CN102880194B - Motion controlling system and method for multiple channel pipetting plates - Google Patents
Motion controlling system and method for multiple channel pipetting plates Download PDFInfo
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- CN102880194B CN102880194B CN201210345679.9A CN201210345679A CN102880194B CN 102880194 B CN102880194 B CN 102880194B CN 201210345679 A CN201210345679 A CN 201210345679A CN 102880194 B CN102880194 B CN 102880194B
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a motion controlling system and method for multiple channel pipetting plates, wherein the system comprises a plurality of channel pipetting plates, each of which is provided with a first motor moving in an axial direction of a first coordinate, a second motor moving in an axial direction of a second coordinate and a liquid separating motor; a position detecting module used for detecting the first position information of the first motor, the second position information of the second motor and the liquid separating motor and the third position information of the liquid separating motor; and a main controller used for controlling actions of the first motor, the second motor and the liquid separating motor according to a received control order as well as the first position information, the second position information and the third position information. According to the embodiment, the 3D motion of the multiple channel pipetting plates can be precisely controlled in the pipetting process, so that the sensitivity of the multiple channel pipetting plates is improved in the pipetting process.
Description
Technical field
The present invention relates to Medical Instruments technical field, particularly a kind of hyperchannel moves kinetic control system and the control method of liquid plate.
Background technology
Along with the development of computer technology, automatic control technology, new material technology and chemical technology, the development of laboratory instrument and equipment, Interventions Requested and technical method was advanced by leaps and bounds at nearly 10 years.Enzyme-linked immuno assay instrument is progressively towards the future development of robotization, mass, quick test.Automatic enzyme-linked immunosorbent assay systems adopts modular construction, exempt to analyze (Enzyme Linked Immunosorbent Assay, referred to as ELISA) course of reaction according to enzyme enzyme to be exempted from application of sample in process of the test, wash plate, hatch, read the disparate modules that the processes such as plate are divided into enzyme non-analysis meter.
In medical test, ELISA generally needs to carry out 4 ~ 5 application of samples, suppose the hepatitis C antigen (HCV-Ag) once checked in the blood sample of 50 people, adding blood sample is that each person-time accounts for position, a microplate hole, then has the position, hole of sample to add enzyme marking reagent, chromogenic substrate, stop buffer one by one according to inspection process at each.Therefore when inspected number is larger, the time that application of sample is waited for can cause the uneven of the enzyme marking reagent between sample position and serum sample reaction time and incubation time, microplate reader reading result False Rate after reaction can be made like this to complete increases, therefore the realization based on the liquor-transferring system of enzyme non-analysis meter mainly completes micropipette requirement in sensitive detecting liquid level technical foundation, and therefore accurately three-dimensional motion controls is realize all guarantees moving liquid function.
Summary of the invention
The object of the present invention is to provide a kind of hyperchannel to move kinetic control system and the method for liquid plate, realize moving the three-dimensional motion accurately controlling liquor-transferring system in liquid process.
The embodiment of the present invention provides a kind of hyperchannel to move the kinetic control system of liquid plate, comprising:
Hyperchannel moves liquid plate, and each passage moves liquid plate and is provided with the first motor in the first coordinate axially-movable, the second motor in the second coordinate axis axially-movable and separatory motor; Wherein, described first motor and described second motor be respectively used to control sample loading gun the first coordinate axis to the second coordinate axis to position move; Described separatory motor for drive the piston of described sample loading gun described second coordinate axis to move up and down, thus make described piston actuated sample needle carry out imbibition and separatory;
Position sensing module, for detecting the second place information of the primary importance information of described first motor, described second motor and separatory motor, the 3rd positional information of described separatory motor;
Master controller, for controlling the action of described first motor, described second motor and described separatory motor according to the steering order received and described primary importance information, described second place information, described 3rd positional information.
The embodiment of the present invention also provides a kind of hyperchannel to move the motion control method of liquid plate, comprising:
Master controller receives the steering order of the first motor, the second motor and the separatory motor movement moving liquid plate for controlling hyperchannel each passage moved in liquid plate; Wherein, described first motor and described second motor be respectively used to control sample loading gun the first coordinate axis to the second coordinate axis to position move; Described separatory motor for drive the piston of described sample loading gun described second coordinate axis to move up and down, thus make described piston actuated sample needle carry out imbibition and separatory;
By primary importance information, the second place information of described second motor, the 3rd positional information of described separatory motor of described first motor of position sensing module detection;
Described master controller controls the action of described first motor, described second motor and described separatory motor according to described steering order and described primary importance information, described second place information, described 3rd positional information.
Hyperchannel provided by the invention moves kinetic control system and the method for liquid plate, primary importance information, second place information, the 3rd positional information is obtained by position sensing module 22 detection, master controller 23 controls the action of the first motor, the second motor and separatory motor according to primary importance information, second place information, the 3rd positional information, thus realize that liquid plate is moved moving in liquid process to hyperchannel and accurately carry out three-dimensional motion control, improve hyperchannel and move liquid plate and moving the sensitivity in liquid process.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation that hyperchannel of the present invention moves a kinetic control system embodiment of liquid plate;
Fig. 2 is the structural representation that hyperchannel of the present invention moves another embodiment of kinetic control system of liquid plate;
Fig. 3 moves the structural representation of liquid plate for the present invention's 4 be suitable for passages embodiment illustrated in fig. 2;
Fig. 4 is the schematic flow sheet that hyperchannel of the present invention moves a motion control method embodiment of liquid plate.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the structural representation that hyperchannel of the present invention moves a kinetic control system embodiment of liquid plate; As shown in Figure 1, the embodiment of the present invention specifically comprises: hyperchannel moves liquid plate 11, position sensing module 12, master controller 13.
Hyperchannel each passage moved in liquid plate 11 moves liquid plate and is provided with the first motor in the first coordinate axially-movable, the second motor in the second coordinate axis axially-movable and separatory motor; Wherein, described first motor and described second motor be respectively used to control sample loading gun the first coordinate axis to the second coordinate axis to position move; Described separatory motor for drive the piston of described sample loading gun described second coordinate axis to move up and down, thus make described piston actuated sample needle carry out imbibition and separatory; Position sensing module 12 detects the second place information of the primary importance information of described first motor, described second motor and separatory motor, the 3rd positional information of described separatory motor; Master controller 13 is according to the action of described primary importance information, described second place information, described 3rd positional information control described first motor, described second motor and described separatory motor.
The hyperchannel that the embodiment of the present invention provides moves the kinetic control system of liquid plate, primary importance information, second place information, the 3rd positional information is obtained by position sensing module 12 detection, master controller 13 controls the action of the first motor, the second motor and separatory motor according to primary importance information, second place information, the 3rd positional information, thus realize that liquid plate is moved moving in liquid process to hyperchannel and accurately carry out three-dimensional motion control, improve hyperchannel and move liquid plate and moving the sensitivity in liquid process.
Fig. 2 is the structural representation that hyperchannel of the present invention moves another embodiment of kinetic control system of liquid plate; As shown in Figure 2, the embodiment of the present invention comprises: hyperchannel moves liquid plate 21, position sensing module 32, master controller 23, the extruding motor 24 that couples mutually with master controller 23.
Hyperchannel each passage moved in liquid plate 21 moves liquid plate and is provided with the first motor 25_1 in the first coordinate axially-movable, the second motor 25_2 in the second coordinate axis axially-movable and separatory motor 25_3; Wherein, the first motor 25_1 and the second motor 25_2 be respectively used to control sample loading gun the first coordinate axis to the second coordinate axis to position move; Separatory motor 25_3 for drive the piston of described sample loading gun described second coordinate axis to move up and down, thus make described piston actuated sample needle carry out imbibition and separatory; Position sensing module 22 detects primary importance information, the second place information of the second motor 25_2, the 3rd positional information of separatory motor 25_3 of the first motor 25_1; Master controller 23 controls the action of the first motor 25_1, the second motor 25_2 and separatory motor 25_3 according to described primary importance information, described second place information, described 3rd positional information.Extruding motor 24 extrudes O type circle and captures sample needle from the needle tray being equiped with sample needle and be discarded in by the sample needle of finishing using and abandon needle tray, thus described master controller is completed at the sleeve pipe that three axes axially controls transfer pipet get pin and abandon pin.
Further, hyperchannel each passage moved in liquid plate 21 moves liquid plate and is also provided with toggle switch 211, liquid plate is moved to corresponding passage carry out SEQ.XFER by arranging toggle switch 211, thus make main controller 23 move liquid passage by each of moving in liquid plate of code identification hyperchannel.
Further, position sensing module 22 comprises: the Hall element 221 coupled with the first motor 25_1 phase and the photoelectric encoder 322 coupled with the second motor 25_2 phase, the quadrature coding pulse circuit 223, the detecting liquid level unit 224 that couple mutually with photoelectric encoder 222; Wherein, primary importance information described in the epitrochanterian change of magnetic field strength identification that Hall element 221 detects Hall element 221 residing for rotor, master controller 23 carries out motion control according to the corresponding relation between described primary importance information and first turned position of the first motor 25_1 to the first motor 25_1 by obtaining; The rotational displacement of the second motor 25_2 recorded is converted to two-way quadrature coding pulse by photoelectric encoder 222; Quadrature coding pulse circuit 223 is decoded to described quadrature coding pulse and is counted, thus obtains the second place information of the second motor 25_2.Detecting liquid level unit 224 moves the detecting liquid level signal of liquid plate 21 by the pressure transducer detection hyperchannel in detecting liquid level unit 224, the pulsed width actuation signal that described acquisition of signal module provides is obtained from described detecting liquid level signal, obtain described 3rd positional information by described pulsed width actuation signal, make main controller 23 judge whether the sample needle that hyperchannel moves liquid plate 21 contacts liquid level to judge the beginning of imbibition action according to described 3rd positional information; Wherein, described capacitive transducer is arranged on the end that each passage described moves liquid plate.
Further, master controller 23 comprises: the first control module 231; First control module 231 controls the bidirectional-movement of the first motor 25_1 and separatory motor 25_3 according to described second place information by employing bipolarity Reversible PWM pattern; As described pulse-length modulation (Pulse Width Modulation, be called for short PWM) dutycycle be greater than 50%, first motor 35_1 and separatory motor 25_3 forward run, when described dutycycle is less than 50%, first motor 25_1 and separatory motor 25_3 inverted running, when described dutycycle equals 50%, the average voltage at the first motor 25_1 and separatory motor 25_3 two ends is that the 0, first motor 25_1 and separatory motor 25_3 are in halted state.
The hyperchannel that the embodiment of the present invention provides moves the kinetic control system of liquid plate, primary importance information, second place information, the 3rd positional information is obtained by position sensing module 22 detection, master controller 23 controls the action of the first motor 25_1, the second motor 25_2 and separatory motor 25_3 according to primary importance information, second place information, the 3rd positional information, thus realize that liquid plate is moved moving in liquid process to hyperchannel and accurately carry out three-dimensional motion control, improve hyperchannel and move liquid plate and moving the sensitivity of moving in liquid process.
In order to the technical scheme that clearer understanding is embodiment illustrated in fig. 2, carry out exemplary description below by Fig. 3 to embodiment illustrated in fig. 2.
Fig. 3 moves the structural representation of the kinetic control system of liquid plate for the present invention's 4 be suitable for passages embodiment illustrated in fig. 2, as shown in Figure 3, the embodiment of the present invention is moved liquid channel plate (move liquid channel plate 34_1, move liquid channel plate 34_2, move liquid channel plate 34_3, move liquid channel plate 34_4) for 4 and is carried out exemplary illustration, it will be appreciated by persons skilled in the art that the number of moving liquid channel plate in the embodiment of the present invention and unrestricted.
As shown in Figure 3, liquid channel plate (move liquid channel plate 34_1, move liquid channel plate 34_2, move liquid channel plate 34_3, move liquid channel plate 34_4) is moved to (Y-direction) upper installation 4 in the second coordinate axis, each move liquid channel plate realize the second coordinate axis to motion, each below moving liquid passage class is also provided with liquid-transfering gun (not shown), liquid-transfering gun by rifle body, liquid-transfering gun signal plate, piston, move liquid point etc. structure form, liquid-transfering gun moves to (Z-direction) in the first coordinate axis.By controlling to capture Tip head or microplate handgrip (not shown) to (X to) at three axes, completing and get pin and abandon pin action.
The steering order received is sent to position sensing module 22 by CAN communication bus by master controller 23, the primary importance information that position sensing module 22 will detect, second place information, 3rd positional information is uploaded to master controller 23, master controller 23 pairs of primary importance information, second place information, 3rd positional information carries out judging and processing, and according to the steering order received and primary importance information, second place information, 3rd positional information drives the first motor 25_1 respectively, second motor 25_2, separatory motor 25_3, the Y-direction motion of extruding motor 24, the Z-direction motion of sample loading gun, the rising of the piston of sample loading gun and decline (i.e. imbibition/separatory action), X is to motion.
Fig. 4 is the schematic flow sheet that hyperchannel of the present invention moves a motion control method embodiment of liquid plate, and the kinetic control system that Fig. 1 and hyperchannel embodiment illustrated in fig. 2 move liquid plate can realize the method flow of the embodiment of the present invention; As shown in Figure 4, the embodiment of the present invention comprises the steps:
Step 401, master controller receive the steering order of the first motor, the second motor and the separatory motor movement moving liquid plate for controlling hyperchannel each passage moved in liquid plate; Wherein, the first motor and the second motor be respectively used to control sample loading gun the first coordinate axis to the second coordinate axis to position move; Separatory motor for drive the piston of sample loading gun the second coordinate axis to move up and down, thus make piston actuated sample needle carry out imbibition and separatory;
The second place information of step 402, the primary importance information being detected the first motor by position sensing module, the second motor, the 3rd positional information of separatory motor;
Step 403, master controller control the action of the first motor, the second motor and separatory motor according to steering order and primary importance information, second place information, the 3rd positional information.
The hyperchannel that the embodiment of the present invention provides moves the motion control method of liquid plate, primary importance information, second place information, the 3rd positional information is obtained by detection, master controller controls the action of the first motor, the second motor and separatory motor according to primary importance information, second place information, the 3rd positional information, thus realize that liquid plate is moved moving in liquid process to hyperchannel and accurately carry out three-dimensional motion control, improve hyperchannel and move liquid plate and moving the sensitivity in liquid process.
Further, above-mentioned embodiment illustrated in fig. 4 in, step 402 can also comprise:
By the primary importance information described in the epitrochanterian change of magnetic field strength identification that detects Hall element residing for rotor, described master controller carries out motion control according to the corresponding relation between described primary importance information and the first turned position of described first motor to described first motor by acquisition;
By photoelectric encoder, the rotational displacement of described second motor recorded is converted to two-way quadrature coding pulse, quadrature coding pulse circuit in described master controller is decoded to described quadrature coding pulse and is counted, thus obtains the second place information of described second motor;
Detect by pressure transducer the detecting liquid level signal that described hyperchannel moves liquid plate, from described detecting liquid level signal, obtain the pulsed width actuation signal that described acquisition of signal module provides, obtain described 3rd positional information by described pulsed width actuation signal.
Further, above-mentioned embodiment illustrated in fig. 4 in, step 403 can also comprise:
Described master controller carries out motion control according to the corresponding relation between described primary importance information and the first turned position of described first motor to described first motor by obtaining;
Described master controller controls the bidirectional-movement of described first motor and described separatory motor according to described second place information by employing bipolarity Reversible PWM pattern;
According to described 3rd positional information, described master controller judges whether the sample needle that described hyperchannel moves liquid plate contacts liquid level to judge the beginning of imbibition action; Wherein, described capacitive transducer is arranged on the end that each passage described moves liquid plate.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-described embodiment can have been come by the hardware that programmed instruction is relevant, aforesaid program can be stored in a computer read/write memory medium, this program, when performing, performs the step comprising said method embodiment; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (1)
1. hyperchannel moves a kinetic control system for liquid plate, it is characterized in that, described system comprises:
Hyperchannel moves liquid plate, and each passage moves liquid plate and is provided with the first motor in the first coordinate axially-movable, the second motor in the second coordinate axis axially-movable and separatory motor; Wherein, described first motor and described second motor be respectively used to control sample loading gun the first coordinate axis to the second coordinate axis to position move; Described separatory motor for drive the piston of described sample loading gun described three axes to move up and down, thus make described piston actuated sample needle carry out imbibition and separatory;
Position sensing module, for detecting the second place information of the primary importance information of described first motor, described second motor and separatory motor, the 3rd positional information of described separatory motor;
Master controller, for controlling the action of described first motor, described second motor and described separatory motor according to the steering order received and described primary importance information, described second place information, described 3rd positional information; Wherein,
Described position sensing module comprises:
The Hall element coupled mutually with described first motor, for detect described Hall element epitrochanterian change of magnetic field strength identification described in primary importance information residing for rotor, described master controller carries out motion control according to the corresponding relation between described primary importance information and the first turned position of described first motor to described first motor by obtaining;
The photoelectric encoder coupled mutually with described second motor, for being converted to two-way quadrature coding pulse by the rotational displacement of described second motor recorded;
The quadrature coding pulse circuit coupled mutually with described photoelectric encoder, for decoding to described quadrature coding pulse and counting, thus obtains the second place information of described second motor;
Detecting liquid level unit, for detecting by the pressure transducer in described detecting liquid level unit the detecting liquid level signal that described hyperchannel moves liquid plate, the pulsed width actuation signal that described acquisition of signal module provides is obtained from described detecting liquid level signal, obtain described 3rd positional information by described pulsed width actuation signal, make described master controller judge whether the sample needle that described hyperchannel moves liquid plate contacts liquid level to judge the beginning of imbibition action according to described 3rd positional information; Wherein, described pressure transducer is arranged on the end that each passage described moves liquid plate;
Described system also comprises:
The extruding motor coupled mutually with described master controller, capture sample needle for extruding O type circle from the needle tray being equiped with sample needle and the sample needle of finishing using is discarded in abandons needle tray, thus described master controller is completed at the sleeve pipe that three axes axially controls transfer pipet get pin and abandon pin wherein, each passage described moves liquid plate and is also provided with toggle switch, liquid plate is moved to corresponding passage carry out SEQ.XFER by arranging described toggle switch, thus make described master controller move liquid passage by each of moving in liquid plate of hyperchannel described in described code identification.
2. system according to claim 1, is characterized in that, described master controller comprises:
First control module, for controlling the bidirectional-movement of described first motor and described separatory motor according to described second place information by employing bipolarity reversible pulse width modulation (PWM) pattern; When the dutycycle of described PWM is greater than 50%, described first motor and described separatory motor forward run, when described dutycycle is less than 50%, described first motor and described separatory motor inverted running, when described dutycycle equals 50%, the average voltage at described first motor and described separatory motor two ends is 0, and described first motor and described separatory motor are in halted state.
3. hyperchannel moves a motion control method for liquid plate, it is characterized in that, described method comprises:
Master controller receives the steering order of the first motor, the second motor and the separatory motor movement moving liquid plate for controlling hyperchannel each passage moved in liquid plate; Wherein, described first motor and described second motor be respectively used to control sample loading gun the first coordinate axis to the second coordinate axis to position move; Described separatory motor for drive the piston of described sample loading gun described second coordinate axis to move up and down, thus make described piston actuated sample needle carry out imbibition and separatory;
By primary importance information, the second place information of described second motor, the 3rd positional information of described separatory motor of described first motor of position sensing module detection;
Described master controller controls the action of described first motor, described second motor and described separatory motor according to described steering order and described primary importance information, described second place information, described 3rd positional information;
Wherein, the step of the described primary importance information by described first motor of position sensing module detection, described second motor and the second place information of separatory motor, the 3rd positional information of described separatory motor comprises:
By the primary importance information described in the epitrochanterian change of magnetic field strength identification that detects Hall element residing for rotor, described master controller carries out motion control according to the corresponding relation between described primary importance information and the first turned position of described first motor to described first motor by acquisition;
By photoelectric encoder, the rotational displacement of described second motor recorded is converted to two-way quadrature coding pulse, quadrature coding pulse circuit in described master controller is decoded to described quadrature coding pulse and is counted, thus obtains the second place information of described second motor;
Detect by pressure transducer the detecting liquid level signal that described hyperchannel moves liquid plate, from described detecting liquid level signal, obtain the pulsed width actuation signal that described acquisition of signal module provides, obtain described 3rd positional information by described pulsed width actuation signal;
Described method also comprises:
Capture sample needle by extruding motor extruding O type circle from the needle tray being equiped with sample needle and the sample needle of finishing using is discarded in and abandon needle tray, thus described master controller is completed at the sleeve pipe that three axes axially controls transfer pipet get pin and abandon pin.
4. method according to claim 3, it is characterized in that, the step that described master controller controls the action of described first motor, described second motor and described separatory motor according to described steering order and described primary importance information, described second place information, described 3rd positional information comprises:
Described master controller resolves the first instruction controlled described first motor in described steering order, the second instruction controlled described second motor and to the 3rd instruction controlled described separatory motor;
Described master controller carries out motion control according to the corresponding relation between described first instruction and the first turned position of described primary importance information and described first motor to described first motor;
Described master controller controls the bidirectional-movement of described second motor according to described second instruction and described second place information by employing bipolarity Reversible PWM pattern, control the bidirectional-movement of described separatory motor according to described 3rd instruction and described second place information;
According to described 3rd positional information, described master controller judges whether the sample needle that described hyperchannel moves liquid plate contacts liquid level to judge the beginning of imbibition action; Wherein, described pressure transducer is arranged on the end that each passage described moves liquid plate.
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| CN201210345679.9A CN102880194B (en) | 2012-09-17 | 2012-09-17 | Motion controlling system and method for multiple channel pipetting plates |
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| CN201210345679.9A CN102880194B (en) | 2012-09-17 | 2012-09-17 | Motion controlling system and method for multiple channel pipetting plates |
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| CN107065783A (en) * | 2016-12-26 | 2017-08-18 | 吴庆芳 | A kind of control method for numerical control device |
| CN112730859A (en) * | 2019-10-28 | 2021-04-30 | 东方伊诺(苏州)医疗科技有限公司 | Automatic enzyme-linked immunoassay analyzer |
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| JPH04299402A (en) * | 1991-03-27 | 1992-10-22 | Shinko Electric Co Ltd | Motor controller containing position detecting function |
| JP3579543B2 (en) * | 1996-08-22 | 2004-10-20 | 東芝機械株式会社 | Position control system |
| CN2721223Y (en) * | 2004-09-03 | 2005-08-31 | 北京博奥生物芯片有限责任公司 | Multi-channel liquid transfer device |
| CN2938182Y (en) * | 2006-07-21 | 2007-08-22 | 苏州捷美电子有限公司 | Control device of automatic enzyme immune instrument |
| CN101140292B (en) * | 2006-09-07 | 2011-09-28 | 深圳迈瑞生物医疗电子股份有限公司 | Sample feeding system, anticollision device and anti-collision method |
| CN101594106B (en) * | 2009-07-10 | 2012-05-23 | 奇瑞汽车股份有限公司 | System and method for controlling motor of wire-controlled braking system |
| CN102539802B (en) * | 2011-12-30 | 2013-07-31 | 北京信息科技大学 | Micropipette detection method |
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| Microlab STAR let 全自动酶免分析仪的常见故障排除和维护;朱美娟;《现代检验医学杂志》;20101130;第25卷(第6期);第86-87页 * |
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