CN104743334B - The protection device and discharging system of freeze dryer automatic feed/discharge - Google Patents
The protection device and discharging system of freeze dryer automatic feed/discharge Download PDFInfo
- Publication number
- CN104743334B CN104743334B CN201310734688.1A CN201310734688A CN104743334B CN 104743334 B CN104743334 B CN 104743334B CN 201310734688 A CN201310734688 A CN 201310734688A CN 104743334 B CN104743334 B CN 104743334B
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- Prior art keywords
- bottle
- conveyer belt
- freeze dryer
- automatic feed
- wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a kind of protection device of freeze dryer automatic feed/discharge, including control unit, alarm unit and the first detecting element of falling bottle installed in conveyer belt side；The second detecting element of falling bottle and the Ti Ping mechanisms for rejecting bottle are disposed with conveyer belt；Control unit sends alarm signal to alarm unit according to first detection signal, and control unit is acted according to the bottle that picks of the second detection signal control Ti Ping mechanisms.The invention also discloses a kind of freeze dryer discharging system; including freeze dryer automatic feed/discharge protection device as described above, conveyer belt and its motor, pocket-wheel and its motor; conveyer belt both sides are provided with barrier component; aperture is provided with barrier component, the first detecting element of falling bottle and the second detecting element of falling bottle are by whether there is bottle on corresponding keyhole detection conveyer belt.The protection device and system of automatic feed/discharge of the present invention are respectively provided with the measure that multilayer rejects bottle, can avoid down damage of the bottle to pocket-wheel and miscellaneous equipment.
Description
Technical field
The invention mainly relates to the package packing machine such as medicine, food field, a kind of freeze dryer automatic feed/discharge protection dress is refered in particular to
Put and discharging system.
Background technology
Freeze dryer automatic feed/discharge is by the way that the cillin bottle after partly jumping a queue is combined by feeding integrating device and bottle-sorting device
Push rod feeding freeze-drying machine partition board is fed, combining discharging integrating device by kick-off arm after the completion lyophilized technique cycle send cillin bottle
Go out shelf, be transferred to Cover-rolling machine and subsequent handling, whole input and output material process is completely by control system control, it is not necessary to manual intervention,
Human contact's product is avoided, so that the pollution caused in preventing the transport process of product to greatest extent, therefore automatic turnover
The use of material increasingly receives an acclaim.
Especially in the last few years with the fast development of domestic and international lyophilized formulations, many pharmacy corporations are overall to freeze-drying prods
The requirement of production cycle is also being improved constantly, and the also charging and discharging speed just to automatic feed/discharge proposes higher requirement.
For charging, typically, it is that the cillin bottle that will partly jump a queue is transported to pocket-wheel by feed conveyor belt first, then passes through star
The bottle row of fixed bottle number is delivered to push rod track by the control of shape wheel, and bottle row finally is passed through into set side by charging push rod
Formula sends into freeze-drying machine partition board.During feeding herein, the control of pocket-wheel is particularly critical, and it is related to bottle transmission, counted
And positioning etc., it is directly connected to the accurate and accuracy of the marshalling of follow-up bottle, the control of bottle quantity etc..Therefore, star
The steady control waited to pocket-wheel of the charging integrated region bottle transmission of shape wheel front end has a great impact.With automatic turnover
The charging rate of material is accelerated, in pocket-wheel front end area bottle transmit process its fall bottle risk and thus formed by bottle it is interrupted
Situation is also more prone to occur.
Once there is bottle, if without bottle is dredged out bottle track in time, decoction remaining in bottle will be with
The movement of transmission net band and pollute increasing transmission net band, cause subsequently to be difficult to clean；If bottle is toppled over without quilt
Transmission net band is dredged out in time, be may proceed at operation to pocket-wheel, causes the size for toppling over bottle and pocket-wheel gap to mismatch,
The corner angle of the badly damaged pocket-wheel of meeting, destroy input and output material equipment, will so cause all fronts out of service, and operating personnel need to participate in
Maintained equipment etc., this occurrence of not only fail to reach the lifting of the desired input and output material speed of pharmacy producer to shorten whole
Individual lyophilization cycle, has delayed the progress of production on the contrary, clean ring of the intervention of plant maintenance more to aseptic area in the production cycle
Border causes influence, and the aseptic medicine in production certainly will be polluted.
And as China's medicine, food service industry are further to the requirement more and more higher of international joint, and new edition GMP, system
Medicine industry is increasingly paid attention to the lyophilized and transport process of product, while requiring that bottle automatic feed/discharge lifts speed,
It is steady to its course of conveying, safely, the operating characteristics such as continuously run and it is also proposed higher expectation.
The automatic feed/discharge system of current freeze dryer do not have anti-blocking bottle measure and stifled bottle after control measure, therefore
Problems with occurs：1st, the bottle toppled over is stuck in track corner, results in blockage, and follow-up bottle transmission is obstructed, if
The no operating personnel in scene intervene in time can then stagnate always, influence the speed of whole production cycle；2nd, the bottle toppled over is smooth
Into the track close to pocket-wheel front end, the pocket-wheel in rotation is extruded with bottle, the corner angle of badly damaged pocket-wheel, and destruction is certainly
Dynamic input and output material equipment.
The content of the invention
The technical problem to be solved in the present invention is that：The technical problem existed for prior art, the present invention provides one
Freeze dryer input and output material protection device and discharging system that multilayer rejects the measure of falling bottle can be provided by planting.
In order to solve the above technical problems, technical scheme proposed by the present invention is：
A kind of protection device of freeze dryer automatic feed/discharge, including control unit, alarm unit and installed in freeze dryer
Conveyer belt side the first detecting element of falling bottle；Along the direction of transfer of conveyer belt, in adjacent freeze dryer automatic feed/discharge system
The second detecting element of falling bottle and the Ti Ping mechanisms for rejecting bottle are disposed with the upstream conveyor of pocket-wheel；Described
Whether there is down bottle in duration T 1 on one detecting element of falling bottle detection conveyer belt and first detection signal is passed into control list
Member, described control unit sends alarm signal to alarm unit according to first detection signal, when the detection of the first detecting element of falling bottle
Without the when of falling bottle on correspondence conveyer belt, whether there is down bottle on the second detecting element of falling bottle detection conveyer belt and pass the second detection signal
Control unit is passed, control unit is acted according to the bottle that picks of the second detection signal control Ti Ping mechanisms.
It is used as the further improvement of above-mentioned protection device：
Torque sensor is provided with the rotating shaft of the pocket-wheel of freeze dryer, the torque sensor detection pocket-wheel rotating shaft
Torque signal is simultaneously passed to control unit by moment of torsion, and described control unit controls the action of pocket-wheel according to torque signal.
The torque sensor is arranged on the end of the connection bearing of pocket-wheel rotating shaft.
The Ti Ping mechanisms include cylinder, and the cylinder rod front end of the cylinder is provided with strip and block jacking block, the jacking block
Right opposite is provided with the second ease-hole, and the cylinder releases jacking block according to the instruction of control unit, thus will bottle from transmission
Take and ejected through the second ease-hole.
The corner of the conveyer belt is provided with the first ease-hole.
The buffering of the falling bottle frame for receiving bottle is provided with below first ease-hole and the second ease-hole.
First detecting element of falling bottle and the second detecting element of falling bottle are photoelectric sensor.
Described control unit connects a host computer.
The invention also discloses a kind of freeze dryer automatic feed/discharge system, including freeze dryer automatic feed/discharge as described above
Protection device, conveyer belt and its motor, pocket-wheel and its motor, the conveyer belt both sides are provided with barrier component,
Aperture is provided with the barrier component, first detecting element of falling bottle and the second detecting element of falling bottle pass through corresponding aperture
Detect on conveyer belt with the presence or absence of bottle.
It is used as the further improvement of above-mentioned discharging system：
The following tangent line of the aperture and the vertical range H1 of conveyer belt are more than the diameter D of bottle, the top of the aperture
The vertical range H2 of tangent line and conveyer belt is less than the height H of bottle.
Compared with prior art, the advantage of the invention is that：
Whether the 1st, the first detecting element of falling bottle of protection device of the invention is detected on conveyer belt has bottle, if when lasting
Between do not detect a bottle signal in T1, then can determine whether that the upstream of conveyer belt stifled bottle phenomenon occurs or the upstream equipment of freeze dryer goes out
Existing failure, reminds operating personnel to enter processing, in order to avoid influence the speed of whole production cycle.When the detection of the first detecting element of falling bottle
To bottle signal, then whether the second detecting element of falling bottle is detected on corresponding conveyer belt has bottle, if the signal of falling bottle, then sends finger
Order is to control unit, and control unit control Ti Ping mechanisms are rejected to the progress of falling bottle, prevent the bottle toppled over from entering close to pocket-wheel
The track of front end, it is to avoid extrude and damage the corner angle of pocket-wheel with the pocket-wheel in rotation, and then destroy automatic feed/discharge equipment.
2nd, protection device of the invention is provided with torque sensor in the rotating shaft of pocket-wheel, when pocket-wheel and bottle extruding
When, detection signal is simultaneously passed to control unit by pocket-wheel moment of torsion increase, torque sensor action, and control unit stops rapidly star
The rotation of shape wheel, is simultaneously emitted by alarm and corresponding text prompt, it is to avoid the damage of pocket-wheel or miscellaneous equipment.
3rd, conveyer belt corner of the invention is provided with the first ease-hole, when the communicated band of bottle is sent to herein, by
In the change of direction of transfer, bottle can be discharged through the first ease-hole, so as to smoothly reach the purpose for rejecting bottle, be prevented effectively from down
Remaining decoction pollutes more conveyer belts with the transmission of conveyer belt in bottle.
4th, protection device of the invention enables down bottle to be discharged in pocket-wheel front end the progress of falling bottle multilayer tracking, it is to avoid
The failure that bottle is caused to pocket-wheel, also mitigates the labor intensity of operating personnel while protection equipment.
5th, discharging system of the invention equally has the advantages that described in above protection device.
6th, the size in small Kong is set in barrier in discharging system of the invention, has both considered the consideration to the collection of falling bottle,
The collection to normal bottle signal is also allowed for, interference of the error signal to discharging system is excluded to greatest extent, is conducive to detection
Detection of the element to bottle, has ensured the stable operation of equipment.
Brief description of the drawings
Fig. 1 is the structural representation of the discharging system of the present invention.
Fig. 2 is the structural representation of the stifled bottle detection element testing bottle of the present invention.
Fig. 3 is the structural representation of the Ti Ping mechanisms of the present invention.
Fig. 4 is the structural representation of the ease-hole of the present invention.
Fig. 5 is torque sensor mounting structure schematic diagram of the invention.
Fig. 6 is the circuit theory schematic diagram of the discharging system of the present invention.
Fig. 7 is the workflow schematic diagram of the protection device of the present invention.
Label declaration in figure：1st, programmable controller；2nd, audible-visual annunciator；3rd, conveyer belt；31st, belt-driven motor；
4th, the first ease-hole；5th, the first detecting element of falling bottle；6th, pocket-wheel；61st, rotating shaft；62nd, it is coupled bearing；63rd, star wheel drive electricity
Machine；7th, the second detecting element of falling bottle；8th, Ti Ping mechanisms；81st, jacking block；82nd, the second ease-hole；9th, torque sensor；10th, the bottle that falls delays
Rush frame；11st, host computer；12nd, barrier component；13rd, aperture；14th, bottle.
Embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figures 1 to 7, the protection device of the freeze dryer automatic feed/discharge of the present embodiment, including control unit, alarm
Unit and the first detecting element of falling bottle 5 installed in the side of conveyer belt 3 of freeze dryer, conveyer belt 3 is by belt-driven motor
31 driving rotations；Along along the direction of transfer of conveyer belt 3, the upstream transmission of pocket-wheel 6 in adjacent freeze dryer automatic feed/discharge system
With being disposed with the second detecting element of falling bottle 7 and Ti Ping mechanisms 8 for rejecting bottle on 3；First detecting element of falling bottle 5 is examined
Whether survey on conveyer belt 3 has down bottle in duration T 1 and first detection signal is passed into control unit, control unit according to
First detection signal sends alarm signal to alarm unit, when the first detecting element of falling bottle 5 is detected on correspondence conveyer belt 3 without bottle
When, whether the second detecting element is detected has down bottle and the second detection signal is passed into control unit, control unit on conveyer belt 3
Bottle action is picked according to the second detection signal control Ti Ping mechanisms 8, prevents the bottle 14 toppled over close to the rail of the front end of pocket-wheel 6
Road, it is to avoid extrude and damage the corner angle of pocket-wheel 6 with the pocket-wheel 6 in rotation, and then destroy automatic feed/discharge equipment.
As shown in figure 5, in the present embodiment, torque sensor 9, star are provided with the rotating shaft 61 of the pocket-wheel 6 of freeze dryer
Wheel 6 drives rotation by pocket-wheel motor 63, and torque sensor 9 detects the moment of torsion of the rotating shaft 61 of pocket-wheel 6 and by torque signal
Control unit is passed to, control unit controls the action of pocket-wheel 6 according to torque signal.When pocket-wheel 6 and bottle 14 are extruded,
The moment of torsion of pocket-wheel 6 increases, and torque sensor 9 acts and detection signal is passed into control unit, and control unit stops rapidly star
The rotation of shape wheel 6, is simultaneously emitted by alarm and corresponding text prompt, it is to avoid the damage of pocket-wheel 6 or miscellaneous equipment.
In the present embodiment, torque sensor 9 is arranged on the end of the connection bearing 62 of the rotating shaft 61 of pocket-wheel 6, and its moment of torsion is most
Greatly, moment of torsion can be most detected soon and feed back to control unit, so as to protect the corner angle of pocket-wheel 6 without damage.
As shown in figure 3, in the present embodiment, Ti Ping mechanisms 8 include cylinder, and the cylinder rod front end of cylinder is provided with strip and block top
Block 81, the right opposite of jacking block 81 sets the second ease-hole 82, and cylinder releases jacking block 81 according to the instruction of control unit, so that will
Bottle is ejected from conveyer belt 3 through the second ease-hole 82.
In the present embodiment, the corner of conveyer belt 3 is provided with the first ease-hole 4, when the communicated band 3 of bottle is sent to herein
When, due to the change of direction of transfer, bottle can be discharged through the first ease-hole 4, so as to smoothly reach the purpose for rejecting bottle, effectively
Decoction remaining in bottle is avoided down to pollute more conveyer belts 3 with the transmission of conveyer belt 3.
As shown in figure 4, in the present embodiment, the lower section of the first ease-hole 4 and the second ease-hole 82 is provided with for receiving
The buffering of the falling bottle frame 10 of bottle, can effectively buffer down the impulsive force that bottle is fallen down from conveyer belt 3, prevent down bottle breakage.
In the present embodiment, the first detecting element of falling bottle 5 and the second detecting element of falling bottle 7 are photoelectric sensor.
In the present embodiment, control unit connects a host computer 11, and control unit is programmable controller 1, and alarm unit is
Audible-visual annunciator 2.
The present invention further discloses a kind of freeze dryer automatic feed/discharge system, including freeze dryer as described above is automatic
Input and output material protection device, conveyer belt 3 and belt-driven motor 31, pocket-wheel 6 and pocket-wheel motor 63,3 liang of conveyer belt
Side, which is provided with barrier component 12, barrier component 12, is provided with aperture 13, the first detecting element of falling bottle 5 and the second detection of falling bottle member
Part 7 is detected on conveyer belt 3 with the presence or absence of bottle by corresponding aperture 13.
As shown in Fig. 2 in the present embodiment, the following tangent line of aperture 13 is more than bottle 14 with the vertical range H1 of conveyer belt 3
Diameter D, the top tangent line of aperture 13 and the vertical range H2 of conveyer belt 3 are less than the height H of bottle 14.
As shown in fig. 7, the job step of discharging system of the present invention is as follows：
1）The setting of parameter, every in equipment needed for the man-machine interface of host computer 11 completes the operation of automatic feed/discharge equipment
Job readiness is ready, and starting device carries out feed mode：Conveyer belt 3 transmits bottle 14 and pocket-wheel 6 counts and positions and transmit small
Bottle 14 etc.；
2）Topple over when bottle 14 occurs on conveyer belt 3, the bottle 14 falls with first ease-hole 4 that operates in of conveyer belt 3
Drop down onto the buffering of falling bottle frame 10；
3）The bottle 14 is discharged as the first ease-hole 4 fails, and is not blocked, then into 6）Step；
4）The bottle 14 is discharged as the first ease-hole 4 fails, and therefore causes the follow-up obstruction of bottle 14 to stagnate, then
First detecting element of falling bottle 5 collects the signal of falling bottle, if the first detecting element of falling bottle 5 is persistently delayed, T1 is still in the signal of falling bottle shape
State, then control system output signal, sends alarm signal by warning device and points out manual intervention, while man-machine interface has accordingly
Word message prompting its occur position etc.；
5）Such as causing not transmit bottle 14 persistently the reason for upstream equipment, then the first detecting element of falling bottle 5 is gathered
To the signal of falling bottle, and persistently, delay T1 still locates what and falls a bottle signal condition, then control unit output signal, is sent by warning device
Alarm signal points out manual intervention, while man-machine interface has corresponding Word message prompting, it occurs position etc..
6）Such as the second detecting element of falling bottle 7 collects the signal of falling bottle, then control system output signal, control Ti Ping mechanisms 8
To topple over bottle 14 from second dredge in pick out and prevent it from continuing to transmit toward pocket-wheel 6, the rotation of pocket-wheel 6 can also be suspended in addition
Turn, point out manual intervention and man-machine interface to have its hair of corresponding Word message prompting while sending alarm signal by warning device
Raw position etc..
7）, then can restarting equipment continuation automatic running, continuation rotating segment after operator's manual intervention and fixing a breakdown
Wheel 6.
8）Such as the second detecting element of falling bottle 7 fails to collect the signal of falling bottle, topples over bottle 14 and enters the Rotary District of pocket-wheel 6
Domain, the phenomenon for causing pocket-wheel 6 to be blocked with the generation of falling bottle, the end torque sensor 9 for being installed on connection bearing 62 can be in short-term
It is interior to collect the signal, control system is fed back to, control system stops rapidly the rotation of pocket-wheel 6 according to the signal, is it
Triple defence lines are built to ensure part of appliance to greatest extent, while it is artificial dry to send alarm signal prompting by warning device
Pre- and man-machine interface has corresponding Word message prompting, and it occurs position etc..
9）If the 8th）Situation in step occurs, and operating personnel can follow the Word message prompting of alarm and man-machine interface, look for
Be card at pocket-wheel 6 bottle to alarm source, take out the bottle 14, and carry out after corresponding failure reset operation restarting equipment after
It is continuous normally to be produced.
It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention should be regarded as the protection of the present invention
Scope.
Claims (8)
1. a kind of protection device of freeze dryer automatic feed/discharge, it is characterised in that including control unit, alarm unit and installation
In the conveyer belt of freeze dryer（3）First detecting element of falling bottle of side（5）；Along conveyer belt（3）Direction of transfer, adjacent freeze dryer
Pocket-wheel in automatic feed/discharge system（6）Upstream conveyor（3）On be disposed with the second detecting element of falling bottle（7）And be used for
Reject the Ti Ping mechanisms of bottle（8）；First detecting element of falling bottle（5）Detect conveyer belt（3）In upper duration T 1 whether
There is down bottle and first detection signal is passed into control unit, described control unit sends alarm signal according to first detection signal
To alarm unit, when the first detecting element of falling bottle（5）Detection correspondence conveyer belt（3）When upper nothing is fallen bottle, the second detecting element of falling bottle
（7）Detect conveyer belt（3）On whether have down bottle and the second detection signal passed into control unit, control unit is according to the second inspection
Survey signal control Ti Ping mechanisms（8）Pick bottle action；The pocket-wheel of the freeze dryer（6）Rotating shaft（61）On be provided with moment of torsion biography
Sensor（9）, the torque sensor（9）Detect pocket-wheel（6）Rotating shaft（61）Moment of torsion and that torque signal is passed into control is single
Member, described control unit controls pocket-wheel according to torque signal（6）Action；The conveyer belt（3）Corner be provided with
One ease-hole（4）.
2. the protection device of freeze dryer automatic feed/discharge according to claim 1, it is characterised in that the torque sensor
（9）Installed in pocket-wheel（6）Rotating shaft（61）Connection bearing（62）End.
3. the protection device of freeze dryer automatic feed/discharge according to claim 1 or 2, it is characterised in that described to pick a bottle machine
Structure（8）Including cylinder, the cylinder rod front end of the cylinder is provided with strip and block jacking block（81）, the jacking block（81）Right opposite set
It is equipped with the second ease-hole（82）, the cylinder is according to the instruction of control unit by jacking block（81）Release, thus will bottle from transmission
Band（3）On through the second ease-hole（82）Ejection.
4. the protection device of freeze dryer automatic feed/discharge according to claim 3, it is characterised in that first ease-hole
（4）With the second ease-hole（82）Lower section be provided with for receive fall bottle the buffering of falling bottle frame（10）.
5. the protection device of freeze dryer automatic feed/discharge according to claim 4, it is characterised in that first inspection of falling bottle
Survey element（5）With the second detecting element of falling bottle（7）For photoelectric sensor.
6. the protection device of freeze dryer automatic feed/discharge according to claim 5, it is characterised in that described control unit connects
Connect a host computer（11）.
7. a kind of freeze dryer automatic feed/discharge system, it is characterised in that including lyophilized any one of claim 1 to 6
Machine automatic feed/discharge protection device, conveyer belt（3）And its motor, pocket-wheel（6）And its motor, the conveyer belt
（3）Both sides are provided with barrier component（12）, the barrier component（12）On be provided with aperture（13）, the first detection of falling bottle member
Part（5）With the second detecting element of falling bottle（7）Pass through corresponding aperture（13）Detect conveyer belt（3）It is upper to whether there is bottle.
8. freeze dryer automatic feed/discharge system according to claim 7, it is characterised in that the aperture（13）Following cut
Line and conveyer belt（3）Vertical range H1 be more than bottle（14）Diameter D, the aperture（13）Top tangent line and conveyer belt
（3）Vertical range H2 be less than bottle（14）Height H.
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| CN201310734688.1A CN104743334B (en) | 2013-12-27 | 2013-12-27 | The protection device and discharging system of freeze dryer automatic feed/discharge |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310734688.1A CN104743334B (en) | 2013-12-27 | 2013-12-27 | The protection device and discharging system of freeze dryer automatic feed/discharge |
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| CN104743334B true CN104743334B (en) | 2017-09-15 |
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| CN108529539A (en) * | 2018-05-16 | 2018-09-14 | 上海东富龙科技股份有限公司 | Packing material of filling machine conveying device |
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| CN102628264A (en) * | 2012-04-19 | 2012-08-08 | 吴平平 | Elevating device for self-elevating drilling platform |
| CN202599496U (en) * | 2012-05-14 | 2012-12-12 | 西北工业大学 | Testboard used for mass, center of mass position and moment of inertia |
| CN102923183A (en) * | 2012-10-26 | 2013-02-13 | 湖南大学 | Intelligent vehicle steering mechanism and control method thereof |
| CN203310550U (en) * | 2012-12-07 | 2013-11-27 | 哈尔滨恒誉名翔科技有限公司 | Planetary gear reducer input shaft torque test bench |
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