive control of advancing and rotation angle of a crawler excavator according to claim 2, wherein the walking motor (5) is provided with an oil port A (51) and an oil port B (52);
the walking controller (8) controls the walking electromagnetic valve (31) to push the oil hole A (91) to supply oil to the oil hole A (51) of the walking motor (5), and the walking controller (8) controls the walking electromagnetic valve (31) to push the oil hole B (92) to supply oil to the oil hole B (52) of the walking motor (5).
4. The system of claim 1, wherein the travel controller (8) determines the swing angle by using the travel motor (5) as a reference and the cab (10) as a variable.
5. The advancing control and rotation angle self-adaption system of the crawler excavator is characterized in that the state is an original state when a cab (10) faces to the front, when the cab (10) does not rotate, a signal of a rotation angle sensor (7) is unchanged, a traveling controller (8) acquires the orientation information of the cab (10), when the control lever (1) is pushed forward, the traveling controller (8) acquires a signal of a position sensor (6) so as to judge that the vehicle needs to advance, and the traveling controller (8) controls a traveling electromagnetic valve (31) to push an oil A hole (91) to supply oil to an oil A hole (51) of a traveling motor (5) so as to drive the traveling motor (5) to rotate forward and realize that the excavator advances towards the direction of the cab (10);
when the operating lever (1) is pulled backwards, the walking controller (8) acquires a signal of the position sensor (6) and further judges that the vehicle needs to retreat, and the walking controller (8) controls the walking electromagnetic valve (31) to push the oil hole B (92) to supply oil to the oil hole B (52) of the walking motor (5) so as to drive the walking motor (5) to rotate reversely, so that the excavator can move forwards in the opposite direction towards the cab (10).
6. A crawler excavator advancing manipulation and slewing angle adaptive system according to claim 3 or 5, characterized in that the cab (10) is in an original state when facing straight ahead, and when the cab (10) is rotated by more than 90 degrees in any direction, the signal of the rotary angle sensor (7) is changed, the walking controller (8) acquires the orientation information of the cab (10) and judges that the driving orientation is changed to the opposite direction, when the joystick (1) is pushed forward, the walking controller (8) acquires a signal of the position sensor (6), further judging that the vehicle needs to advance, the traveling controller (8) controls the traveling electromagnetic valve (31) to push the oil hole B (92) to supply oil to the oil hole B (52) of the traveling motor (5) and drive the traveling motor (5) to rotate reversely, so that the excavator can advance towards the direction of the cab (10);
when the operating lever (1) is pulled backwards, the walking controller (8) acquires a signal of the position sensor (6) so as to judge that the vehicle needs to retreat, and the walking controller (8) controls the walking electromagnetic valve (31) to push the oil hole A (91) to supply oil to the oil hole A (51) of the walking motor (5) so as to drive the walking motor (5) to rotate forwards and realize that the excavator moves forwards in the opposite direction of the cab (10).
7. A crawler excavator advancing control and rotation angle adaptive method, which is realized by adopting the crawler excavator advancing control and rotation angle adaptive system of any one of claims 1-6, and comprises the following steps:
(1) the position sensor (6) monitors the angle change of the operating lever (1), transmits the acquired angle change signal of the operating lever (1) to the walking controller (8), and judges whether the operating lever (1) is pushed forwards or pulled backwards;
(2) the rotation angle sensor (7) transmits the identified rotation angle signal of the cab (10) to the walking controller (8) and judges the orientation angle of the cab (10);
(3) the walking controller (8) judges the motion direction of the walking motor (5) by combining the electric signals sent by the position sensor (6) and the rotation angle sensor (7);
(4) the traveling controller (8) outputs a control signal to the traveling solenoid valve (31) to enable the traveling solenoid valve (31) to supply oil to the oil port A (51) or the oil port B (52) of the traveling motor (5), so that the excavator can move forwards or backwards.
8. The crawler excavator advancing control and rotation angle self-adaption method according to claim 7, wherein the walking solenoid valve (31) drives the walking motor (5) to rotate forwards when supplying oil to an oil port A (51) of the walking motor (5);
and when the traveling electromagnetic valve (31) supplies oil to the oil port B (52) of the traveling motor (5), the traveling motor (5) is driven to rotate reversely.
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| CN202210041254.2A CN114277878A (en) | 2022-01-14 | 2022-01-14 | Adaptation system and method for forward control and rotation angle of crawler excavator |
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| CN202210041254.2A CN114277878A (en) | 2022-01-14 | 2022-01-14 | Adaptation system and method for forward control and rotation angle of crawler excavator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115075330A (en) * | 2022-06-27 | 2022-09-20 | 徐州徐工挖掘机械有限公司 | Bidirectional driving steering control system and method and excavator |
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| CN111021464A (en) * | 2019-12-26 | 2020-04-17 | 三一重机有限公司 | Excavator direction control system, excavator and control method thereof |
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| CN102051895A (en) * | 2009-11-05 | 2011-05-11 | 北汽福田汽车股份有限公司 | Travelling control device and method for excavator |
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| CN115075330B (en) * | 2022-06-27 | 2024-02-27 | 徐州徐工挖掘机械有限公司 | Bidirectional driving steering control system and method and excavator |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Applicant after: Lovol Heavy Industry Group Co.,Ltd. Address before: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Applicant before: LOVOL Engineering Machinery Group Co.,Ltd. |
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| CB02 | Change of applicant information |