CN102680720B - Modular coal automatic sample preparation analysis system and method - Google Patents
Modular coal automatic sample preparation analysis system and method Download PDFInfo
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- CN102680720B CN102680720B CN 201210123776 CN201210123776A CN102680720B CN 102680720 B CN102680720 B CN 102680720B CN 201210123776 CN201210123776 CN 201210123776 CN 201210123776 A CN201210123776 A CN 201210123776A CN 102680720 B CN102680720 B CN 102680720B
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Abstract
Disclosed are a modular coal automatic sample preparation analysis system and a method. The system is composed of a sample preparation unit, an analysis unit and a control unit; the method includes arranging a nitrogen feeding drying cabinet, an electronic balance, a sample preparation shredder, a vessel storage unit A, an automatic sample separation machine, a sulfur analyzer, an industrial analyzer, a calorimeter and a vessel storage unit B around a robot in a combination mode, and using the robot for achieving works of material handling, assembling, vessel arranging, waste material collecting and the like needed in the sample preparation and analysis working process. According to the modular coal automatic sample preparation analysis system and the method, works of automatic sample preparation and automatic analysis of coal sample raw materials, automatic preparation and sealing for storage of coal samples for back-check, information printing, waste material automatic collection and the like can be achieved. Automatic level in the coal sample preparation and analysis process is improved, work efficiency is enhanced, and labor intensity of workers is reduced; no manual operation error exists, and accuracy and reliability of analysis results are improved; work environment is improved, and hurts of dust, noise and the like to human health are avoided. The system has the advantages of compact structure, convenience in operation and good utilization effect.
Description
Technical field
The present invention relates to a kind of modular coal automatic sample analytic system and method, be particularly useful for the coal sample raw material is carried out robotization sample preparation operation.
Background technology
Coal industry need to carry out assay to ature of coal, as the moisture content of coal, ash content, volatile matter, fixed carbon, thermal value, sulphur content etc. are analyzed.In order to meet the requirement of analysis, also need the coal sample raw material is carried out sample preparation work.In prior art, the sample preparation of coal and analytical work are take the stand-alone device manually-operated as main.As carrying out sample preparation when work first with jaw formula, roller pair breaking crusher machine raw material, then carry out division, then with the granularity of muller ground sample to the analytical sample needs.Analytical sample carries out people work point sample according to every kind of analytical instrument to the requirement of example weight by operating personnel after taking the assay laboratory again.The coal sample that meets the weight requirement will be respectively charged into different analysis vessel, then can put into different analytical instrument and analyze.Analytical instrument has industrial analysis instrument, calorimeter, constant sulphur appliance, muffle furnace, moisture teller etc.These equipment are all the independently working patterns.The transhipment of coal sample, the work such as a minute sample, assembling of weighing all need manually to complete.Generalized case is all to be completed the operation of regulation according to set operating process by lab assistant.Because the value volume and range of product of sample preparation and analysis is more, working link is also a lot, complex operation, inefficiency, analysis speed is slow, keeps away again unavoidable artificial participation, the probability of human error and maloperation is higher, and the coal sample quality is large with the work difficulty of analysis data safety management aspect.The noise of sample making apparatus is large simultaneously, and the dust of generation is also a lot, and poor working environment is large to human health damage.
Summary of the invention
Technical matters: the objective of the invention is to overcome the weak point in prior art, a kind of compact conformation, a kind of modular coal automatic sample analytic system and the method that easy to operate, result of use is good are provided.
technical scheme: modular coal automatic sample analytic system of the present invention, system mainly are comprised of sample preparation unit, analytic unit and three parts of control module, described sample preparation unit comprises that connection enters the elementary batcher in the sample preparation workplace, the one-level division device that is connected with elementary batcher, the front portion of one-level division device is connected with the autofeed disintegrating machine through bucket elevator, the below of autofeed disintegrating machine is provided with secondary division device, the left side of one-level division device and secondary division device is respectively equipped with abandons the sample collection system, I auto-filling supply unit, II auto-filling supply unit, III auto-filling supply unit, the right side of one-level division device and secondary division device is provided with the sample automatic delivery unit, one-level division device bottom is provided with the conveying belt that connects respectively I auto-filling supply unit and sample automatic delivery unit, secondary division device bottom is respectively equipped with the conveying belt that connects II auto-filling supply unit, III auto-filling supply unit and sample automatic delivery unit, described sample automatic delivery unit comprise with material be sent in analytic unit through carrying, be located at successively electronic balance, file for reference sample information print unit and logical nitrogen drying box on carrying, the front portion of described secondary division device is respectively equipped with sample pulverizer, A vessel storage unit and the first robot, described analytic unit comprises between analytical work, constant temperature enclosure, between analytical work be provided with automatic sample sorting machine, the automatic sample sorting machine side is provided with constant sulphur appliance, constant sulphur appliance is provided with industrial analysis instrument, also is provided with B vessel storage unit and the second robot between analytical work, be provided with calorimeter in constant temperature enclosure, described control module comprises the control workplace, is located at the computer information processing system of controlling in workplace.
Described automatic sample sorting machine is comprised of oscillating feeder and Weighing mechanism, and the mass transport slot cross-section of oscillating feeder is " V " shape; Described calorimeter is two, arranges up and down.
Modular coal automatic sample analytical approach of the present invention, one-level division device with the raw coal coal sample in elementary batcher delivers into the sample preparation workplace carries out division, full moisture content coal sample after division enters I auto-filling supply unit auto-filling, and can is sent to the sample automatic delivery unit by conveying belt; Dehydration part after division is analysed coal sample and is entered the autofeed disintegrating machine through bucket elevator, feeds secondary division device after the autofeed crusher in crushing, through the division of secondary division device; The coal sample of filing for reference after division enters II auto-filling supply unit auto-filling, and can is sent to the sample automatic delivery unit by conveying belt; General analysis coal sample after division enters III auto-filling supply unit auto-filling, and can is sent to the sample automatic delivery unit by conveying belt, and unnecessary coal sample enters abandons the sample collection system; The coal sample of filing for reference transmits through the conveying belt of sample automatic delivery unit, then passes through automatic printing information when filing for reference sample information print unit, deposits A vessel storage unit in after being picked up, encapsulated by the first robot afterwards; Full moisture content coal sample transmits through the conveying belt of sample automatic delivery unit, be placed on electronic balance after being picked up by the first robot and weigh, weight information is transferred in the computing machine of computer information processing system, and then it is dry to put into logical nitrogen drying box by the crawl of the first robot, be placed on electronic balance by the crawl of the first robot after drying is completed again and weigh, weight information is transferred in the computing machine of computer information processing system; Computing machine is according to the weight data of weighing for twice and be pre-stored in the full water content that vessel weight data in computing machine calculates coal sample; Rejected material after full water content analysis is completed is placed on A vessel storage unit by the first robot; The general analysis coal sample transmits through the conveying belt of sample automatic delivery unit, puts into after being picked up by the first robot in logical nitrogen drying box, and coal sample is after drying picked up and is carried in sample pulverizer by the first robot again and grinds; Material after grinding is completed is put back on automatic delivery unit by the first robot and is entered between analytical work through tape transport, then is picked up and the sample material after grinding is poured into divided sample in automatic sample sorting machine by the second robot, and slack tank is put into B vessel storage unit; The second robot grasps the vessel in B vessel storage unit and is placed on automatic sample sorting machine according to the instruction of computer information processing system afterwards, in automatic sample sorting machine, the weight information of vessel is transferred to computer information processing system through signal wire, more as calculated the instruction auto feed of machine information disposal system to predetermined weight; The vessel that the second robot will feed in raw material according to computer instruction at every turn and weighing is completed are respectively put on constant sulphur appliance, industrial analysis instrument, calorimeter to be analyzed.
Beneficial effect: the present invention will be led to nitrogen drying box, electronic balance, sample pulverizer, A vessel storage unit, automatic sample sorting machine, constant sulphur appliance, industrial analysis instrument, calorimeter, B vessel storage unit around robot combination layout.Utilize robot to realize that material handling, assembling, the vessel need are put in sample preparation and analytical work process and the work such as rejected material collection.Can complete coal sample raw material automatic charging, fragmentation, division, grind, produce the sample and sealing up for safekeeping of filing for reference; Can complete the indexs such as moisture content to coal sample, ash content, volatile matter, fixed carbon, thermal value, sulphur content and carry out the overall process work of automatic analysis.Sample preparation and analytic process prosthetic participate in.Improve the working environment of sample preparation and analysis, avoid dust and noise etc. that health is injured.Compared with prior art: 1) can complete coal sample raw material automatic sample, automatic analysis, the sample of filing for reference and automatically produce, seal up for safekeeping and information is printed, rejected material functions such as collection automatically, improve the automatization level of coal sample preparation and analytic process, increase work efficiency, reduce hand labor intensity; 2) sample preparation and analytic process prosthetic participate in, and guarantee the coal sample quality and analyze data security; 3) prosthetic operate miss improves precision of analysis and reliability; 4) the equipment and manipulation personnel in different units work, improve working environment, avoid dust and noise etc. that health is injured.Its compact conformation, easy to operate, result of use good.
Description of drawings
Fig. 1 is the front view of modular coal automatic sample analytic system of the present invention.
Fig. 2 is the vertical view of modular coal automatic sample analytic system of the present invention.
in figure: the elementary batcher of 1-, 2-one-level division device, the 3--bucket elevator, 4--autofeed disintegrating machine, 5--secondary division device, 6--sample preparation workplace, the 7--automatic sample sorting machine, the 8--constant sulphur appliance, between the 9--analytical work, the 10-industrial analysis instrument, the 11--calorimeter, 12-abandons the sample collection system, 13-I auto-filling supply unit, 14-II auto-filling supply unit, 15-III auto-filling supply unit, the 16-sample pulverizer, 17-A vessel storage unit, 18-the first robot, 19-controls workplace, the 20-computer information processing system, 21-B vessel storage unit, the 22-constant temperature enclosure, 23-sample automatic delivery unit, the 24-electronic balance, 25-leads to the nitrogen drying box, the 26-sample information print unit of filing for reference, the 27-A support, the 28-B support, 29-the second robot, the 30-A detent mechanism, the 31-B detent mechanism.
Embodiment
Below in conjunction with accompanying drawing, one embodiment of the present of invention are further described:
as shown in Figure 2 in Fig. 1, modular coal automatic sample analytic system of the present invention mainly is comprised of sample preparation unit, analytic unit and three parts of control module, described sample preparation unit comprises the elementary batcher 1 that is located in sample preparation workplace 6, the one-level division device 2 that is connected with elementary batcher 1, one-level division device 2 adopts Rotary pipe type division device, it comprises rotation sub-feed tube and discharging base cone, the discharging base cone be provided with 3 discharging openings successively with I auto-filling supply unit 13, the charging aperture of abandoning sample collection system 12 and bucket elevator 3 is connected, the front portion of one-level division device 2 is connected with autofeed disintegrating machine 4 through bucket elevator 3, the below of autofeed disintegrating machine 4 is provided with secondary division device 5, the division device adopts Rotary pipe type division device, it comprises rotation sub-feed tube and discharging base cone, the discharging base cone is provided with 3 discharging openings, successively with II auto-filling supply unit 14, III auto-filling supply unit 15, abandoning sample collection system 12 charging apertures is connected, abandon the main band conveyor that sample collection system 12 comprises that two branch line band conveyors that are arranged in respectively one-level division device 2 and secondary division device 5 belows and are positioned at branch line band conveyor front portion and consist of, rejected material enters main band conveyor and is transported to the appointment bleeding point through two branch line band conveyors.I auto-filling supply unit 13, II auto-filling supply unit 14, tank mechanism is deposited respectively and automatically supplied to III auto-filling supply unit 15 by slack tank, conveyor and the can chute that is positioned on conveyor form, the front side of one-level division device 2 and secondary division device 5 is provided with sample automatic delivery unit 23, sample automatic delivery unit 23 is by band conveyor and the sample pot A detent mechanism 30 that is positioned at belt conveyer head and middle part, B detent mechanism 31 forms, A detent mechanism 30 and B detent mechanism 31 are respectively by air cylinder driven, the locating piece that cylinder is provided with, one-level division device 2 bottoms are provided with the conveying belt that connects respectively I auto-filling supply unit 13 and sample automatic delivery unit 23, secondary division device 5 bottoms are respectively equipped with the conveying belt that connects II auto-filling supply unit 14, III auto-filling supply unit 15 and sample automatic delivery unit 23, described sample automatic delivery unit 23 comprises the passage that is communicated with analytic unit, is located at the electronic balance 24 on passage, the sample information of filing for reference print unit 26 and logical nitrogen drying box 25 successively, the front portion of described sample preparation workplace 6 is respectively equipped with sample pulverizer 16, A vessel storage unit 17, the first robot 18 that model is XRK-1/100A, robot adopts the IRB2400 humanoid robot, Pneumatic paw is equipped with in its front portion, realize material crawl, carry and put.sample pulverizer 16 is provided with automatic door opening and hold-down mechanism, described analytic unit comprises between analytical work 9 and constant temperature enclosure 22, be provided with automatic sample sorting machine 7 between analytical work in 9, automatic sample sorting machine 7 sides are provided with and are arranged on A support 27, model is the constant sulphur appliance 8 of YX-DL/Q8700, constant sulphur appliance 8 is provided with the industrial analysis instrument 10 that model is YX-GYFX7701, described automatic sample sorting machine 7 is comprised of oscillating feeder and Weighing mechanism, the mass transport slot cross-section of oscillating feeder is " V " shape, described YX-DL/Q8700 constant sulphur appliance 8 adopts coulometric titration that the full sulphur of coal sample is measured, analyze the data automatic transmission to computer information processing system 20, described model is that the industrial analysis instrument 10 of YX-GYFX7701 adopts thermogravimetry to the moisture content of coal sample, volatile matter, ash content is analyzed, analyze the data automatic transmission in computer information processing system 20, automatically calculate fixed carbon.Also be provided with B vessel storage unit 21 and the second robot 29 in 9 between analytical work; Being provided with model in constant temperature enclosure 22 is the calorimeter 11 of YX-ZR/Q9701, analyzes by the thermal value of 11 pairs of coal samples of calorimeter, analyzes the data automatic transmission in computer information processing system 20, and calorimeter 11 is two, and minute up and down cloth is set on B support 28.Described control module comprises control workplace 19, is located at the computer information processing system 20 of controlling in workplace 19, and computer information processing system 20 comprises electric control unit, IPC-610 industrial computer, LJ-1007 printer and control and management software.The co-ordination under the control of computer information processing system 20 of all sample making apparatus and analytical instrument, final analysis data are kept on computer information processing system 20, and can print by printer and analyze list.Described logical nitrogen drying box 25, electronic balance 24, sample pulverizer 16, A vessel storage unit 17, automatic sample sorting machine 7, constant sulphur appliance 8, industrial analysis instrument 10, calorimeter 11, B vessel storage unit 21 are arranged around the robot combination, utilize robot, and realize that by computer information processing system 20 material handling, assembling, vessel that the said equipment needs put and the rejected material collection work in sample preparation and analytical work process.
The charging aperture of elementary batcher 1 is provided with the buffer memory bucket, one-level division device 2 is located at the discharging opening below of elementary batcher 1, one-level division device 2 bottoms are provided with 3 discharging openings, full moisture content coal sample outlet is connected with I auto-filling supply unit 13, rejected material exports with abandon sample collection system 12 is connected, and another discharging opening is connected with the charging aperture of bucket elevator 3.Entering sample automatic delivery unit 23 after full moisture content coal sample can carries.The discharging opening of bucket elevator 3 is connected with autofeed disintegrating machine 4, is provided with secondary division device 5 below autofeed disintegrating machine 4.Secondary division device 5 bottoms also are provided with 3 discharging openings, and the sample discharging opening of filing for reference is connected with II auto-filling supply unit 14, rejected material outlet with abandon sample collection system 12 and be connected, general analysis coal sample discharging opening is connected with III auto-filling supply unit 15.
Modular coal automatic sample analytical approach of the present invention, the raw coal coal sample is carried out division through the one-level division device 2 that elementary batcher 1 delivers in sample preparation workplace 6, full moisture content coal sample after division enters I auto-filling supply unit 13 auto-fillings, and can is sent to sample automatic delivery unit 23 by conveying belt; Coal sampling after division enters autofeed disintegrating machine 4 through bucket elevator 3, feeds secondary division device 5 after 4 fragmentations of autofeed disintegrating machine, through 5 divisions of secondary division device; The coal sample of filing for reference after division enters II auto-filling supply unit 14 auto-fillings, and can is sent to sample automatic delivery unit 23 by conveying belt; General analysis coal sample after division enters III auto-filling supply unit 15 auto-fillings, and can is sent to sample automatic delivery unit 23 by conveying belt, and unnecessary coal sample enters abandons sample collection system 12; The coal sample of filing for reference transmits through the conveying belt of sample automatic delivery unit 23, then passes through automatic printing information when filing for reference sample information print unit 26, deposits A vessel storage unit 17 in after being picked up, encapsulated by the first robot 18 afterwards.
The general analysis coal sample transmits through the conveying belt of sample automatic delivery unit 23, after B detent mechanism 31 is located, puts into after being picked up by the first robot 18 in logical nitrogen drying box 25, is dried to constant mass under not higher than 40 ℃ of conditions.Coal sample is after drying picked up and is carried in sample pulverizer 16 by the first robot 18 again and grinds; Material after grinding is completed is put back on automatic delivery unit 23 through tape transport by the first robot 18 and is entered between analytical work 9, in A detent mechanism 30 location, place, picked up and the sample material after grinding is poured in automatic sample sorting machine 7 divided sample by the second robot 29, slack tank is put into B vessel storage unit 21; The second robot 29 grasps the vessel in B vessel storage unit 21 and is placed on automatic sample sorting machine 7 according to the instruction of computer information processing system 20 afterwards, in automatic sample sorting machine 7, the weight information of vessel is transferred to computer information processing system 20 through signal wire, more as calculated the instruction auto feed of machine information disposal system 20 to predetermined weight; The coal sample quality of carrying out technical analysis is 1 ± 0.2g, and the coal sample quality of carrying out the sulphur content analysis is 0.3 ± 0.01g, and the coal sample quality of carrying out the thermal value analysis is 0.9 ~ 1.1g.Carry out again weighing and weight data is transferred in computing machine after reinforced completing.The vessel that the second robot 29 will feed in raw material according to computer instruction at every turn and weighing is completed are respectively put on constant sulphur appliance 8, industrial analysis instrument 10, calorimeter 11 to be analyzed.Vessel after analysis is completed are taken out from each analytical instrument by the second robot 29 and put into B vessel storage unit 21, are processed by staff's centralized collection.All analysis data are all transmitted and are kept in computer information processing system 20, and can print by printer and analyze list.
Entering sample automatic delivery unit 23 after full moisture content coal sample can carries, at automatic delivery unit 23 middle parts by sample pot B detent mechanism 31 location, be placed on electronic balance 24 after being picked up by the first robot 18 afterwards and weigh, weight is transferred in computing machine, and then put into logical nitrogen drying box 25 by 18 crawls of the first robot, be dried to constant mass under 105 ~ 110 ℃ of conditions.Be placed on electronic balance 24 by 18 crawls of the first robot again after drying is completed and weigh, weight is transferred in computing machine, by computing machine according to the weight data of weighing for twice be pre-stored in the full water content that vessel weight data in computing machine calculates coal sample.Rejected material is placed on A vessel storage unit 17, by staff's collection and treatment by the first robot 18.
Claims (1)
1. modular coal automatic sample analytic system is characterized in that: system mainly is comprised of sample preparation unit, analytic unit and three parts of control module, described sample preparation unit comprises that connection enters the elementary batcher (1) in sample preparation workplace (6), the one-level division device (2) that is connected with elementary batcher (1), the front portion of one-level division device (2) is connected with autofeed disintegrating machine (4) through bucket elevator (3), the below of autofeed disintegrating machine (4) is provided with secondary division device (5), the left side of one-level division device (2) and secondary division device (5) is respectively equipped with abandons sample collection system (12), I auto-filling supply unit (13), II auto-filling supply unit (14), III auto-filling supply unit (15), the right side of one-level division device (2) and secondary division device (5) is provided with sample automatic delivery unit (23), one-level division device (2) bottom is provided with the conveying belt that connects respectively I auto-filling supply unit (13) and sample automatic delivery unit (23), secondary division device (5) bottom is respectively equipped with the conveying belt that connects II auto-filling supply unit (14), III auto-filling supply unit (15) and sample automatic delivery unit (23), described sample automatic delivery unit (23) comprises material is sent to conveying belt in analytic unit, is located at electronic balance (24), the sample information of filing for reference print unit (26) and logical nitrogen drying box (25) on conveying belt successively, the front portion of described secondary division device (5) is respectively equipped with sample pulverizer (16), A vessel storage unit (17) and the first robot (18), described analytic unit comprises (9) between analytical work, constant temperature enclosure (22), be provided with automatic sample sorting machine (7) between analytical work in (9), automatic sample sorting machine (7) side is provided with constant sulphur appliance (8), constant sulphur appliance (8) is provided with industrial analysis instrument (10), also is provided with B vessel storage unit (21) and the second robot (29) between analytical work in (9), be provided with calorimeter (11) in constant temperature enclosure (22), described control module comprises control workplace (19), is located at the computer information processing system (20) of controlling in workplace (19).
2. modular coal automatic sample analytic system according to claim 1, it is characterized in that: described automatic sample sorting machine (7) is comprised of oscillating feeder and Weighing mechanism, and the mass transport slot cross-section of oscillating feeder is " V " shape.
3. modular coal automatic sample analytic system according to claim 1, it is characterized in that: described calorimeter (11) is two, arranges up and down.
4. the modular coal automatic sample analytical approach of according to claim 1,2 or 3 described systems, it is characterized in that: the one-level division device (2) with the raw coal coal sample in elementary batcher (1) delivers into sample preparation workplace (6) carries out division, full moisture content coal sample after division enters I auto-filling supply unit (13) auto-filling, and can is sent to sample automatic delivery unit (23) by conveying belt; Dehydration part after division is analysed coal sample and is entered autofeed disintegrating machine (4) through bucket elevator (3), feeds secondary division device (5) after autofeed disintegrating machine (4) fragmentation, through secondary division device (5) division; The coal sample of filing for reference after division enters II auto-filling supply unit (14) auto-filling, and can is sent to sample automatic delivery unit (23) by conveying belt; General analysis coal sample after division enters III auto-filling supply unit (15) auto-filling, and can is sent to sample automatic delivery unit (23) by conveying belt, and unnecessary coal sample enters abandons sample collection system (12); The coal sample of filing for reference transmits through the conveying belt of sample automatic delivery unit (23), and automatic printing information, deposit A vessel storage unit (17) in after being picked up, encapsulated by the first robot (18) afterwards when process is filed for reference sample information print unit (26); Full moisture content coal sample transmits through the conveying belt of sample automatic delivery unit (23), be placed on electronic balance (24) after being picked up by the first robot (18) and weigh, weight information is transferred in the computing machine of computer information processing system (20), and then it is dry to put into logical nitrogen drying box (25) by the first robot (18) crawl, be placed on electronic balance (24) by the first robot (18) crawl after drying is completed again and weigh, weight information is transferred in the computing machine of computer information processing system (20); Computing machine is according to the weight data of weighing for twice and be pre-stored in the full water content that vessel weight data in computing machine calculates coal sample; Rejected material after full water content analysis is completed is placed on A vessel storage unit (17) by the first robot (18); The general analysis coal sample transmits through the conveying belt of sample automatic delivery unit (23), put into after being picked up by the first robot (18) in logical nitrogen drying box (25), coal sample is after drying picked up and is carried in sample pulverizer (16) by the first robot (18) again and grinds; Material after grinding is completed is put back to automatic delivery unit (23) by the first robot (18) again and is upward entered (9) between analytical work through tape transport, picked up by the second robot (29) and the sample material after grinding is poured in automatic sample sorting machine (7) divided sample, slack tank is put into B vessel storage unit (21); The second robot (29) grasps the slack tank in B vessel storage units (21) and is placed on automatic sample sorting machine (7) according to the instruction of computer information processing system (20) afterwards, the weight information of slack tank is transferred to computer information processing system (20) through signal wire in automatic sample sorting machine (7), more as calculated the instruction auto feed of machine information disposal system (20) to predetermined weight; The second robot (29) will feed in raw material according to computer instruction at every turn and the slack tank completed of weighing is respectively put into constant sulphur appliance (8), industrial analysis instrument (10), calorimeter and analyzes on (11).
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| CN201749048U (en) * | 2010-07-06 | 2011-02-16 | 长沙开元仪器股份有限公司 | Combined sample preparation system |
| CN201773025U (en) * | 2010-09-03 | 2011-03-23 | 江苏赛摩集团有限公司 | Container type automatic sample preparing device |
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| CN112697994A (en) * | 2020-12-11 | 2021-04-23 | 山西大学 | Unmanned intervention rapid coal quality intelligent detection metering system |
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