CN114988051B - Cooperative luggage detection device and security inspection equipment - Google Patents
Cooperative luggage detection device and security inspection equipment Download PDFInfo
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- CN114988051B CN114988051B CN202110225676.0A CN202110225676A CN114988051B CN 114988051 B CN114988051 B CN 114988051B CN 202110225676 A CN202110225676 A CN 202110225676A CN 114988051 B CN114988051 B CN 114988051B
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- test paper
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
Abstract
The application provides a cooperation type luggage detection device and security check equipment, cooperation type luggage detection device includes: a conveying mechanism for conveying baggage; the cooperation mechanism is arranged on one side of the transmission mechanism and comprises a mounting base, a multi-axis mechanical arm and a material taking device, wherein the multi-axis mechanical arm is rotatably arranged on the mounting base, and the material taking device is arranged on the multi-axis mechanical arm; the test paper dispensing device is used for providing test paper; the contraband detection device is used for detecting the sampled test paper; the multi-axis mechanical arm can drive the material taking device to obtain test paper, the test paper is moved to the contraband detection device for detection after the test paper is used for sampling the luggage; the cooperation type luggage detection device realizes multi-surface sampling detection of luggage with different shapes, sizes and placement positions through mutual cooperation among the installation base, the multi-shaft mechanical arm and the material taking device, so that the detection efficiency and accuracy of luggage sampling detection are improved.
Description
Technical Field
The application belongs to the technical field of security inspection equipment, and more particularly relates to a cooperative baggage inspection device and security inspection equipment.
Background
In public places such as airports, subways, customs and the like, security inspection equipment is indispensable, and in order to prevent terrorist illegal crimes, the security inspection equipment can be used for detecting contraband of luggage of passengers and detecting whether the luggage contains contraband such as explosives, drugs and the like.
In the prior art, the detection mode of contraband is generally checked by a manual checking mode, a detection rod for clamping the contraband test paper is manually held, after checking a batch of people, the test paper is placed into an explosive detection device for detection, and if explosives appear, all people are detained for checking. This mode detection efficiency is low, and a large amount of labor is required.
In addition, there is a method of detecting contraband for baggage by using a conveyor belt, in which a detection device is provided on one side of the conveyor belt, and the baggage is detected by sampling the baggage one by the detection device. However, the detection device intelligently samples a single surface of the luggage, so that the detection result is not accurate; and for the luggage with irregular shape, the condition of missed detection is easy to occur.
Disclosure of Invention
An aim of the embodiment of the application is to provide a collaborative baggage inspection device and security inspection equipment, so as to solve the technical problems of low detection efficiency and low accuracy in the baggage inspection process in the prior art.
In order to achieve the above purpose, the technical scheme adopted in the application is as follows: provided is a cooperative baggage inspection device including:
a conveying mechanism for conveying baggage;
the cooperation mechanism is arranged on one side of the transmission mechanism and comprises a mounting base, a multi-axis mechanical arm and a material taking device, wherein the multi-axis mechanical arm is rotatably arranged on the mounting base, and the material taking device is arranged on the multi-axis mechanical arm;
the test paper dispensing device is used for providing test paper;
the contraband detection device is used for detecting the sampled test paper;
the multi-axis mechanical arm can drive the material taking device to obtain test paper, and after the test paper samples luggage, the test paper is moved to the contraband detection device to be detected.
Preferably, the multi-axis mechanical arm comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft, wherein the first rotating shaft is rotatably arranged on the mounting base, the second rotating shaft is rotatably connected with the first rotating shaft, the third rotating shaft is rotatably connected with the second rotating shaft, the fourth rotating shaft is rotatably connected with the third rotating shaft, the fifth rotating shaft is rotatably connected with the fourth rotating shaft, and the material taking device is arranged on the fifth rotating shaft.
Preferably, the rotation surfaces of the first rotation shaft, the second rotation shaft, the third rotation shaft, the fourth rotation shaft and the fifth rotation shaft are parallel to each other.
Preferably, the multi-axis mechanical arm comprises a first motor, a second motor, a third motor, a fourth motor and a fifth motor, wherein the output end of the first motor is connected with the first rotating shaft, the output end of the second motor is connected with the second rotating shaft, the output end of the third motor is connected with the third rotating shaft, the output end of the fourth motor is connected with the fourth rotating shaft, and the output end of the fifth motor is connected with the fifth rotating shaft.
Preferably, the material taking device comprises a clamp and a clamping motor, wherein the output end of the clamping motor is connected with the clamp and used for controlling the clamp to clamp or loosen test paper.
Preferably, the test paper dispensing device comprises a first guide channel, a test paper roller, a first transmission device and a cutting device, wherein the test paper roller, the first transmission device and the cutting device are arranged on the first guide channel, the test paper roller is used for dispensing test paper, the cutting device is used for cutting the test paper, and the first transmission device is used for transmitting the test paper.
Preferably, the first conveying device comprises a first conveying roller, a second conveying roller, a first driving motor and a first synchronous belt, wherein the first conveying roller and the second conveying roller are positioned on two sides of the cutting device, and the first driving motor is connected with the first conveying roller and the second conveying roller through the first synchronous belt.
Preferably, the cutting device comprises a cutting cylinder and a cutting blade, and the cutting blade is arranged on an output shaft of the cutting cylinder.
Preferably, the contraband detection apparatus includes a second guide channel, a second conveying device and a thermal analysis sample injector, the second conveying device and the thermal analysis sample injector are arranged on the second guide channel, and the second conveying device can convey test paper into the thermal analysis sample injector for detection.
Preferably, the second conveying device comprises a feeding roller, a sample discharging roller, a second driving motor and a second synchronous belt, wherein the feeding roller and the sample discharging roller are arranged on the second guide channel, the thermal analysis sample injector is positioned between the feeding roller and the sample discharging roller, and the second driving motor is synchronously connected with the feeding roller and the sample discharging roller through the second synchronous belt.
The application also provides a security inspection device comprising an object recognition camera and the cooperative baggage inspection device;
the object recognition camera can acquire the position of the luggage, and the collaborative luggage detection device can sample and detect the luggage.
The cooperative luggage detection device provided by the application has the beneficial effects that: compared with the prior art, through the cooperation between installation base, multiaxis arm and the extracting device, realize carrying out multiaspect sampling detection to the luggage of different shapes, size and put the position to improve luggage sampling detection's detection efficiency and accuracy.
The beneficial effect that this application provided and security inspection equipment lies in: compared with the prior art, the sampling cooperation type luggage detection device is combined with the object recognition camera, so that the detection efficiency and accuracy of luggage sampling detection can be further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a cooperative baggage inspection device according to an embodiment of the present disclosure;
FIG. 2 is a schematic perspective view of the cooperating mechanism of FIG. 1;
FIG. 3 is a schematic perspective view of another embodiment of the collaboration mechanism of FIG. 1;
FIG. 4 is a schematic perspective view of the test paper dispensing apparatus of FIG. 1;
FIG. 5 is a schematic perspective view of another embodiment of the test strip dispenser of FIG. 1;
fig. 6 is a schematic perspective view of the contraband detection apparatus in fig. 1.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 together, a description will now be given of a cooperative baggage inspection device according to an embodiment of the present application. The cooperative baggage inspection device 100 includes:
a conveying mechanism 10 for conveying baggage;
the cooperation mechanism 20 is arranged on one side of the transmission mechanism 10 and comprises a mounting base 21, a multi-axis mechanical arm 22 and a material taking device 23, wherein the multi-axis mechanical arm 22 is rotatably arranged on the mounting base 21, and the material taking device 23 is arranged on the multi-axis mechanical arm 22;
a test paper dispensing device 30 for providing test paper;
a contraband detection apparatus 40 for detecting the sampled test paper;
the multi-axis mechanical arm 22 can drive the material taking device 23 to obtain test paper, and after the test paper samples the baggage, the test paper is moved to the contraband detecting device 40 for detection.
It will be appreciated that the conveying mechanism 10 may be an electric conveyor belt, or may be a roller conveying device, which is intended to drive baggage to be transported from one end of a security check to the other end at a constant speed.
When the baggage moves on the transmission mechanism 10, the multi-axis mechanical arm 22 of the cooperation mechanism 20 can drive the material taking device 23 to the test paper dispensing device 30 to obtain test paper, and then the test paper wipes the baggage on the transmission mechanism 10 to complete the sampling operation; finally, the cooperative mechanism 20 moves the test paper to the contraband detection apparatus 40, and analyzes the test paper sampled by the contraband detection apparatus 40 to determine whether the luggage contains contraband, so as to realize a security inspection procedure of the contraband on the luggage.
As shown in fig. 1, since the cooperative mechanism 20 includes the multi-axis mechanical arm 22, the multi-axis mechanical arm 22 can be freely bent, and the cooperative mechanism 20 can sample the left and right sides and the top of the luggage while the multi-axis mechanical arm 22 and the mounting base 21 are kept not to rotate. Meanwhile, since the multi-axis mechanical arm 22 is rotatably disposed on the mounting base 21, if the multi-axis mechanical arm 22 rotates 90 degrees clockwise with the mounting base 21 as a central axis, the back of the luggage can be sampled; if the multi-axis mechanical arm 22 rotates 90 degrees counterclockwise by taking the mounting base 21 as a central axis, the front surface of the luggage can be sampled. And then can realize carrying out multiaspect sampling detection to the luggage of different shapes, size and placement position to improve the accuracy that luggage sampling detected.
Compared with the prior art, the cooperative baggage inspection device 100 and the security inspection equipment provided by the application realize multi-surface sampling inspection of baggage with different shapes, sizes and placement positions through mutual cooperation among the installation base 21, the multi-shaft mechanical arm 22 and the material taking device 23, so that the inspection efficiency and accuracy of baggage sampling inspection are improved.
In another embodiment of the present application, please refer to fig. 2, the multi-axis mechanical arm 22 includes a first rotating shaft 221, a second rotating shaft 222, a third rotating shaft 223, a fourth rotating shaft 224 and a fifth rotating shaft 225, wherein the first rotating shaft 221 is rotatably disposed on the mounting base 21, the second rotating shaft 222 is rotatably connected with the first rotating shaft 221, the third rotating shaft 223 is rotatably connected with the second rotating shaft 222, the fourth rotating shaft 224 is rotatably connected with the third rotating shaft 223, the fifth rotating shaft 225 is rotatably connected with the fourth rotating shaft 224, and the material taking device 23 is disposed on the fifth rotating shaft 225.
It will be appreciated that the flexibility of the multi-axis mechanical arm 22 may be improved by the first rotation axis 221, the second rotation axis 222, the third rotation axis 223, the fourth rotation axis 224, and the fifth rotation axis 225 being sequentially rotatably connected to each other, so that the material taking device 23 may perform a more angular sampling operation.
Preferably, referring to fig. 2, the rotation surfaces of the first rotation shaft 221, the second rotation shaft 222, the third rotation shaft 223, the fourth rotation shaft 224 and the fifth rotation shaft 225 are parallel to each other. So that the algorithm procedure in the cooperation of the first, second, third, fourth and fifth rotation shafts 221, 222, 223, 224 and 225 can be simplified. In addition, since the first rotating shaft 221 can also rotate with the mounting base 21, the material taking device 23 can perform sampling operation at any angle.
Preferably, referring to fig. 3, the multi-axis mechanical arm 22 includes a first motor 226, a second motor 227, a third motor 228, a fourth motor 229, and a fifth motor 220, wherein an output end of the first motor 226 is connected to the first rotating shaft 221, an output end of the second motor 227 is connected to the second rotating shaft 222, an output end of the third motor 228 is connected to the third rotating shaft 223, an output end of the fourth motor 229 is connected to the fourth rotating shaft 224, and an output end of the fifth motor 220 is connected to the fifth rotating shaft 225. It will be appreciated that the first motor 226 may be configured to rotate the first shaft 221 about the mounting base 21, the second motor 227 may be configured to rotate the second shaft 222 about the first shaft 221, the third motor 228 may be configured to rotate the third shaft 223 about the second shaft 222, the fourth motor 229 may be configured to rotate the fourth shaft 224 about the third shaft 223, and the fifth motor 220 may be configured to rotate the fifth shaft 225 about the fourth shaft 224. Each rotating shaft is controlled by an independent motor, is highly flexible and is controlled in a mutually coordinated manner.
Preferably, the first motor 226, the second motor 227, the third motor 228, the fourth motor 229, and the fifth motor 220 are servo motors. The servo motor has accurate control precision and high response speed, and can further improve the working efficiency.
In another embodiment of the present application, referring to fig. 3, the extracting device 23 includes a clamp 231 and a clamping motor 232, where an output end of the clamping motor 232 is connected to the clamp 231, and is used for controlling the clamp 231 to clamp or unclamp test paper.
In another embodiment of the present application, please refer to fig. 4 to 5 together, the test paper dispensing device 30 includes a first guiding channel 31, a test paper roller 32, a first transmission device 33 and a cutting device 34, the test paper roller 32, the first transmission device 33 and the cutting device 34 are disposed on the first guiding channel 31, the test paper roller 32 is used for dispensing test paper, the cutting device 34 is used for cutting the test paper, and the first transmission device 33 is used for transmitting the test paper.
Preferably, referring to fig. 4 to 5, the first guiding channel 31 includes a pair of side plates and a bottom plate, wherein the pair of side plates are disposed parallel to each other, and the bottom plate is disposed between the pair of side plates, so that the test paper can move on the bottom plate, and the pair of side plates can play a guiding role. The clipping device 34 is used for clipping the test paper, so that the test paper can be clipped into a test paper with a fixed small section for the material taking device 23 to clamp.
Preferably, referring to fig. 4 to 5, the first conveying device 33 includes a first conveying roller 331, a second conveying roller 332, a first driving motor 333, and a first synchronous belt 334, wherein the first conveying roller 331 and the second conveying roller 332 are located at two sides of the cutting device 34, and the first driving motor 333 is connected to the first conveying roller 331 and the second conveying roller 332 through the first synchronous belt 334.
It can be appreciated that the first driving motor 333 may simultaneously drive the first conveying roller 331 and the second conveying roller 332 to rotate, where the first conveying roller 331 is used for pulling out test paper from the test paper roller 32, after the test paper with a specified length is pulled out, the cutting device 34 cuts the test paper again, and finally the second conveying roller 332 conveys the cut test paper to a position waiting for the clamping of the material taking device 23.
Preferably, referring to fig. 4 to 5 together, the cutting device 34 includes a cutting cylinder 341 and a cutting blade 342, and the cutting blade 342 is disposed on an output shaft of the cutting cylinder 341.
It is to be understood that the cutter blade 342 is capable of cutting the test paper when the cutting cylinder 341 is extended; when the cutting cylinder 341 is retracted, the cutting blade 342 is reset.
In another embodiment of the present application, referring to fig. 6, the contraband detecting apparatus 40 includes a second guiding channel 41, a second conveying device 42 and a thermal analysis injector 43, the second conveying device 42 and the thermal analysis injector 43 are disposed on the second guiding channel 41, and the second conveying device 42 can convey test paper into the thermal analysis injector 43 for detection.
It will be appreciated that after the take-off device 23 places the test paper on the second guide channel 41, the second conveying device 42 may convey the test paper into the thermal analysis injector 43 for detection.
It should be noted that, the thermal analysis injector 43 is a sample pretreatment device in the analysis and detection system of the gas chromatograph, and mainly adopts a physical manner to heat and adsorb the sample, so as to achieve the purpose of detecting the sample. For example, in gas chromatograph sample processing, the thermal analyzer works on the principle: and (3) injecting the sample to be detected into an adsorption tube filled with the adsorbent (the filler in the adsorption tube of the thermal analyzer is required to determine the proper adsorbent according to the property of the sampled sample), wherein volatile components are eliminated by adsorption, heating the residual sample in the adsorption tube, desorbing the collected volatile organic compounds, and allowing the sample to be detected to enter a capillary column gas chromatograph equipped with a flame ionization detector along with inert carrier gas for analysis.
Preferably, referring to fig. 6, the second conveying device 42 includes a feeding roller 421, a sample discharging roller 422, a second driving motor 423 and a second timing belt 424, wherein the feeding roller 421 and the sample discharging roller 422 are disposed on the second guiding channel 41, the thermal analysis injector 43 is disposed between the feeding roller 421 and the sample discharging roller 422, and the second driving motor 423 is synchronously connected to the feeding roller 421 and the sample discharging roller 422 through the second timing belt 424.
It will be appreciated that after the material taking device 23 places the test paper on the second guide channel 41, the feeding roller 421 can convey the test paper into the thermal analysis injector 43, and when the thermal analysis injector 43 is completed in analysis, the sample discharging roller 422 can directly convey the test paper into the recoverer.
The present application also provides a security inspection apparatus comprising an object recognition camera and a collaborative baggage inspection device 100 as described above.
Wherein the object recognition camera can acquire the position of the baggage, and the collaborative baggage inspection device 100 can sample and inspect the baggage.
The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.
Claims (9)
1. A cooperative baggage inspection apparatus comprising:
a conveying mechanism for conveying baggage;
the cooperation mechanism is arranged on one side of the transmission mechanism and comprises a mounting base, a multi-axis mechanical arm and a material taking device, wherein the multi-axis mechanical arm is rotatably arranged on the mounting base, and the material taking device is arranged on the multi-axis mechanical arm;
the test paper dispensing device is used for providing test paper;
the contraband detection device is used for detecting the sampled test paper;
the multi-axis mechanical arm can drive the material taking device to obtain test paper, the test paper is moved to the contraband detection device for detection after the test paper is used for sampling the luggage;
the test paper dispensing device comprises a first guide channel, a test paper roller, a first transmission device and a cutting device, wherein the test paper roller, the first transmission device and the cutting device are arranged on the first guide channel, the test paper roller is used for dispensing test paper, the cutting device is used for cutting the test paper, and the first transmission device is used for transmitting the test paper.
2. The cooperative baggage inspection device according to claim 1, wherein the multi-axis mechanical arm comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft, wherein the first rotating shaft is rotatably arranged on the mounting base, the second rotating shaft is rotatably connected with the first rotating shaft, the third rotating shaft is rotatably connected with the second rotating shaft, the fourth rotating shaft is rotatably connected with the third rotating shaft, the fifth rotating shaft is rotatably connected with the fourth rotating shaft, and the material taking device is arranged on the fifth rotating shaft.
3. The cooperative baggage inspection device according to claim 2, wherein the rotational surfaces of the first rotational shaft, the second rotational shaft, the third rotational shaft, the fourth rotational shaft and the fifth rotational shaft are parallel to each other.
4. A cooperative baggage inspection apparatus according to claim 3, wherein said multi-axis mechanical arm comprises a first motor, a second motor, a third motor, a fourth motor and a fifth motor, wherein an output of said first motor is connected to said first shaft, an output of said second motor is connected to said second shaft, an output of said third motor is connected to said third shaft, an output of said fourth motor is connected to said fourth shaft, and an output of said fifth motor is connected to said fifth shaft.
5. The cooperative baggage inspection device according to claim 1, wherein the first conveyor comprises a first conveyor roller, a second conveyor roller, a first drive motor and a first timing belt, wherein the first conveyor roller and the second conveyor roller are positioned on both sides of the cutting device, and the first drive motor is connected with the first conveyor roller and the second conveyor roller through the first timing belt.
6. The cooperative baggage inspection device according to claim 1, wherein the clipping device comprises a clipping cylinder and a clipping blade, the clipping blade being provided on an output shaft of the clipping cylinder.
7. The cooperative baggage inspection device according to any one of claims 1 to 4, wherein the contraband inspection device comprises a second guide channel, a second conveying device and a thermal analysis injector, the second conveying device and the thermal analysis injector are disposed on the second guide channel, and the second conveying device can convey test paper into the thermal analysis injector for inspection.
8. The cooperative baggage inspection device according to claim 7, wherein the second conveyor comprises a feed roller, a sample discharge roller, a second drive motor and a second timing belt, wherein the feed roller and the sample discharge roller are disposed on the second guide channel, the thermal analysis injector is disposed between the feed roller and the sample discharge roller, and the second drive motor is synchronously connected to the feed roller and the sample discharge roller through the second timing belt.
9. A security inspection apparatus comprising an object recognition camera and a cooperative baggage inspection device according to any one of claims 1 to 8;
the object recognition camera can acquire the position of the luggage, and the collaborative luggage detection device can sample and detect the luggage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110225676.0A CN114988051B (en) | 2021-03-01 | 2021-03-01 | Cooperative luggage detection device and security inspection equipment |
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| CN202110225676.0A CN114988051B (en) | 2021-03-01 | 2021-03-01 | Cooperative luggage detection device and security inspection equipment |
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| CN114988051B true CN114988051B (en) | 2023-06-30 |
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| CN110076094A (en) * | 2019-06-04 | 2019-08-02 | 苏州誉阵自动化科技有限公司 | Test paper detection device |
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| US6946300B2 (en) * | 2002-02-01 | 2005-09-20 | Control Screening, Llc | Multi-modal detection of explosives, narcotics, and other chemical substances |
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| WO2009023314A2 (en) * | 2007-05-09 | 2009-02-19 | Icx Technologies | Mail parcel screening using multiple detection technologies |
| US20120278002A1 (en) * | 2007-05-09 | 2012-11-01 | Charles Call | Mail Parcel Screening Using Multiple Detection Technologies |
| CN101382508A (en) * | 2007-09-05 | 2009-03-11 | 同方威视技术股份有限公司 | Apparatus and method for checking contraband in air-freight service container |
| WO2017130369A1 (en) * | 2016-01-29 | 2017-08-03 | コニカミノルタ株式会社 | Detection method, detection system and detection device |
| CN208182020U (en) * | 2017-12-22 | 2018-12-04 | 宁波富乐礼机器人科技有限公司 | The test paper supply assembly of the automatic assembling of external diagnosis reagent case |
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| US3985508A (en) * | 1975-10-28 | 1976-10-12 | Melvin Williams | Automated chemical analyzer |
| CN109201517A (en) * | 2018-10-19 | 2019-01-15 | 天津长荣科技集团股份有限公司 | Printing quality detecting equipment |
| CN110076094A (en) * | 2019-06-04 | 2019-08-02 | 苏州誉阵自动化科技有限公司 | Test paper detection device |
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