CN116286050B - Biochar extrusion sleeve and extrusion process thereof - Google Patents
Biochar extrusion sleeve and extrusion process thereof Download PDFInfo
- Publication number
- CN116286050B CN116286050B CN202310226407.5A CN202310226407A CN116286050B CN 116286050 B CN116286050 B CN 116286050B CN 202310226407 A CN202310226407 A CN 202310226407A CN 116286050 B CN116286050 B CN 116286050B
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- Prior art keywords
- boss
- sleeve
- base
- biochar
- extrusion
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Classifications
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- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
- C10B53/00—Destructive distillation, specially adapted for particular solid raw materials or solid raw materials in special form
- C10B53/02—Destructive distillation, specially adapted for particular solid raw materials or solid raw materials in special form of cellulose-containing material
-
- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
- C10B57/00—Other carbonising or coking processes; Features of destructive distillation processes in general
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E50/00—Technologies for the production of fuel of non-fossil origin
- Y02E50/10—Biofuels, e.g. bio-diesel
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
Abstract
The invention discloses a biochar extrusion sleeve and an extrusion process thereof, the biochar extrusion sleeve comprises an extrusion sleeve component, the extrusion sleeve component comprises a sleeve ring, a sleeve rod and a base positioned below the sleeve rod are installed in the sleeve ring, the upper end of the sleeve rod is fixedly connected with the sleeve ring and can coaxially rotate, the base can slide up and down along the inner wall of the sleeve ring, the sleeve rod comprises a long rod positioned at the lower end, the long rod can be inserted into the base, the outer wall of the long rod is provided with first bosses uniformly distributed along the circumferential direction, the base is provided with second bosses corresponding to the first bosses one by one, when the long rod is inserted into the base, the first bosses are attached to the side surfaces of the corresponding second bosses, and when the sleeve rod rotates, the first bosses are away from the corresponding second bosses and are close to the other second bosses adjacent to the second bosses. According to the invention, the rotating boss is matched with the boss II, so that the inner volume of the base is reduced, the biochar in the base is extruded, the residual biochar is extruded, the export rate of the biochar is improved, and meanwhile, favorable conditions are provided for drying the biochar.
Description
Technical Field
The invention relates to the technical field of biochar manufacturing equipment, in particular to a biochar extrusion sleeve and an extrusion process thereof.
Background
In the current biochar manufacturing process, raw materials such as plant rootstock, wood dust and wheat straw are decomposed to form biochar and bio-oil in a high-temperature environment, and the two byproducts can be used as fuel for power generation or heating, and 20 percent of biochar, 20 percent of synthesis gas and 60 percent of bio-oil can be obtained through decomposition under the condition of rapid high temperature. However, in the production process, the bio-oil is easy to remain on the biochar, the waste of the bio-oil leads to the reduction of the yield of the bio-oil, and the residual bio-oil is unfavorable for drying the biochar.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the biochar extrusion sleeve which improves the utilization rate of the biological oil, extrudes the biochar, shapes the biochar and has good drying effect.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides a charcoal extrusion cover, including extrusion cover subassembly, extrusion cover subassembly includes the lantern ring, install the loop bar in the lantern ring and be located the base of loop bar below, loop bar upper end and lantern ring fixed connection and coaxial rotation, the base can be followed the lantern ring inner wall and slided from top to bottom, the loop bar is including the stock that is located the lower extreme, in the stock can insert the base, the stock outer wall is equipped with boss one along circumference equipartition, the base is equipped with boss two with boss one-to-one, when the stock inserts the base, boss one laminates with boss two sides that correspond, during the loop bar rotation, boss one is kept away from boss two that corresponds and is close to another boss two adjacent with it.
The second inner wall of the boss is attached to the outer wall of the long rod.
The boss II comprises a boss block I, the boss I is attached to the corresponding boss block I in an initial state, and the boss I is far away from the corresponding boss block I when the sleeve rod rotates.
The boss II further comprises a boss block II positioned on one side of the periphery, and the outer wall of the boss I slides along the inner wall of the boss block II.
The inside of the lantern ring is provided with a baffle ring sleeve, and when the base is inserted into the lantern ring in a sliding way, the bottom of the baffle ring sleeve props against the upper end of the base.
The loop bar comprises a bar head positioned at the upper end, the bar head is provided with a diversion hole I, the loop bar also comprises a diversion hole IV, the long bar is provided with a diversion hole III which is positioned at the bottom of the diversion hole IV and communicated with the diversion hole IV, the long bar comprises a convex ring I, the convex ring I is provided with a diversion hole II, the upper end of the diversion hole II is communicated with the diversion hole I, the lower end of the diversion hole II is communicated with the diversion hole III, and the diversion hole I, the diversion hole II, the diversion hole III and the diversion hole IV are sequentially communicated to form a channel.
The bottom of the base is provided with a through hole.
The lower end of the base is driven by an air cylinder, the upper end of the loop bar is connected with a gear, and the loop bar is driven to rotate by a motor driving gear.
An extrusion process of a biochar extrusion sleeve comprises the following steps:
s1, extrusion shaping:
(1) placing undried biochar into a base;
(2) the cylinder drives the base to ascend so that the base is inserted into the lantern ring and sleeved into the lantern rod;
(3) the motor drives the loop bar to rotate, and the first boss is far away from the corresponding second boss and is close to the other second boss adjacent to the first boss;
s2, drying:
and hot air is introduced into the second diversion hole.
S3, demolding:
the loop bar rotates to the original position, the base moves downwards to the lower part of the loop, and the dried biochar in the base is taken out.
During drying, hot air is introduced to the outer side of the base.
The beneficial effects of the invention are as follows:
the rotating boss is matched with the boss II, so that the inner volume of the base is reduced, the biochar in the base is extruded, and the residual biochar is extruded, so that the export rate of the biochar is improved, and meanwhile, favorable conditions are provided for drying the biochar.
The biochar is extruded and shaped, and is directly dried after shaping, so that the operation efficiency is high, holes are formed by extrusion in the shaping process of the biochar, the hardness of the biochar is improved, and meanwhile, the hole-shaped structure is also convenient for the subsequent combustion use of the biochar.
Drawings
FIG. 1 is a cross-sectional view of an embodiment;
FIG. 2 is a perspective view of a loop bar according to an embodiment;
FIG. 3 is a perspective view of a base in an embodiment;
FIG. 4 is a first diagram of the positional relationship between a first boss and a second boss in an embodiment;
FIG. 5 is a second diagram of the positional relationship between the first and second bosses in the embodiment;
fig. 6 is an installation cross-sectional view of an embodiment.
In the figure: extrusion sleeve assembly 1, sleeve rod 11, rod head 111, diversion hole one 1111, long rod 112, convex ring one 1121, boss one 11211, diversion hole two 11212, diversion hole three 1122, diversion hole four 113, collar 12, concave ring 121, convex ring two 122, side hole 123, base 13, bottom ring 131, through hole 1311, seat ring 132, boss two 133, boss block one 1331, boss block two 1332, spring 14, baffle ring sleeve 15, baffle ring chassis 151, baffle ring post 152, gear pair 2, gear 21, motor 3, bottom plate 4, cylinder 5.
Detailed Description
The technical scheme of the invention is further described below through examples and with reference to the accompanying drawings.
Embodiment one:
1-6, a biochar extrusion sleeve comprises an extrusion sleeve assembly 1, wherein the extrusion sleeve assembly 1 comprises a sleeve ring 12, the sleeve ring 12 is in a cylindrical shape, the sleeve ring 12 comprises a concave ring 121 and a convex ring II 122 positioned below the concave ring 121, the concave ring 121 is outwards recessed along the inner wall of the sleeve ring 12, the concave ring 121 extends to the lower part of the sleeve ring 12, and the inner diameter of the convex ring II 122 is smaller than that of the concave ring 121. Side holes 123 are formed in two sides of the collar 12, the side holes 123 are located on the outer side of the middle of the concave ring 121, and the side holes 123 penetrate through the side wall of the collar 12.
As shown in fig. 1 and 2, a loop 11 is mounted in the collar 12, the loop 11 includes a club head 111 at an upper end and a long rod 112 at a lower end of the club head 111, the diameter of the club head 111 is larger than that of the long rod 112, the long rod 112 is inserted into the collar 12, and the club head 111 is fixedly connected with the upper end of the collar 12.
As shown in fig. 2, the long shaft 112 includes a first convex ring 1121, the first convex ring 1121 extends outwardly along the outer wall of the long shaft 112, and the first convex ring 1121 is located below the club head 111 with a space therebetween. The upper end of the convex ring I1121 is of a disc structure, the convex ring I1121 comprises a first boss 11211, the first boss 11211 is of a strip shape and is axially along the long rod 112 in the length direction, the first boss 11211 extends downwards along the bottom surface of the disc at the upper end of the convex ring I1121, the section of the first boss 11211 is of a fan shape, and the inner wall of the first boss 11211 is connected with the outer wall of the long rod 112 into a whole. The first bosses 11211 are uniformly distributed with 6 bosses along the circumference of the long rod 112, and the bottoms of the first bosses 11211 are flush with the bottoms of the long rod 112.
The first convex ring 1121 is provided with a second flow guide hole 11212, the upper end of the second flow guide hole 11212 penetrates through the top of the first convex ring 1121, and the second flow guide hole 11212 extends downwards into the first convex plate 11211 and does not penetrate through the bottom of the first convex plate 11211.
The sleeve rod 11 is provided with a guide hole IV 113, the guide hole IV 113 extends downwards to the bottom along the center of the top of the sleeve rod 11 and does not penetrate the bottom, the long rod 112 is provided with a guide hole III 1122 which is positioned at the bottom of the guide hole IV 113 and communicated with the guide hole IV 113, and the guide hole IV 113 penetrates the side wall of the long rod 112. The third diversion holes 1122 are arranged in one-to-one correspondence with the second diversion holes 11212, and the outer sides of the third diversion holes 1122 are communicated with the bottoms of the second diversion holes 11212.
The club head 111 is provided with a diversion hole 1111, 4 diversion holes 1111 are uniformly distributed along the circumferential direction and penetrate the club head 111 up and down, and the diversion hole 1111 is positioned at the upper end of the outer side of the long rod 112. The upper end of the second diversion hole 11212 is communicated with the first diversion hole 1111, and the first diversion hole 1111, the second diversion hole 11212, the third diversion hole 1122 and the fourth diversion hole 113 are sequentially communicated to form a channel. The first diversion hole 1111 is externally connected with a hot air source, and hot air can flow through the first diversion hole 1111, the second diversion hole 11212, the third diversion hole 1122 and the fourth diversion hole 113 and flow out of the fourth diversion hole 113.
As shown in fig. 1, a baffle ring sleeve 15 is installed in a concave ring 121, the baffle ring sleeve 15 comprises a baffle ring chassis 151 and a baffle ring column 152 positioned at the upper end of the chassis 151, the chassis 151 is of a circular ring structure, the baffle ring column 152 is of a cylindrical structure formed by extending upwards along the upper end face of the chassis 151, the inner diameter of the baffle ring column 152 is identical to the inner diameter of the chassis 151, the inner diameter of the baffle ring column is equal to the outer diameter of a convex ring 1121, during installation, the concave ring 121 is obliquely clamped into the concave ring 121, and the baffle ring column 152 is sleeved into the convex ring 1121 and moves along the outer wall of the convex ring 1121. The outer wall of the chassis 151 is attached to the inner wall of the concave ring 121 and can slide relatively. The retaining ring post 152 is sleeved with a spring 14, the bottom of the spring 14 is propped against the upper end of the chassis 151, and the top of the spring 14 is propped against the bottom surface of the club head 111.
As shown in fig. 1 and 3, the collar 12 is slidably connected with a base 13, the base 13 is inserted from the bottom of the collar 12, the base 13 includes a bottom ring 131 and a seat ring 132 located above the bottom ring 131, the bottom ring 131 is in a disc structure, the seat ring 132 extends upward along the end surface of the bottom ring 131 to form a cylinder shape, and the outer diameter of the bottom ring 131 is smaller than that of the seat ring 132.
The base 13 further includes a second boss 133, where the second boss 133 extends upward along the upper end surface of the bottom ring 131 until flush with the upper end of the base ring 132, and the second boss 133 is disposed in one-to-one correspondence with the first boss 11211, as shown in fig. 3, where the second boss 133 includes a first boss 1331 and a second boss 1332, the first boss 1331 has a fan-shaped cross section and extends radially along the base 13, and the second boss 1332 is located at the outermost end of the first boss 1331 and extends in a circular arc shape along the circumferential direction of the base 13 to form a circular arc thin-wall structure.
The bottom of the base 13 is provided with through holes 1311 for liquid circulation, a plurality of through holes 1311 are uniformly distributed along the circumferential direction of the base 13, and the through holes 1311 penetrate through the bottom surface of the base 13.
As shown in fig. 6, the extrusion sleeve assembly 1 is placed on the bottom plate 4, the bottom plate 4 can circumferentially place a plurality of extrusion sleeve assemblies 1, the bottom plate 4 is provided with a protruding portion, and the bottom of the extrusion sleeve assembly 1 is provided with a recessed portion, so that the position of the extrusion sleeve assembly 1 is fixed when placed, and the position of the boss two 133 is fixed. A gear pair 2 is arranged above the extrusion sleeve assembly 1, the gear pair 2 comprises a gear 21 connected with the rod head 111, the gear pair 2 is driven by a motor 3, and the gear 21 drives the sleeve rod 11 to rotate.
Embodiment two:
the extrusion process of the biochar extrusion sleeve comprises the following steps:
s1, extrusion shaping:
(1) placing undried biochar into the base 13, placing the biochar at a lower height than the top of the base 13, placing the base 13 on the bottom plate 4, and mixing the biochar and the bio-oil together to form a muddy shape;
(2) the cylinder 5 drives the base plate 4 and drives the base 13 to rise so that the base 13 is inserted into the collar 12 and sleeved into the sleeve rod 11.
Specifically, when the base 13 is just inserted into the collar 12, the spring 14 abuts against the chassis 151, the chassis 151 is located at the lower end limit position (the bottom surface of the chassis 151 is located at the upper end of the convex ring two 122), the lower end of the chassis 151 abuts against the upper ends of the seat ring 132 and the convex ring two 133, along with the gradual insertion of the base 13 into the collar 12, the outer wall of the seat ring 132 is engaged with the inner wall of the convex ring two 122 and slides relatively, and the upper ends of the seat ring 132 and the convex ring two 133 push the chassis 151 upward, so that the spring 14 is compressed.
When the base 13 is inserted into the lantern ring 12, the long rod 112 is inserted into the base 13 until reaching the bottom of the base 13, and the biochar in the base 13 is mud-shaped, so that the biochar can be squeezed out when the long rod 112 is inserted. The first lug boss 11211 is attached to the corresponding second lug boss 133, and the inner wall of the first lug boss 1331 is attached to the outer wall of the long rod 112. As shown in fig. 4, the radial side surface of the boss one 11211 is attached to the side surface of the boss one 1331, the circumferential side surface of the boss one 11211 is attached to the inner side wall of the boss two 1332, and the long rod 112 is inserted into the base 13, so that the biochar in the base 13 is extruded, and the residual bio-oil on the biochar flows out along the through hole 1311 after being extruded due to the through hole 1311 arranged at the bottom of the base 13. During extrusion, the baffle ring sleeve 15 is matched with the outer wall of the long rod 112 and the upper end disc of the convex ring one 1121 to seal the upper end of the base 13 so as to prevent the biochar from overflowing during extrusion. After the long rod 112 is completely inserted into the bottom of the base 13, the biochar is pressed to a height flush with the upper end of the base 13.
(3) The motor 3 drives the loop bar 11 to rotate, as shown in fig. 5, the boss one 11211 slides along the inner side wall of the boss block two 1332, the boss one 11211 is far away from the corresponding boss block one 1331 and is close to the other boss block one 1331 adjacent to the boss block one 1331, so that the undried biochar is extruded again, the bio-oil generated by extrusion flows out, the residual bio-oil is reduced, and a porous column is formed after extrusion.
S2, drying:
and hot air is introduced into the first guide hole 1111, the fourth guide hole 113 flows out, and the temperature of the side wall of the first boss 11211 is increased after the hot air is introduced into the second guide hole 11212, so that the biochar is heated and dried. Furthermore, one of the side holes 123 on both sides is an air inlet and is filled with hot air, and the hot air flows out from the other side hole 123, so as to heat the side wall of the seat ring 132 to transfer heat to the internal biochar for heating and drying.
S3, demolding:
the loop bar 11 rotates to the original position, the base 13 moves downwards to the lower part of the lantern ring 12, the base 13 is taken down and inverted, and the dried biochar in the loop bar is taken out.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The biochar extrusion sleeve is characterized in that: the extrusion sleeve assembly comprises an extrusion sleeve assembly (1), wherein the extrusion sleeve assembly (1) comprises a sleeve ring (12), a sleeve rod (11) is arranged in the sleeve ring (12), a base (13) is arranged below the sleeve rod (11), the upper end of the sleeve rod (11) is fixedly connected with the sleeve ring (12) and can coaxially rotate, the base (13) can slide up and down along the inner wall of the sleeve ring (12), the sleeve rod (11) comprises a long rod (112) positioned at the lower end, the long rod (112) can be inserted into the base (13), a boss I (11211) is uniformly distributed along the circumferential direction on the outer wall of the long rod (112), a boss II (133) which corresponds to the boss I (11211) one by one is arranged on the base (13), when the long rod (112) is inserted into the base (13), the boss I (11211) is attached to the corresponding boss II (133) side face, and when the sleeve rod (11) rotates, the boss I (11211) is far away from the corresponding boss II and is close to the other boss II (133) which corresponds to the boss II;
the bottom of the base (13) is provided with a through hole (1311).
2. A biochar extrusion coating as claimed in claim 1, wherein: when the long rod (112) is inserted into the base (13), the inner wall of the second boss (133) is attached to the outer wall of the long rod (112).
3. A biochar extrusion coating as claimed in claim 1, wherein: the boss II (133) comprises a boss block I (1331), in an initial state, the boss I (11211) is attached to the corresponding boss block I (1331), and when the sleeve rod (11) rotates, the boss I (11211) is far away from the corresponding boss block I (1331).
4. A biochar extrusion coating as claimed in claim 3, wherein: the boss II (133) further comprises a boss block II (1332) positioned on one outer periphery side, and the outer wall of the boss I (11211) slides along the inner wall of the boss block II (1332).
5. A biochar extrusion coating as claimed in claim 1, wherein: the novel anti-theft device is characterized in that a baffle ring sleeve (15) is arranged in the lantern ring (12), and when the base (13) is inserted into the lantern ring (12) in a sliding mode, the bottom of the baffle ring sleeve (15) abuts against the upper end of the base (13).
6. A biochar extrusion coating as claimed in claim 1, wherein: the utility model provides a sleeve pole (11) is including club head (111) that are located the upper end, club head (111) are equipped with water conservancy diversion hole one (1111), sleeve pole (11) still includes water conservancy diversion hole four (113), stock (112) are equipped with be located water conservancy diversion hole four (113) bottom and with water conservancy diversion hole three (1122) of intercommunication, stock (112) include bulge loop one (1121), bulge loop one (1121) is equipped with water conservancy diversion hole two (11212), water conservancy diversion hole two (11212) upper end with water conservancy diversion hole one (1111) communicate, and downwardly extending reaches in boss one (11211) and do not pierce through boss one (11211) bottom, water conservancy diversion hole two (11212) lower extreme with water conservancy diversion hole three (1122) communicate, water conservancy diversion hole one (1111), water conservancy diversion hole two (11212), water conservancy diversion hole three (1122), water conservancy diversion hole four (113) communicate in proper order and form the passageway.
7. A biochar extrusion coating as in claim 6 wherein: the lower end of the base (13) is driven by an air cylinder (5), the upper end of the loop bar (11) is connected with a gear (21), and the gear (21) is driven by a motor (3) to drive the loop bar (11) to rotate.
8. An extrusion process of a biochar extrusion sleeve, comprising the biochar extrusion sleeve according to claim 7, wherein: the extrusion process comprises the following steps:
s1, extrusion shaping:
(1) placing undried biochar into the base (13);
(2) the cylinder (5) drives the base (13) to ascend so that the base (13) is inserted into the sleeve ring (12) and sleeved into the sleeve rod (11);
(3) the motor (3) drives the loop bar (11) to rotate, and the boss I (11211) is far away from the corresponding boss II (133) and is close to the other boss II (133) adjacent to the boss II;
s2, drying:
hot air is introduced into the second diversion hole (11212);
s3, demolding:
the loop bar (11) rotates to the original position, the base (13) moves downwards to the lower part of the lantern ring (12), and the dried biochar in the base (13) is taken out.
9. The extrusion process of the biochar extrusion coating as claimed in claim 8, wherein: during drying, hot air is introduced into the outer side of the base (13).
Priority Applications (1)
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CN202310226407.5A CN116286050B (en) | 2023-03-03 | 2023-03-03 | Biochar extrusion sleeve and extrusion process thereof |
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CN202310226407.5A CN116286050B (en) | 2023-03-03 | 2023-03-03 | Biochar extrusion sleeve and extrusion process thereof |
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CN116286050A CN116286050A (en) | 2023-06-23 |
CN116286050B true CN116286050B (en) | 2023-08-22 |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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GB1277283A (en) * | 1968-09-03 | 1972-06-07 | Exxon Research Engineering Co | Improved briquetting press |
CN205661058U (en) * | 2016-05-11 | 2016-10-26 | 山东森博生物科技有限公司 | Pulping and paper -making sludge deep dehydration squeezer |
CN114907897A (en) * | 2022-05-17 | 2022-08-16 | 赣州中科拓又达智能装备科技有限公司 | Production process and device of high-speed robot |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT14230U1 (en) * | 2014-02-17 | 2015-06-15 | Ceratizit Austria Gmbh | Mold, method of making a green compact and use of the mold |
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2023
- 2023-03-03 CN CN202310226407.5A patent/CN116286050B/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1277283A (en) * | 1968-09-03 | 1972-06-07 | Exxon Research Engineering Co | Improved briquetting press |
CN205661058U (en) * | 2016-05-11 | 2016-10-26 | 山东森博生物科技有限公司 | Pulping and paper -making sludge deep dehydration squeezer |
CN114907897A (en) * | 2022-05-17 | 2022-08-16 | 赣州中科拓又达智能装备科技有限公司 | Production process and device of high-speed robot |
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