CN104343767A - Oil cylinder stroke measuring equipment, system, engineering machinery and method - Google Patents
Oil cylinder stroke measuring equipment, system, engineering machinery and method Download PDFInfo
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- CN104343767A CN104343767A CN201410528989.3A CN201410528989A CN104343767A CN 104343767 A CN104343767 A CN 104343767A CN 201410528989 A CN201410528989 A CN 201410528989A CN 104343767 A CN104343767 A CN 104343767A
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- oil cylinder
- signal
- detecting switch
- guide rail
- extrusion
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 40
- 238000005259 measurement Methods 0.000 claims abstract description 27
- 230000000737 periodic effect Effects 0.000 claims abstract description 15
- 238000001125 extrusion Methods 0.000 claims description 39
- 238000010586 diagram Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses an oil cylinder stroke measuring device, a system, an engineering machine and a method, wherein the device comprises: the receiving device is used for receiving a periodic signal generated by the detection device in the oil cylinder stretching process and a stretching signal of the oil cylinder; and the processing device is used for calculating the extending length of the oil cylinder according to the telescopic signal, the periodic signal and the periodic length of the detection device. The invention can calculate the extending length of the oil cylinder by receiving the periodic signal generated by the detection device and the stretching signal of the oil cylinder, and can realize the measurement of the extending length of the oil cylinder in a low-cost simple and reliable mode.
Description
Technical field
The present invention relates to oil cylinder stroke surveying, particularly, relate to a kind of oil cylinder stroke measuring equipment, system, engineering machinery and method.
Background technique
By converting accordingly to the length of hydraulic jack, the information such as attitude, position of mechanical structured member can be reflected more exactly, directly can also detect data for the control of the speed monitoring of equipment, motion buffering etc. provides.
For the stroke measurment of oil cylinder, conventional mode has following two kinds:
First kind of way is directly measured oil cylinder stroke by Detecting element, as adopted stay wire sensor or magnetostrictive displacement sensor etc., this mode is applicable to the occasion that great majority need to measure oil cylinder stroke, but, the price of stay wire sensor and magnetostrictive displacement sensor is higher, and general can use in the case of necessary;
The second way is by the annexation between oil cylinder to structural member, relevant twisted point relation, the angle-data that the dip sensor that utilization is arranged on structural member or rotating coder etc. obtain, reverse corresponding oil cylinder collapsing length of deriving, there is the equipment of compound movement structural member in the foldable arm rack etc. that this mode is applicable to engineering machinery, but the dependence detected angle due to this mode and the requirement of reverse derivation mode to data processing controller make its application area be very restricted.
Summary of the invention
The object of this invention is to provide a kind of oil cylinder stroke measuring equipment, system, engineering machinery and method, for solving the problem simply, reliably measuring oil cylinder stroke in the mode of low cost.
To achieve these goals, the invention provides a kind of oil cylinder stroke measuring equipment, this equipment comprises: reception unit, for receiving the telescope signal of cyclical signal and the described oil cylinder produced by detection device in oil cylinder telescopic process; And treatment device, the extrusion of described oil cylinder is calculated according to the length of periodicity of described telescope signal, described cyclical signal and described detection device.
Correspondingly, present invention also offers a kind of oil cylinder stroke measuring system, this system comprises: above-mentioned oil cylinder stroke measuring equipment; Detection device, comprising: measure guide rail, move along with the motion of the piston rod of described oil cylinder, this measurement guide rail has periodic structure; And first detecting switch, for detecting described periodic structure and obtaining described cyclical signal.
Correspondingly, present invention also offers a kind of engineering machinery, comprise above-mentioned oil cylinder stroke measuring system.
Correspondingly, present invention also offers a kind of oil cylinder stroke method of measurement, the method comprises: the telescope signal receiving cyclical signal and the described oil cylinder produced by detection device in oil cylinder telescopic process; And the extrusion of described oil cylinder is calculated according to the length of periodicity of described telescope signal, described cyclical signal and described detection device.
Pass through technique scheme, the present invention is by the cyclical signal that receives detection device and produce and the telescope signal of oil cylinder, and calculating the extrusion of oil cylinder accordingly, simple in the mode of low cost, reliable mode achieves the measurement to oil cylinder extrusion.
Other features and advantages of the present invention are described in detail in embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is the block diagram of oil cylinder stroke measuring equipment provided by the invention;
Fig. 2 is the block diagram of oil cylinder stroke measuring system provided by the invention;
Fig. 3 (a) is the schematic diagram of oil cylinder stroke measuring system in oil cylinder retraction situation completely provided by the invention;
Fig. 3 (b) is the schematic diagram of the oil cylinder stroke measuring system when oil cylinder part stretches out (or retraction) provided by the invention;
Fig. 4 is the flow chart of oil cylinder stroke method of measurement provided by the invention.
Description of reference numerals
10 oil cylinder stroke measuring equipment 101 reception units
102 treatment device 20 detection devices
201 measure guide rail 202 first detecting switch
203 second detecting switch 204 the 3rd detecting switches
205 detection board 30 oil cylinders
301 cylinder barrel 302 piston rods
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, embodiment described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
Fig. 1 is the block diagram of oil cylinder stroke measuring equipment 10 provided by the invention, and as shown in Figure 1, this equipment 10 comprises reception unit 101 and treatment device 102.Wherein, reception unit 101 is for receiving the telescope signal of cyclical signal and the oil cylinder produced by detection device in oil cylinder telescopic process, and treatment device 102 calculates the extrusion of oil cylinder according to the length of periodicity of the telescope signal of oil cylinder, the cyclical signal produced by detection device and detection device.
By above description, one of ordinary skill in the art will readily recognize that detection device is a kind of device with periodic structure, will specifically set forth this device with periodic structure hereinafter.
Particularly, the extrusion that treatment device 102 calculates oil cylinder according to the length of periodicity of telescope signal, cyclical signal and detection device can be carried out in the following manner: count cyclical signal, when telescope signal instruction oil cylinder stretches out, counting increases along with the increase of the quantity of cyclical signal, when telescope signal instruction oil cylinder is retracted, count along with the increase of the quantity of cyclical signal and reduce; Then the extrusion of oil cylinder is calculated according to counting and length of periodicity.
It is oil cylinder collapsing length measured value that the quantity of setting cycle signal is multiplied by length of periodicity, then, when telescope signal instruction oil cylinder stretches out, the extrusion of oil cylinder can be this oil cylinder collapsing length measured value; When telescope signal instruction oil cylinder is retracted, the extrusion of oil cylinder can deduct this oil cylinder collapsing length measured value for the maximum value of oil cylinder extrusion, it will be appreciated by those skilled in the art that this calculation method is only applicable to the operation only carrying out stretching out or only carry out to retract in the once motion of oil cylinder.If in oil cylinder once moves, carry out the operation of repeatedly stretching out or retracting, then computational methods are as follows: when telescope signal instruction oil cylinder stretches out, and the extrusion of oil cylinder can for the oil cylinder collapsing length measured value when extrusion of current oil cylinder adds that instruction oil cylinder stretches out; When telescope signal instruction oil cylinder is retracted, the extrusion of oil cylinder can deduct oil cylinder collapsing length measured value when instruction oil cylinder is retracted for the extrusion of current oil cylinder.
In order to judge two limit positions more exactly, namely oil cylinder is retracted or oil cylinder stretches out oil cylinder extrusion under state completely completely, and reception unit 101 also receives the signal representing that oil cylinder is retracted completely or stretched out completely.Treatment device 102 when reception unit 101 receive represent oil cylinder retract completely signal, determine that the extrusion of oil cylinder is 0, when reception unit 101 receive represent oil cylinder stretch out completely signal, determine that the extrusion of oil cylinder is maximum value.Like this, when oil cylinder is retracted completely or stretched out completely, can calibrate the extrusion of oil cylinder.
Fig. 2 is the block diagram of oil cylinder stroke measuring system provided by the invention, and as shown in Figure 2, this system not only comprises the oil cylinder stroke measuring equipment 10 shown in Fig. 1, also comprises detection device 20.This detection device 20 comprises measures guide rail 201 and the first detecting switch 202.Wherein measure guide rail 201 to move along with the motion of the piston rod of oil cylinder, this measurement guide rail 201 has periodic structure, and the first detecting switch 202 is for detecting the periodic structure of measurement guide rail 201 and obtaining cyclical signal.It will be appreciated by those skilled in the art that the moving direction judging oil cylinder to electric situation of the solenoid valve that the actuator that treatment device 102 can be stretched by reading and control oil cylinder is connected, the namely telescope signal of oil cylinder, namely oil cylinder stretches out or retracts.
As shown in Figure 3, in order to realize above function, measuring guide rail 201 can be elongated shape, and be placed in the top of oil cylinder 30 and be parallel to oil cylinder 30 and one end of this measurement guide rail 201 engages with the piston rod 302 of oil cylinder 30, near the angle position of piston rod 302 side on the cylinder barrel 301 that the first detecting switch 202 is placed in oil cylinder 30.Wherein Fig. 3 (a) is the schematic diagram of oil cylinder stroke measuring system in oil cylinder 30 retraction situation completely provided by the invention, and Fig. 3 (b) is the schematic diagram of the oil cylinder stroke measuring system when oil cylinder 30 part stretches out (or retraction) provided by the invention.As shown in Fig. 3 (a) He Fig. 3 (b), the surface parallel with the length direction of oil cylinder 30 of measurement guide rail 201 has through hole equally spacedly, 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 only schematic diagram, the structure that Fig. 3 (a) shows for observing this measurement guide rail 201 from oil cylinder 30 to the direction (or opposite direction) measuring guide rail 201 with the structure of the measurement guide rail 201 shown in Fig. 3 (b), such as, in the schematic diagram shown in Fig. 3 (a) He Fig. 3 (b), when oil cylinder 30 is front view, measuring guide rail 201 is worm's eye view or plan view.
Cyclical signal comprises the first detecting switch 202 and is transitioned into from through hole first skip signal at the interval between through hole and the first detecting switch 202 to be transitioned into through hole the second skip signal from the interval between through hole.For the structure shown in Fig. 3, when the through hole measuring guide rail 201 moves to above the first detecting switch 202, this first detecting switch 202 can send signal 0, interval when between the through hole measuring guide rail 201 moves to above the first detecting switch 202, this first detecting switch 202 can send signal 1, thus, when oil cylinder 30 moves, the first detecting switch 202 detects the periodic structure of measurement guide rail 201 thus obtains 0->1->0->1 ... cyclical signal.
Wherein, the length of periodicity adopted when calculating the extrusion of oil cylinder 30 can be the aperture of through hole and through-hole spacing sum.In order to make result of calculation more accurate, for this periodic structure having through hole equally spacedly, 0->1 can be set as the first skip signal, 1->0 is set as the second skip signal, treatment device 102 calculates the extrusion of oil cylinder 30 according to the difference of the first skip signal and the second skip signal.Such as, be on the basis of 0 in the extrusion of oil cylinder 30, when four the first skip signal and three the second skip signal being detected, the extrusion of oil cylinder 30 can be (4 × aperture+3 × through-hole spacing), certainly, because the first detecting switch 202 exists detection range, so result of calculation exists error, along with the difference of the detection range of the first detecting switch 202, the error calculated is also just different.By reducing aperture and through-hole spacing, this error can be reduced.For the ease of calculating, aperture and through-hole spacing can be set to equal value, like this, be on the basis of 0 in the extrusion of oil cylinder 30, when four the first skip signal and three the second skip signal being detected, the extrusion of oil cylinder 30 can be 7 × aperture or 7 × through-hole spacing.
In order to detect the state that oil cylinder 30 is retracted completely or stretched out completely, detection device 20 also comprises the second detecting switch 203, the 3rd detecting switch 204 and detection board 205.Wherein, second detecting switch 203 is arranged on the side of the close piston rod 302 measuring guide rail 201,3rd detecting switch 204 is arranged on measures the side away from piston rod 302 of guide rail 201, near the side of piston rod 302 on the cylinder barrel 301 that detection board 205 is placed in oil cylinder 30, as shown in Figure 3.Second detecting switch 203 and the 3rd detecting switch 204 all match with detection board 205, to make: when oil cylinder 30 is retracted completely, the second detecting switch 203 detects detection board 205 and sends corresponding signal, thus treatment device 102 determines that the extrusion of oil cylinder 30 is 0; When oil cylinder 30 stretches out completely, the 3rd detecting switch 204 detects detection board 205 and sends corresponding signal, thus treatment device 102 determines that the extrusion of oil cylinder 30 is maximum value.
Wherein, the first detecting switch 202 and detection board 205 do not move with the motion of piston rod 302, and measurement guide rail 201, second detecting switch 203, the 3rd detecting switch 204 move along with the motion of piston rod 302.Here, the first detecting switch 202, second detecting switch 203, the 3rd detecting switch 204 can be proximity switch.
When the first detecting switch 202 is proximity switch 202, when the through hole measuring guide rail 201 moves to above proximity switch 202, this proximity switch 202 must not be electric, interval when between the through hole measuring guide rail 201 moves to above proximity switch 202, this proximity switch 202 obtains electric.In order to improve the precision of measurement, when guaranteeing to realize above function, should be as far as possible little as the size of the proximity switch of the first detecting switch 202 and the aperture of mating with this proximity switch.
Correspondingly, present invention also offers a kind of engineering machinery, comprise above-mentioned oil cylinder stroke measuring system.
Correspondingly, present invention also offers a kind of oil cylinder stroke method of measurement, the method comprises: the telescope signal receiving cyclical signal and the described oil cylinder produced by detection device in oil cylinder telescopic process; The extrusion of oil cylinder is calculated according to the length of periodicity of telescope signal, cyclical signal and detection device.
Fig. 4 is the flow chart of oil cylinder stroke method of measurement provided by the invention, as shown in Figure 4, first judge whether oil cylinder 30 is retract completely or stretch out completely, when oil cylinder is retracted completely, determine that the extrusion of current oil cylinder is 0, when oil cylinder stretches out completely, determine that the extrusion of current oil cylinder is maximum value.Then judge whether oil cylinder has signal saltus step when stretching out, or whether oil cylinder has signal saltus step when retracting, oil cylinder collapsing length measured value is increased there is when oil cylinder stretches out signal saltus step, there is when oil cylinder is retracted signal saltus step, oil cylinder collapsing length measured value reduces, and then calculates current oil cylinder extrusion according to length of oil cylinder measured value.
It should be noted that the detail of oil cylinder stroke method of measurement provided by the invention and benefit and oil cylinder stroke measuring system provided by the invention are similar, in this, it will not go into details.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned mode of execution; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technological scheme of the present invention, these simple variant all belong to protection scope of the present invention.Such as, can be dovetail groove guide rail by the structural change equidistantly having through hole of measurement guide rail 201, correspondingly the first detecting switch 202 position limit switch be realized.Specifically, under this configuration, measure guide rail 201 cocycle ground and there is dovetail groove, when position limit switch moves to the boss of this dovetail groove guide rail, the trip switch is pressed, thus a signal can be sent, this signal that treatment device 102 can send according to position limit switch calculates the extrusion of oil cylinder 30, and wherein the length of periodicity of dovetail groove guide rail is the length of a dovetail groove.
It should be noted that in addition, each the concrete technical characteristics described in above-mentioned embodiment, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible compound mode.
Oil cylinder stroke measurement scheme provided by the invention is simple, compared with existing oil cylinder metering system, due to the low price of proximity switch, be only 1/tens of stay wire sensor price, so scheme provided by the invention can save hardware cost to a great extent, and compared with stay wire sensor, proximity switch in the course of the work, owing to not having Mechanical Contact, therefore longer service life, the stability of system also can be improved greatly.
In addition, also can carry out combination in any between various different mode of execution of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (14)
1. an oil cylinder stroke measuring equipment, is characterized in that, this equipment comprises:
Reception unit, for receiving the telescope signal of cyclical signal and the described oil cylinder produced by detection device in oil cylinder telescopic process; And
Treatment device, calculates the extrusion of described oil cylinder according to the length of periodicity of described telescope signal, described cyclical signal and described detection device.
2. equipment according to claim 1, is characterized in that, the extrusion that described treatment device calculates described oil cylinder according to the length of periodicity of described telescope signal, described cyclical signal and described detection device comprises:
Described cyclical signal is counted, wherein when described telescope signal indicates described oil cylinder to stretch out, counting increases along with the increase of the quantity of cyclical signal, when described telescope signal indicates described oil cylinder to retract, count along with the increase of the quantity of cyclical signal and reduce; And
The extrusion of described oil cylinder is calculated according to described counting and described length of periodicity.
3. equipment according to claim 1 and 2, is characterized in that,
Described reception unit also receives the signal representing that described oil cylinder is retracted completely or stretched out completely; And
Described treatment device also for receive at described reception unit the described oil cylinder of described expression retract completely or stretch out completely signal, determine that the extrusion of described oil cylinder is 0 or maximum value.
4. an oil cylinder stroke measuring system, is characterized in that, this system comprises:
Oil cylinder stroke measuring equipment according to any one of claim 1-3;
Detection device, comprising:
Measure guide rail, move along with the motion of the piston rod of described oil cylinder, this measurement guide rail has periodic structure; And
First detecting switch, for detecting described periodic structure and obtaining described cyclical signal.
5. system according to claim 4, is characterized in that, the surface parallel with the length direction of oil cylinder of described measurement guide rail has through hole equally spacedly, and the aperture of each through hole is identical.
6. system according to claim 5, it is characterized in that, described cyclical signal comprises described first detecting switch and is transitioned into from through hole first skip signal at the interval between through hole and described first detecting switch to be transitioned into through hole the second skip signal from the interval between through hole.
7. the system according to claim 5 or 6, is characterized in that, described length of periodicity is aperture and the through-hole spacing sum of through hole.
8. system according to claim 4, is characterized in that,
Described measurement guide rail is placed in the top of described oil cylinder and one end of this measurement guide rail engages with the piston rod of described oil cylinder; And
Near the angle position of piston rod side on the cylinder barrel that described first detecting switch is placed in oil cylinder.
9. system according to claim 4, is characterized in that, described detection device also comprises:
Second detecting switch, is arranged on the side of the close piston rod of described measurement guide rail;
3rd detecting switch, is arranged on the side away from piston rod of described measurement guide rail;
Detection board, near the side of piston rod on the cylinder barrel being placed in described oil cylinder;
Wherein, described second detecting switch and the 3rd detecting switch all match with described detection board, to make:
When described oil cylinder is retracted completely, described second detecting switch detects described detection board and sends corresponding signal, thus described treatment device determines that the extrusion of described oil cylinder is 0;
When described oil cylinder stretches out completely, described 3rd detecting switch detects described detection board and sends corresponding signal, thus described treatment device determines that the extrusion of described oil cylinder is maximum value.
10. system according to claim 9, is characterized in that, described first detecting switch, the second detecting switch and the 3rd detecting switch are proximity switch.
11. systems according to claim 4, is characterized in that, described measurement guide rail is dovetail groove guide rail, and described first detecting switch is position limit switch;
Wherein, described length of periodicity is the length of a dovetail groove.
12. 1 kinds of engineering machinery, is characterized in that, comprise the oil cylinder stroke measuring system any one of claim 4 to 11 described in claim.
13. 1 kinds of oil cylinder stroke method of measurement, it is characterized in that, the method comprises:
Receive the telescope signal of cyclical signal and the described oil cylinder produced by detection device in oil cylinder telescopic process; And
The extrusion of described oil cylinder is calculated according to the length of periodicity of described telescope signal, described cyclical signal and described detection device.
14. methods according to claim 13, it is characterized in that, the method also comprises:
Receive the signal representing that described oil cylinder is retracted completely or stretched out completely; And
When receive the described oil cylinder of described expression retract completely or stretch out completely signal, determine that the extrusion of described oil cylinder is 0 or maximum value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410528989.3A CN104343767B (en) | 2014-10-10 | 2014-10-10 | Oil cylinder stroke measuring equipment, 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 | Oil cylinder stroke measuring equipment, system, engineering machinery and method |
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| Publication Number | Publication Date |
|---|---|
| CN104343767A true CN104343767A (en) | 2015-02-11 |
| CN104343767B CN104343767B (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410528989.3A Active CN104343767B (en) | 2014-10-10 | 2014-10-10 | Oil cylinder stroke measuring equipment, system, engineering machinery and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112408287A (en) * | 2020-11-27 | 2021-02-26 | 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 |
| CN115218844A (en) * | 2022-07-14 | 2022-10-21 | 湖南星邦智能装备股份有限公司 | Boom motion control device and method |
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| WO2007043424A1 (en) * | 2005-10-12 | 2007-04-19 | Koganei Corporation | Fluid pressure drive apparatus with displacement detector |
| US8151636B2 (en) * | 2009-03-06 | 2012-04-10 | Sick Stegmann Gmbh | Device for measuring the axial position of a piston rod relative 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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| US5905215A (en) * | 1997-03-25 | 1999-05-18 | Volvo Construction Equipment Korea Co., Ltd | Absolute position detection method for stroke sensing cylinder |
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| CN115218844A (en) * | 2022-07-14 | 2022-10-21 | 湖南星邦智能装备股份有限公司 | Boom motion control device and method |
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| CN104343767B (en) | 2017-05-31 |
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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 SCIENCE&TECHNOLOGY 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 SCIENCE&TECHNOLOGY Co.,Ltd. |
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