CN109573838A - Monitor the method and apparatus and derrick crane of tower crane lifting state - Google Patents
Monitor the method and apparatus and derrick crane of tower crane lifting state Download PDFInfo
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- CN109573838A CN109573838A CN201811505696.8A CN201811505696A CN109573838A CN 109573838 A CN109573838 A CN 109573838A CN 201811505696 A CN201811505696 A CN 201811505696A CN 109573838 A CN109573838 A CN 109573838A
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- Prior art keywords
- derrick crane
- moment
- jacking
- crane
- hoisting moment
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The embodiment of the present invention provides a kind of method and apparatus and derrick crane for monitoring tower crane lifting state, belongs to field of engineering technology.Derrick crane is equipped with limiter of moment, the limiter of moment is set up quantity and/or its gap of travel switch and/or stroke sensor included by it based on default hoisting moment corresponding with the jacking trim position of derrick crane, limiter of moment is used to issue jacking trim signal in the case where derrick crane reaches jacking trim position, this method comprises: display derrick crane not up to jacks trim position in the case where not receiving jacking trim signal；When receiving jacking trim signal, display derrick crane reaches jacking trim position；And in the case where continuing jacking after receiving jacking trim signal, display derrick crane loses jacking trim position and alarms.It is thereby achieved that the jacking state of inexpensive monitoring derrick crane.
Description
Technical field
The present invention relates to field of engineering technology, more particularly to a kind of method and dress for monitoring tower crane lifting state
It sets and derrick crane.
Background technique
Jacking safety is a main ring for derrick crane safety, needs to carry out trim adjustment work before lifting operation,
To ensure that derrick crane is in " jacking balance state ".At present to the monitoring work of tower crane lifting equilibrium state in industry
Done certain research, but actually come into operation and it is few, each scheme be typically necessary it is newly-increased lay a large amount of sensor, lead
The overall cost and failure rate for causing monitoring system be difficult to ensure, other low-cost design side of each scheme to the monitoring system
Necessary, the deep elaboration of method, theoretical shortage.
Summary of the invention
The object of the present invention is to provide a kind of side for monitoring tower crane lifting state and device and machine readable storages
Medium can be solved or at least partly be solved the above problems.
To achieve the goals above, one aspect of the present invention provides a kind of for monitoring tower crane lifting state
Method, the derrick crane are equipped with limiter of moment, and the limiter of moment is by based on the top with the derrick crane
Rise the corresponding default hoisting moment of trim position set up travel switch and/or stroke sensor included by it quantity and/or
Its gap, the limiter of moment are used to issue jacking trim in the case where the derrick crane reaches jacking trim position
Signal, this method comprises: showing that the derrick crane not up to pushes up in the case where not receiving the jacking trim signal
Rise trim position；When receiving the jacking trim signal, show that the derrick crane reaches jacking trim position；And
In the case where continuing jacking after receiving the jacking trim signal, show that the derrick crane loses jacking trim
It simultaneously alarms position.
Optionally, this method further include: during the derrick crane is jacked, detect the tower lifting
The amplitude of the trolley body of machine and the weight of suspension hook；The real-time of the derrick crane is calculated according to the amplitude and the weight
Hoisting moment；Compare the real-time hoisting moment and the default hoisting moment；And following operation is executed according to comparison result
One of: in the case where the real-time hoisting moment is less than the default hoisting moment, show the derrick crane not
Reach jacking trim position；In the case where the real-time hoisting moment is equal to the default hoisting moment, show described tower
Crane reaches jacking trim position；And it in the case where the real-time hoisting moment is greater than the default hoisting moment, shows
Show that the derrick crane loses jacking trim position and alarms.
Correspondingly, another aspect of the present invention provides a kind of for monitoring the device of tower crane lifting state, the dress
Setting includes: limiter of moment, is arranged on the derrick crane, and the limiter of moment is based on and the tower lifting
The corresponding default hoisting moment of jacking trim position of machine sets up the quantity of travel switch and/or stroke sensor included by it
And/or its gap, the limiter of moment are used to issue top in the case where the derrick crane reaches jacking trim position
Rise trim signal, control module is used for: in the case where not receiving the jacking trim signal, control display module is shown
The derrick crane not up to jacks trim position；When receiving the jacking trim signal, the display module is controlled
Show that the derrick crane reaches jacking trim position；And continue to jack after receiving the jacking trim signal
In the case where, it controls the display module and shows that the derrick crane loses jacking trim position and controls alarm module report
It is alert；The display module；And the alarm module.
Optionally, the device further include: amplitude detection module, for detecting the mistake jacked in the derrick crane
Cheng Zhong, the amplitude of the trolley body of the derrick crane；And weight detecting module, for detecting in the derrick crane
During being jacked, the weight of the suspension hook of the derrick crane；The control module is also used to: according to the amplitude and
The weight calculates the real-time hoisting moment of the derrick crane；Compare the real-time hoisting moment and the default lifting power
Square；And one of following operation is executed according to comparison result: being less than the default lifting power in the real-time hoisting moment
In the case where square, controls the display module and show that the derrick crane not up to jacks trim position；It is risen in real time described
In the case that gravitational moment is equal to the default hoisting moment, controls the display module and show that the derrick crane reaches jacking
Trim position；And in the case where the real-time hoisting moment is greater than the default hoisting moment, control the display module
Show that the derrick crane loses jacking trim position and controls the alarm module alarm.
In addition, another aspect of the present invention also provides a kind of derrick crane, which includes above-mentioned device.
In addition, another aspect of the present invention also provides a kind of machine readable storage medium, on the machine readable storage medium
It is stored with instruction, which is used for so that machine executes above-mentioned method.
Through the above technical solutions, based on the corresponding default hoisting moment tune of the jacking trim position according to derrick crane
Fixed limiter of moment monitors tower crane lifting state, and it is tower that monitoring can be realized without the newly-increased a large amount of sensor of laying
The jacking state of crane is conducive to the market competition for improving derrick crane product in this way, reducing the cost of monitoring system
Power reduces the failure rate of monitoring system, reduce user maintenance cost and derrick crane manufacturer after-sale service at
This, realizes low cost monitoring tower crane lifting state.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the schematic diagram of the limiter of moment after the setting that one embodiment of the invention provides；
Fig. 2 be another embodiment of the present invention provides for monitor tower crane lifting state method flow chart；
Fig. 3 be another embodiment of the present invention provides for monitor tower crane lifting state method flow chart；
And
Fig. 4 be another embodiment of the present invention provides for monitor tower crane lifting state device structural frames
Figure.
Description of symbols
1 cambered plate, 2 first stroke switch
3 third trip switch, 4 fourth stroke switch
5 second stroke switch, 6 limiter of moment
7 control module, 8 display module
9 alarm modules
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
The one aspect of the embodiment of the present invention provides a kind of method for monitoring tower crane lifting state.
In embodiments of the present invention, derrick crane is equipped with limiter of moment, which is based on and this
The corresponding default hoisting moment of jacking trim position of derrick crane sets up the travel switch and/or stroke sensing included by it
The quantity of device and/or its gap.
Wherein, which can be determined by the following contents.Choose the mark configured same as derrick crane
Quasi- experimental prototype calculates the specified of derrick crane at this time when the motor of the code test model machine reaches its rated power
Hoisting moment, wherein trolley body is with trim weight.When specified hoisting moment is that motor reaches its rated power, trolley body
Amplitude and suspension hook add the product of the total weight of trim weight, that is, suspension hook plus its trim weight hung weight it is total
The product of weight and the amplitude of trolley body obtains specified hoisting moment.By test of many times, repeatedly calculating motor reaches specified
The specified hoisting moment of derrick crane when power seeks the average value of specified hoisting moment being calculated, by gained
To the average value of specified hoisting moment obtain default hoisting moment multiplied by empirical coefficient, wherein empirical coefficient can be 1.03-
A numerical value in 1.05 ranges.
After determining default hoisting moment, existing limiter of moment is transformed, wherein the existing torque limit
Device processed can be mechanical load moment limiter, be also possible to electronic type limiter of moment.Transformation to existing limiter of moment
Purpose be to issue jacking so that the limiter of moment is in the case where derrick crane reaches the default hoisting moment determined
Trim signal, to inform that derrick crane has reached jacking trim position.Increasing is passed through to transforming as existing limiter of moment
Add the quantity of travel switch and/or stroke sensor included in limiter of moment and/or adjusts the gap of limiter of moment
To realize.Wherein, the gap for adjusting limiter of moment can be realized by the bolt of turning moment limiter.Set up torque limit
Device processed may refer to shown in Fig. 1.Limiter of moment shown in FIG. 1 is mechanical load moment limiter, the mechanical load moment limiter
Originally include cambered plate 1, first stroke switch 2, second stroke switch 5, increases third trip switch 3 and fourth stroke switch
4, and gap, finally limiter of moment as indicated with 1 are adjusted by rotation bolt.In addition, except the torque after setting shown in FIG. 1
Other than limiter, it can also be set up by increasing stroke sensor.It should be noted that setting up limiter of moment does not limit row
The gap of the quantity and limiter of moment of Cheng Kaiguan and/or stroke sensor is preset as long as meeting when derrick crane reaches
When gravitational moment, jacking trim signal can be issued.
In addition, the default hoisting moment of different derrick cranes there may be difference, is needed according to each tower lifting
The code test model machine of machine is determined.
Specifically, in embodiments of the present invention, which includes in following
Hold.During derrick crane is jacked, the case where not receiving the jacking trim signal of limiter of moment sending
Under, display derrick crane not up to jacks trim position.When receiving the jacking trim signal that limiter of moment issues, display
Derrick crane reaches jacking trim position.The case where derrick crane continues jacking after receiving jacking trim signal
Under, display derrick crane loses jacking trim position and alarms.In addition, the equipment that upper state is pushed up in display can be it is any can be with
The equipment for showing content, for example, it may be various human-computer interaction interfaces.
The limiter of moment set up based on the corresponding default hoisting moment of jacking trim position according to derrick crane is supervised
Tower crane lifting state is surveyed, the jacking shape of monitoring derrick crane can be realized without the newly-increased a large amount of sensor of laying
State is conducive to improve the derrick crane competitiveness of product in market, reduces monitoring in this way, reducing the cost of monitoring system
The failure rate of system reduces the maintenance cost of user and the after service cost of derrick crane manufacturer, realize it is low at
This monitoring tower crane lifting state.
Fig. 2 be another embodiment of the present invention provides for monitor tower crane lifting state method flow chart,
It is said below with reference to jacking state of the Fig. 2 to the jacking trim signal monitoring derrick crane issued based on limiter of moment
It is bright.
In step S20, during tower crane lifting, judge whether that the jacking for receiving limiter of moment is matched
Ordinary mail number is executing step S21 if not if so then execute step in S22.
In the step s 21, display derrick crane not up to jacks trim position.At this point, derrick crane is in safety
State.In addition it is also possible to show that derrick crane is in a safe condition, clearly to inform user.
In step S22, judge whether derrick crane continues to jack, if so then execute step S24, is holding if not
Row step S23.
In step S23, display derrick crane reaches jacking trim position.
In step s 24, display derrick crane loses jacking trim position and alarms, to prompt driver and/or surrounding
Construction personnel.At this point, derrick crane is in unsafe condition.Alternatively, it is also possible to show that derrick crane is in dangerous
State, clearly to inform user.In addition, alarm can be sound-light alarm, or it can be other type of alarms, in this regard, not
For limiting the present invention.
It optionally, in embodiments of the present invention, can also be by being counted during derrick crane is jacked in real time
The hoisting moment of derrick crane is calculated to monitor the jacking state of derrick crane.In this way, monitoring tower by two ways
The jacking state of heavy-duty machine, more insurance, safety, monitoring are more effective.
Fig. 3 be another embodiment of the present invention provides for monitor tower crane lifting state method flow chart,
The real-time jacking state for calculating hoisting moment monitoring derrick crane is illustrated below with reference to Fig. 2.In this embodiment, should
Method for monitoring tower crane lifting state includes the following contents.
In step s 30, during derrick crane is jacked, the width of the trolley body of derrick crane is detected
Degree and weight, wherein suspension hook hangs the trim weight of fixed weight, at this weight detected include suspension hook actual weight and
The weight of its trim weight hung.
In step S31, the real-time hoisting moment of derrick crane is calculated according to the amplitude and weight detected.
In step s 32, it is whether equal with default hoisting moment to judge real-time hoisting moment, if equal then follow the steps
S33, if unequal then follow the steps S34.The determination method for wherein presetting hoisting moment may refer to described in above-described embodiment
Method.
In step S33, display derrick crane reaches jacking trim position.
In step S34, judge whether real-time hoisting moment is less than default hoisting moment, if then intimate step S35, if
It is no to then follow the steps S36.
In step s 35, display derrick crane not up to jacks trim position.At this point, derrick crane is in safety
State.In addition it is also possible to show that derrick crane is in a safe condition, clearly to inform user.
In step S36, display derrick crane loses jacking trim position and alarms.At this point, derrick crane is in
Unsafe condition.Alternatively, it is also possible to show that derrick crane is in unsafe condition, clearly to inform user.In addition, alarm can
To be sound-light alarm, or it can be other type of alarms, in this regard, being not used in the limitation present invention.
Correspondingly, the another aspect of the embodiment of the present invention also provides a kind of for monitoring the dress of tower crane lifting state
It sets.
Fig. 4 be another embodiment of the present invention provides for monitor tower crane lifting state device structural frames
Figure.As shown in figure 4, the device includes limiter of moment 6, control module 7, display module 8 and alarm module 9.Limiter of moment 6
It is set on derrick crane, limiter of moment 6 is arranged on derrick crane, is matched based on the jacking with derrick crane
Prosposition sets the quantity and/or therebetween that corresponding default hoisting moment sets up travel switch and/or stroke sensor included by it
Gap, limiter of moment 6 are used to issue jacking trim signal in the case where derrick crane reaches jacking trim position.Control mould
Block 7 is used in the case where not receiving jacking trim signal, and control display module 8 shows that derrick crane not up to jacks and matches
Prosposition is set；When receiving jacking trim signal, control display module 8 shows that derrick crane reaches jacking trim position；With
And in the case where continuing jacking after receiving jacking trim signal, control display module 8 shows that derrick crane loses
Jacking trim position simultaneously controls the alarm of alarm module 9.Optionally, control module 7 can be TSM (derrick crane security monitoring
System) or PLC.
Optionally, in embodiments of the present invention, the device further include: amplitude detection module, for detecting in tower lifting
During machine is jacked, the amplitude of the trolley body of derrick crane；And weight detecting module, for detecting tower
During crane is jacked, the weight of the suspension hook of derrick crane.Control module is also used to: according to amplitude and poidometer
Calculate the real-time hoisting moment of derrick crane；Compare real-time hoisting moment and default hoisting moment；And it is held according to comparison result
One of following operation of row: in the case where real-time hoisting moment is less than default hoisting moment, control display module shows tower
Formula crane not up to jacks trim position；In the case where real-time hoisting moment is equal to default hoisting moment, control display mould
Block shows that derrick crane reaches jacking trim position；And in the case where real-time hoisting moment is greater than default hoisting moment,
Control display module shows that derrick crane loses jacking trim position and controls alarm module alarm.
The concrete operating principle and benefit of the device provided in an embodiment of the present invention for being used to monitor tower crane lifting state
Locate with provided in an embodiment of the present invention for monitoring the concrete operating principle and benefit phase of the method for tower crane lifting state
Seemingly, it will not be described in great detail here.
In addition, the another aspect of the embodiment of the present invention also provides a kind of derrick crane, which includes above-mentioned
Device as described in the examples.
In addition, the another aspect of the embodiment of the present invention also provides a kind of machine readable storage medium, the machine readable storage
Instruction is stored on medium, which is used for so that machine executes method described in above-described embodiment.
In conclusion the torque set up based on the corresponding default hoisting moment of jacking trim position according to derrick crane
Limiter monitors tower crane lifting state, and monitoring derrick crane can be realized without the newly-increased a large amount of sensor of laying
Jacking state is conducive to improve the derrick crane competitiveness of product in market, reduce in this way, reducing the cost of monitoring system
The failure rate of monitoring system, reduces the maintenance cost of user and the after service cost of derrick crane manufacturer, realizes
Inexpensive monitoring tower crane lifting state.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (6)
1. a kind of method for monitoring tower crane lifting state, which is characterized in that the derrick crane is equipped with
Limiter of moment, the limiter of moment is by based on the corresponding default hoisting moment of jacking trim position with the derrick crane
Quantity and/or its gap of the travel switch and/or stroke sensor included by it are set up, the limiter of moment is used in institute
It states in the case that derrick crane reaches jacking trim position and issues jacking trim signal, this method comprises:
In the case where not receiving the jacking trim signal, show that the derrick crane not up to jacks trim position；
When receiving the jacking trim signal, show that the derrick crane reaches jacking trim position；And
In the case where continuing jacking after receiving the jacking trim signal, show that the derrick crane loses jacking
Trim position is simultaneously alarmed.
2. the method according to claim 1, wherein this method further include:
During the derrick crane is jacked, the amplitude and suspension hook of the trolley body of the derrick crane are detected
Weight；
The real-time hoisting moment of the derrick crane is calculated according to the amplitude and the weight；
Compare the real-time hoisting moment and the default hoisting moment；And
One of following operation is executed according to comparison result:
In the case where the real-time hoisting moment is less than the default hoisting moment, show that the derrick crane not up to pushes up
Rise trim position；
In the case where the real-time hoisting moment is equal to the default hoisting moment, show that the derrick crane reaches jacking
Trim position；And
In the case where the real-time hoisting moment is greater than the default hoisting moment, show that the derrick crane loses jacking
Trim position is simultaneously alarmed.
3. a kind of for monitoring the device of tower crane lifting state, which is characterized in that the device includes:
Limiter of moment is arranged on the derrick crane, and the limiter of moment is based on and the derrick crane
The corresponding default hoisting moment of jacking trim position set up the quantity of travel switch and/or stroke sensor included by it
And/or its gap, the limiter of moment are used to issue top in the case where the derrick crane reaches jacking trim position
Trim signal is risen,
Control module is used for:
In the case where not receiving the jacking trim signal, control display module shows that the derrick crane not up to pushes up
Rise trim position；
When receiving the jacking trim signal, controls the display module and show that the derrick crane reaches jacking trim
Position；And
In the case where continuing jacking after receiving the jacking trim signal, controls the display module and show the tower
Formula crane loses jacking trim position and controls alarm module alarm；
The display module；And
The alarm module.
4. device according to claim 3, which is characterized in that the device further include:
Amplitude detection module, for detect during the derrick crane is jacked, the derrick crane it is small
The amplitude of mechanism of car；And
Weight detecting module, for detecting during the derrick crane is jacked, the derrick crane is hung
The weight of hook；
The control module is also used to:
The real-time hoisting moment of the derrick crane is calculated according to the amplitude and the weight；
Compare the real-time hoisting moment and the default hoisting moment；And
One of following operation is executed according to comparison result:
In the case where the real-time hoisting moment is less than the default hoisting moment, controls the display module and show the tower
Formula crane not up to jacks trim position；
In the case where the real-time hoisting moment is equal to the default hoisting moment, controls the display module and show the tower
Formula crane reaches jacking trim position；And
In the case where the real-time hoisting moment is greater than the default hoisting moment, controls the display module and show the tower
Formula crane loses jacking trim position and controls the alarm module alarm.
5. a kind of derrick crane, which is characterized in that the derrick crane includes device described in claim 3 or 4.
6. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Method described in perform claim requirement 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811505696.8A CN109573838B (en) | 2018-12-10 | 2018-12-10 | Method and device for monitoring jacking state of tower crane and tower crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811505696.8A CN109573838B (en) | 2018-12-10 | 2018-12-10 | Method and device for monitoring jacking state of tower crane and tower crane |
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| Publication Number | Publication Date |
|---|---|
| CN109573838A true CN109573838A (en) | 2019-04-05 |
| CN109573838B CN109573838B (en) | 2020-06-05 |
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ID=65928803
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811505696.8A Active CN109573838B (en) | 2018-12-10 | 2018-12-10 | Method and device for monitoring jacking state of tower crane and tower crane |
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Cited By (2)
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| CN110980556A (en) * | 2019-12-23 | 2020-04-10 | 湖南中联重科建筑起重机械有限责任公司 | Control method and device for jacking and leveling of tower crane and tower crane |
| CN113636462A (en) * | 2021-07-26 | 2021-11-12 | 山东恒安泰重型机械有限公司 | Intelligent crane control system and control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109573838B (en) | 2020-06-05 |
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Address after: 410013 No. 361 South silver basin, Changsha, Hunan, Yuelu District Patentee after: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Patentee after: Zoomlion Construction Crane Co.,Ltd. Address before: 410013 No. 361 South silver basin, Changsha, Hunan, Yuelu District Patentee before: Zoomlion Heavy Industry Science and Technology Co.,Ltd. Patentee before: HUNAN ZHONGLIAN ZHONGKE CONSTRUCTION HOISTING MACHINERY Co.,Ltd. |
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Effective date of registration: 20210105 Address after: No.18 Huagang East Road, Shizhuang, Huangtu Town, Jiangyin City, Wuxi City, Jiangsu Province Patentee after: Zoomlion construction machinery (Jiangsu) Co.,Ltd. Address before: 410013 No. 361 South silver basin, Changsha, Hunan, Yuelu District Patentee before: Zoomlion Heavy Industry Science and Technology Co.,Ltd. Patentee before: Zoomlion Construction Crane Co.,Ltd. |