CN209934982U - Medical automatic positioning centrifuge - Google Patents
Medical automatic positioning centrifuge Download PDFInfo
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- CN209934982U CN209934982U CN201920200112.XU CN201920200112U CN209934982U CN 209934982 U CN209934982 U CN 209934982U CN 201920200112 U CN201920200112 U CN 201920200112U CN 209934982 U CN209934982 U CN 209934982U
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Abstract
The utility model discloses a medical automatic positioning centrifuge. The device comprises a centrifuge bracket, a bracket box, a groove-shaped photoelectric switch, an unthreaded hole, a disk, an encoder coded disc, an encoder read head, a stepping motor, a centrifuge box, a rotating shaft and a belt; the centrifuge bracket is sleeved on the rotating shaft, the disc is also sleeved on the rotating shaft, the encoder code disc is also sleeved on the rotating shaft, and the rotating shaft is connected with the stepping motor through a belt; a plurality of bracket boxes are arranged on the centrifuge bracket, and the centrifuge boxes (namely test tube boxes) are placed in the bracket boxes; the disc is provided with a unthreaded hole, and a groove-shaped photoelectric switch is arranged at the disc; the encoder reading head is arranged at the code disc of the encoder. The centrifugal machine can realize automatic accurate positioning control, can realize real full automation of the medical inspection automatic processing working platform, and achieves the purpose of automatic operation of the whole platform; the accurate positioning of the centrifuge solves the problem of coordination work with the medical inspection automatic processing system, avoids manual participation and improves the automation degree and the working efficiency of the system.
Description
Technical Field
The utility model belongs to the technical field of the medical science inspection, a medical automatic positioning centrifuge is related to.
Background
Centrifuges are machines that utilize centrifugal force to separate components of a liquid from solid particles or a mixture of liquid and liquid. The centrifugal centrifuge is widely applied to the fields of clinical medicine, biochemistry, immunology and the like, and is also a conventional instrument for centrifugation in laboratories and medical institutions. The medical centrifuge in the existing market has single function comparison, and the centrifugal box often holding the test tube is basically put into and taken out of the centrifuge in a manual mode, so that the working efficiency is low, and the automatic operation of the whole equipment cannot be completed.
The automatic accurate positioning of the centrifuge can realize the control of the centrifuge by applying a more intelligent method, so that the centrifuge can be matched with an automatic processing working platform for medical inspection, and a centrifuge box can be automatically grabbed or put into the centrifuge by a mechanical arm. The automatic accurate positioning of the centrifugal machine can ensure that the medical inspection automatic processing working platform can realize real full automation, thereby achieving the purpose of automatic operation of the whole platform.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of prior art, provide a novel medical automatic positioning centrifuge that can realize automatic accurate positioning control.
The utility model adopts the technical proposal that:
the utility model relates to a medical automatic positioning centrifuge, which comprises a centrifuge bracket, a bracket box, a groove-shaped photoelectric switch, a unthreaded hole, a disc, an encoder code disc, an encoder read head, a stepping motor, a centrifuge box, a rotating shaft and a belt; the centrifugal machine bracket is sleeved on the rotating shaft, the disc is also sleeved on the rotating shaft, the coded disc of the encoder is also sleeved on the rotating shaft, and the rotating shaft is connected with the stepping motor through a belt; a plurality of bracket boxes are arranged on the centrifuge bracket, and the centrifuge boxes (namely test tube boxes) are placed in the bracket boxes; the disc is provided with a unthreaded hole, and a groove-shaped photoelectric switch is arranged at the disc; the encoder reading head is arranged at the code disc of the encoder.
Furthermore, the medical automatic positioning centrifuge also comprises a single chip microcomputer; the groove-shaped photoelectric switch is connected with the single chip microcomputer; the coded disc of the encoder is connected with the singlechip through the reading head of the encoder; the stepping motor is connected with the singlechip through a driver.
Furthermore, the single chip microcomputer is connected with an upper computer through a 485 interface module and a 485 bus and communicates with the upper computer.
Furthermore, the centrifuge bracket is sleeved on the upper part of the rotating shaft, the disc is sleeved in the middle of the rotating shaft, the coded disc of the encoder is sleeved on the middle lower part of the rotating shaft, and the lower part of the rotating shaft is connected with the stepping motor through a belt.
Furthermore, the centrifuge bracket is cross-shaped and comprises a central hole and four groups of cross shafts which are symmetrical pairwise; the cross-shaped central hole is connected with the rotating shaft; four groups of transverse shafts are respectively provided with one bracket box (namely, the bracket of the centrifuge is provided with four bracket boxes).
Furthermore, the encoder is an incremental photoelectric encoder; the reading head of the encoder is a reading head of a photoelectric encoder.
Further, the circuit part of the groove-type photoelectric switch comprises a first basic RC filter circuit consisting of a resistor R3 and a capacitor C1, a second basic RC filter circuit consisting of a resistor R9 and a capacitor C5, an operational amplifier A and an inverter P1 for shaping; the groove-shaped photoelectric switch consists of a light emitting diode and a photoelectric triode which respectively correspond to ports 1, 2, 3 and 4, and the output is a port 3; the output port 3 of the groove-type photoelectric switch is connected with the input end of a first basic RC filter circuit consisting of a resistor R3 and a capacitor C1; the output end of the first basic RC filter circuit is connected with the '+' input end of the operational amplifier A through a resistor R5; the operational amplifier A works in an open loop mode; the output end of the operational amplifier A is connected with the input end of an inverter P1, the output end of the inverter P1 is connected with the input end of a second basic RC filter circuit consisting of a resistor R9 and a capacitor C5, and the output end of the second basic RC filter circuit is connected with the single chip microcomputer.
Further, the circuit part of the incremental encoder comprises pull-up resistors R10 and R11, a third basic RC filter circuit consisting of a resistor R12 and a capacitor C6, a fourth basic RC filter circuit consisting of a resistor R13 and a capacitor C7, a fifth basic RC filter circuit consisting of a resistor R14 and a capacitor C8, a sixth basic RC filter circuit consisting of a resistor R15 and a capacitor C9, and inverters P2 and P3 for shaping; the signals of the incremental encoder are acquired by a reading head of the encoder; the 1 pin of the reading head of the photoelectric encoder is the A-phase signal output end of the encoder, one path is connected with a pull-up resistor R11, and the other path is connected with the input end of a third basic RC filter circuit consisting of a resistor R12 and a capacitor C6; the output end of the third basic RC filter circuit is connected with the input end of a P2 inverter, the output end of a P2 inverter is connected with the input end of a fifth basic RC filter circuit consisting of a resistor R14 and a capacitor C8, and the output end of the fifth basic RC filter circuit is connected with the single chip microcomputer; the 3 feet of the reading head of the photoelectric encoder are B-phase signal output ends of the encoder, one way is connected with a pull-up resistor R10, and the other way is connected with the input end of a fourth basic RC filter circuit consisting of a resistor R13 and a capacitor C7; the output end of the fourth basic RC filter circuit is connected with the input end of a P3 inverter, the output end of a P3 inverter is connected with the input end of a sixth basic RC filter circuit consisting of a resistor R15 and a capacitor C9, and the output end of the sixth basic RC filter circuit is connected with the single chip microcomputer.
The utility model has the advantages that:
the utility model discloses a medical automatic positioning centrifuge can realize the automatic accurate positioning control of centrifuge, can make medical treatment inspection automatic processing work platform realize real full automatization, reaches the purpose of whole platform automatic operation.
Compared with the prior art, the utility model discloses a medical automatic positioning centrifuge's advantage lies in:
1) the use of the groove-type photoelectric switch, the incremental encoder and the single chip microcomputer can accurately position the position of the bracket, and the positioning precision of the centrifugal machine is improved.
2) A groove-type photoelectric switch on a circuit is used for measuring the rotating speed of a motor, and a method for measuring the rotating speed of a centrifugal machine is provided.
3) The accurate positioning of the centrifuge solves the problem of coordination work with the medical inspection automatic processing system, avoids manual participation and improves the automation degree and the working efficiency of the system.
Drawings
Fig. 1 is a schematic perspective view of a medical automatic positioning centrifuge according to an embodiment of the present invention;
fig. 2 is a circuit block diagram of a medical automatic positioning centrifuge according to an embodiment of the present invention;
fig. 3 is a circuit diagram for processing a slot-type photoelectric switch signal in an embodiment of the present invention;
fig. 4 is a circuit diagram for processing a read head signal of an encoder of an incremental encoder according to an embodiment of the present invention.
In fig. 1: 1. centrifuge bracket 2, bracket box 3, groove type photoelectric switch 4, unthreaded hole
5. Disc 6, encoder code disc 7, encoder reading head 8 and stepping motor
9. Centrifugal box 10, rotating shaft 11 and belt
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
Examples
As shown in fig. 1, the utility model relates to a medical automatic positioning centrifuge, which comprises a centrifuge bracket 1, a bracket box 2, a groove-shaped photoelectric switch 3, an unthreaded hole 4, a disc 5, an incremental encoder (and an incremental encoder code wheel 6), an encoder read head 7, a stepping motor 8, a centrifuge box 9, a rotating shaft 10 and a belt 11; the centrifuge bracket is sleeved on the upper part of a rotating shaft 10, a disc 5 is sleeved on the middle part of the rotating shaft 10, an incremental encoder coded disc 6 is sleeved on the middle lower part of the rotating shaft 10, and the lower part of the rotating shaft 10 is connected with a stepping motor 8 through a belt 11; a plurality of bracket boxes 2 are arranged on the centrifuge bracket 1, and a centrifuge box 9 (namely a test tube box) is arranged in the bracket boxes 2; the disc 5 is provided with a unthreaded hole 4, and the groove-shaped photoelectric switch 3 is arranged at the disc 5; an encoder reading head 7 is arranged at the code disc 6 of the incremental encoder.
The medical automatic positioning centrifuge of the utility model also comprises a singlechip (model number STM32F103 RB); as shown in fig. 2, the groove-type photoelectric switch 3 is connected with the single chip microcomputer; the incremental encoder coded disc 6 is connected with the singlechip through an encoder reading head 7; the stepping motor 8 is connected with the singlechip through a driver; the single chip microcomputer is connected with an upper computer through a 485 interface module and a 485 bus and communicates.
The encoder is an incremental photoelectric encoder; the encoder read head 7 is a photoelectric encoder read head.
The main components of the medical automatic positioning centrifuge of the utility model are a centrifuge bracket 1, a groove-shaped photoelectric switch 3 and an incremental encoder. The coded disc (namely coded disc 6 of the incremental encoder) of the incremental encoder and the disc 5 of the groove-shaped photoelectric switch 3 are connected to a rotating shaft 10, the top end of the rotating shaft 10 is connected with a centrifuge bracket 1, four bracket boxes 2 are hung in the middle of four transverse shafts of the centrifuge bracket 1 respectively, and a centrifuge bracket 1 can place a centrifuge box 9 (namely a test tube box) into the bracket boxes 2 before work. Wherein, the groove-shaped photoelectric switch 3 and the incremental encoder code disc 6 form the accurate positioning mechanism of the medical centrifuge. The groove-type photoelectric switch 3 functions as a zero point sensor which plays a role of recording the starting point of the disc and a role of calculating the rotating speed; the incremental encoder code wheel 6 serves to register the current position.
The utility model discloses a theory of operation:
the mode of sending pulse through STM32F103RB singlechip drives step motor 8 and moves, and step motor 8 moves and drives pivot 10 and rotate, and then drives centrifuge bracket 1 and rotate, drives the test tube box (being centrifugation box 9) of placing on it when centrifuge bracket 1 rotates and rotates to this medical centrifuge's centrifugal operation has been realized. When the single chip microcomputer drives the stepping motor 8 to operate and drives the rotating shaft 10 to rotate, the groove-shaped photoelectric switch 3 captures the starting point of the disc 5, the numerical value of a motor encoder (namely an incremental encoder coded disc 6) is obtained through the encoder reading head 7, and the starting point of the disc 5 and the numerical value of the incremental encoder coded disc 6 are used as control feedback and input into the single chip microcomputer, so that the automatic accurate positioning control of the medical centrifuge is realized.
The driving process of the stepping motor 8 is shown in fig. 2, and the driving part of the stepping motor 8 comprises a 485 bus (485 interface module), an STM32 single chip microcomputer, a driver, the stepping motor, a groove-type photoelectric switch, an encoder reading head and the like.
The driving method of the stepping motor 8 is as follows: the single chip sends pulse to the driver by way of output comparison, and then sends the signal to the stepping motor 8 after being processed by the driver.
As shown in fig. 3, the circuit portion of the groove-type photoelectric switch includes a first basic RC filter circuit composed of a resistor R3 and a capacitor C1, a second basic RC filter circuit composed of a resistor R9 and a capacitor C5, an operational amplifier a, an inverter P1 for shaping, resistors R1, R2, R4, R5, R6, R7, R8, and capacitors C2, C3, and C4; the groove-shaped photoelectric switch consists of a light emitting diode and a photoelectric triode which respectively correspond to ports 1, 2, 3 and 4, and the output is a port 3; the output port 3 of the groove-type photoelectric switch is connected with the input end of a first basic RC filter circuit consisting of a resistor R3 and a capacitor C1; the output end of the first basic RC filter circuit is connected with the '+' input end of the operational amplifier A through a resistor R5; the resistors R1 and R2 are basic current limiting resistors; resistors R4 and R6 are used to provide a bias voltage; resistors R7 and R8 provide a reference voltage for the "-" input of op amp a; the capacitors C2, C3 and C4 are used for simple filtering; the operational amplifier A works in an open loop mode; the output end of the operational amplifier A is connected with the input end of an inverter P1, the output end of the inverter P1 is connected with the input end of a second basic RC filter circuit consisting of a resistor R9 and a capacitor C5, and the output end of the second basic RC filter circuit is connected with the single chip microcomputer.
As shown in fig. 3, the operation principle of the processing circuit of the groove-type photoelectric switch 3 for signals is as follows: the groove-type photoelectric switch is composed of a light emitting diode and a photoelectric triode, the light emitting diode and the photoelectric triode correspond to ports 1, 2, 3 and 4 respectively, the output is port 3, a basic RC filter circuit composed of a resistor R3 and a capacitor C1 is connected with the groove-type photoelectric switch, an operational amplifier A is connected behind the basic RC filter circuit, and the resistors R7 and R8 are used for dividing voltage to a reference voltage at an input '-' end of the operational amplifier A. The operational amplifier a here functions to amplify the photoelectric switching signal and operates in an open loop mode. The output of the operational amplifier A is connected with an inverter P1 for shaping, and then filtered again by R9 and C5, finally KY is obtained and input to the CPU of the singlechip.
As shown in fig. 4, the circuit portion of the incremental encoder includes pull-up resistors R10 and R11, and further includes a third basic RC filter circuit composed of a resistor R12 and a capacitor C6, a fourth basic RC filter circuit composed of a resistor R13 and a capacitor C7, a fifth basic RC filter circuit composed of a resistor R14 and a capacitor C8, a sixth basic RC filter circuit composed of a resistor R15 and a capacitor C9, and further includes inverters P2 and P3 for shaping; the signals of the incremental encoder are acquired by a reading head of the encoder; the 1 pin of the reading head of the photoelectric encoder is the A-phase signal output end of the encoder, one path is connected with a pull-up resistor R11, and the other path is connected with the input end of a third basic RC filter circuit consisting of a resistor R12 and a capacitor C6; the output end of the third basic RC filter circuit is connected with the input end of a P2 inverter, the output end of a P2 inverter is connected with the input end of a fifth basic RC filter circuit consisting of a resistor R14 and a capacitor C8, and the output end of the fifth basic RC filter circuit is connected with the single chip microcomputer; the 3 feet of the reading head of the photoelectric encoder are B-phase signal output ends of the encoder, one way is connected with a pull-up resistor R10, and the other way is connected with the input end of a fourth basic RC filter circuit consisting of a resistor R13 and a capacitor C7; the output end of the fourth basic RC filter circuit is connected with the input end of a P3 inverter, the output end of a P3 inverter is connected with the input end of a sixth basic RC filter circuit consisting of a resistor R15 and a capacitor C9, and the output end of the sixth basic RC filter circuit is connected with the single chip microcomputer.
As shown in fig. 4, the operation principle of the processing circuit of the incremental encoder for signals is as follows: signals of the incremental encoder are acquired through an encoder switch 7, pins 1 and 3 of the incremental encoder are signal output ends, and A, B two-phase signals (EAIN and EBIN) of the encoder are output; the processing process of EAIN and EBIN signals starts from pull-up resistors R10 and R11; the EAIN signal is processed as follows: after passing through a pull-up resistor R11, a signal is filtered through a basic RC filter circuit consisting of a resistor R12 and a capacitor C6, then the signal is shaped through a P2 inverter and then output, and then the signal is filtered again through a basic RC filter circuit consisting of a resistor R14 and a capacitor C8, and finally EA is obtained and input to a CPU (central processing unit) of the single chip microcomputer; the processing mode of the EBIN signal is the same as that of the EAIN signal; the EBIN signal is processed as follows: after passing through a pull-up resistor R10, a signal is filtered through a basic RC filter circuit consisting of a resistor R13 and a capacitor C7, then the signal is shaped through a P3 inverter and then output, and then the signal is filtered again through a basic RC filter circuit consisting of a resistor R15 and a capacitor C9, and finally an EB is obtained and input to a CPU of the single chip microcomputer.
The utility model discloses a medical automatic positioning centrifuge's working method divides into two kinds, high-speed centrifugation mode and low-speed locate mode.
The low-speed positioning mode comprises the following steps: and finding zero point, finding position 1, finding position 2, finding position 3 and finding position 4. The zero finding work mode is that the single chip microcomputer sends a pulse with fixed lower frequency to enable the stepping motor to drive the centrifugal machine to rotate at a constant speed, when one side of the groove-shaped notch reaches the photoelectric switch, a switching signal enters the STM32 single chip microcomputer in a capturing and interrupting mode, and the single chip microcomputer records the current position as an initial zero point. The mode of finding the position 1 takes a zero point as a starting point, the single chip microcomputer outputs pulses to drive the motor to operate in an output comparison mode, and the position 1 is determined by controlling the numerical value and the pulse number of the encoder. Finding positions 2, 3, 4 is also done in the same way.
Under the high-speed centrifugation mode, the signal of photoelectric switch gets into the singlechip in the mode of catching the interrupt, and the singlechip calculates centrifuge's rotational speed through the count, and then the purpose that the adjustment output reaches invariable centrifugation rotational speed.
The protection scope of the present invention includes but is not limited to the above embodiments, the protection scope of the present invention is subject to the claims, and any replacement, deformation, and improvement that can be easily conceived by those skilled in the art made by the present technology all fall into the protection scope of the present invention.
Claims (8)
1. A medical automatic positioning centrifuge is characterized by comprising a centrifuge bracket, a bracket box, a groove-shaped photoelectric switch, an unthreaded hole, a disc, an encoder coded disc, an encoder read head, a stepping motor, a centrifuge box, a rotating shaft and a belt; the centrifuge bracket is sleeved on the rotating shaft, the disc is also sleeved on the rotating shaft, the encoder code disc is also sleeved on the rotating shaft, and the rotating shaft is connected with the stepping motor through a belt; a plurality of bracket boxes are arranged on the centrifuge bracket, and the centrifuge boxes, namely test tube boxes, are placed in the bracket boxes; the disc is provided with a unthreaded hole, and a groove-shaped photoelectric switch is arranged at the disc; the encoder reading head is arranged at the encoder code disc.
2. The medical automatic positioning centrifuge of claim 1, wherein the medical automatic positioning centrifuge further comprises a single chip microcomputer; the groove-shaped photoelectric switch is connected with the single chip microcomputer; the coded disc of the encoder is connected with the singlechip through the reading head of the encoder; the stepping motor is connected with the singlechip through a driver.
3. The medical automatic positioning centrifuge of claim 2, wherein the single chip microcomputer is connected and communicates with an upper computer through a 485 interface module and a 485 bus.
4. The automatic positioning medical centrifuge as claimed in claim 1, 2 or 3, wherein the centrifuge bracket is sleeved on the upper part of the rotating shaft, the disk is sleeved on the middle part of the rotating shaft, the code wheel of the encoder is sleeved on the middle lower part of the rotating shaft, and the lower part of the rotating shaft is connected with the stepping motor through a belt.
5. The medical automatic positioning centrifuge of claim 1, 2 or 3, wherein said centrifuge bracket is cross-shaped, comprising a central aperture and four sets of two-by-two symmetric lateral axes; the cross-shaped central hole is connected with the rotating shaft; a bracket box is hung on each of the four groups of transverse shafts.
6. The medical automatic positioning centrifuge of claim 1, 2 or 3, wherein the encoder is an incremental photoelectric encoder; the reading head of the encoder is a reading head of a photoelectric encoder.
7. The medical automatic positioning centrifuge as claimed in claim 1, 2 or 3, wherein the circuit part of the groove-shaped photoelectric switch comprises a first basic RC filter circuit consisting of a resistor R3 and a capacitor C1, a second basic RC filter circuit consisting of a resistor R9 and a capacitor C5, an operational amplifier A, an inverter P1 for shaping; the groove-shaped photoelectric switch consists of a light emitting diode and a photoelectric triode which respectively correspond to ports 1, 2, 3 and 4, and the output is a port 3; the output port 3 of the groove-type photoelectric switch is connected with the input end of a first basic RC filter circuit consisting of a resistor R3 and a capacitor C1; the output end of the first basic RC filter circuit is connected with the '+' input end of the operational amplifier A through a resistor R5; the operational amplifier A works in an open loop mode; the output end of the operational amplifier A is connected with the input end of an inverter P1, the output end of the inverter P1 is connected with the input end of a second basic RC filter circuit consisting of a resistor R9 and a capacitor C5, and the output end of the second basic RC filter circuit is connected with the single chip microcomputer.
8. The medical automatic positioning centrifuge as claimed in claim 1, 2 or 3, wherein the circuit part of the incremental encoder comprises pull-up resistors R10, R11, a third basic RC filter circuit consisting of a resistor R12 and a capacitor C6, a fourth basic RC filter circuit consisting of a resistor R13 and a capacitor C7, a fifth basic RC filter circuit consisting of a resistor R14 and a capacitor C8, a sixth basic RC filter circuit consisting of a resistor R15 and a capacitor C9, and inverters P2, P3 for shaping; the signals of the incremental encoder are acquired by a reading head of the encoder; the 1 pin of the reading head of the photoelectric encoder is the A-phase signal output end of the encoder, one path is connected with a pull-up resistor R11, and the other path is connected with the input end of a third basic RC filter circuit consisting of a resistor R12 and a capacitor C6; the output end of the third basic RC filter circuit is connected with the input end of a P2 inverter, the output end of a P2 inverter is connected with the input end of a fifth basic RC filter circuit consisting of a resistor R14 and a capacitor C8, and the output end of the fifth basic RC filter circuit is connected with the single chip microcomputer; the 3 feet of the reading head of the photoelectric encoder are B-phase signal output ends of the encoder, one way is connected with a pull-up resistor R10, and the other way is connected with the input end of a fourth basic RC filter circuit consisting of a resistor R13 and a capacitor C7; the output end of the fourth basic RC filter circuit is connected with the input end of a P3 inverter, the output end of a P3 inverter is connected with the input end of a sixth basic RC filter circuit consisting of a resistor R15 and a capacitor C9, and the output end of the sixth basic RC filter circuit is connected with the single chip microcomputer.
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| CN201920200112.XU CN209934982U (en) | 2019-02-14 | 2019-02-14 | Medical automatic positioning centrifuge |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112337657A (en) * | 2020-10-24 | 2021-02-09 | 上海汇像信息技术有限公司 | Positioning centrifuge and positioning control method thereof |
| CN113953101A (en) * | 2021-11-18 | 2022-01-21 | 华能武汉发电有限责任公司 | Water sample pretreatment system for desulfurization slurry analysis instrument |
| CN114377863A (en) * | 2021-12-08 | 2022-04-22 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Centrifuge control method |
-
2019
- 2019-02-14 CN CN201920200112.XU patent/CN209934982U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112337657A (en) * | 2020-10-24 | 2021-02-09 | 上海汇像信息技术有限公司 | Positioning centrifuge and positioning control method thereof |
| CN112337657B (en) * | 2020-10-24 | 2023-10-13 | 上海汇像信息技术有限公司 | Positioning centrifugal machine and positioning control method thereof |
| CN113953101A (en) * | 2021-11-18 | 2022-01-21 | 华能武汉发电有限责任公司 | Water sample pretreatment system for desulfurization slurry analysis instrument |
| CN114377863A (en) * | 2021-12-08 | 2022-04-22 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Centrifuge control method |
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