CN101332439B - Automatic liquor removing workstation - Google Patents
Automatic liquor removing workstation Download PDFInfo
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- CN101332439B CN101332439B CN200710042663XA CN200710042663A CN101332439B CN 101332439 B CN101332439 B CN 101332439B CN 200710042663X A CN200710042663X A CN 200710042663XA CN 200710042663 A CN200710042663 A CN 200710042663A CN 101332439 B CN101332439 B CN 101332439B
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Abstract
The invention discloses an automatic pipetting workstation which belongs to an automatic pipetting device for biological and chemical experiments. The system comprises such main components as a working platform, a support frame, an X-axis precision electric-controlled flat pipetting table, an X-axis drive motor, an X-axis auxiliary guide, a Y-axis overarm brace, a Y-axis guide column, a Y-axis screw rod, a manipulator module, an electric cabinet, a computer, etc. The working platform is provided with a pipette tip recovery zone and can be provided with a pipette tip storage module, a sample storage module and the like as required. The automatic pipetting workstation has the advantages of less cross contamination, high precision, simple and convenient operation, good flexibility, high efficiency, strong applicability, low use cost, etc.
Description
Technical field
The present invention relates to the automatic liquid shifting equipment that biology, chemical experiment are used, more precisely, relate to a kind of automated fluid treatment system of simultaneously liquid reagent, fluid sample etc. accurately being distributed and carrying of being used for.
Background technology
Develop rapidly along with science and technology; Research work biological, chemical laboratory no longer is around several equipment; Operate the small scale experiments of some samples; But, carry out multipath, diversified large scale experiment with the kinds of experiments technology in the face of more complicated research object and the sample size of being on the increase.Research like library screening, gene order-checking and the genetic chip of genetics; Proteomics the be wanting in searching, evaluation, the screening of albumen crystallization, the analysis of higher structure of M-band, the quantity of sample handling work that also has the laboratory such as extensive screening compound and evaluation of new drug discovery aspect to be born every day increases day by day.And in a lot of laboratories and the R&D institution, the extraction of a lot of samples is to lean on manually-operated with application of sample entirely, and the hand-held pipettor generally has four elemental motions---set up suction nozzle, get liquid, liquid feeding, throw away suction nozzle, these are that armrest moves completion entirely.Manual operation exists problems: a large amount of sample treatment work not only need lot of manpower and material resources and time; And because manually-operated brings a lot of human errors; Make sample treatment to move the liquid accuracy low, the probability height of makeing mistakes, the stability of sample treatment is with repeatable poor.Manual mode of operation can not satisfy desired high efficiency, accuracy and security in the high flux sample treatment process.Part or overall process in the experimental implementation flow process are realized that automatic operating has become inevitable trend.
The existing liquid treating system that moves is used to reagent, sample etc. is transported in a plurality of holes on porous plate at present.The described liquid treating system that moves has a distributor gear and a travel mechanism; And said distributor gear is equipped with the tube of a nozzle; On said nozzle, dispensing head is installed, can sucks and discharge liquid, in the described tube plunger is housed through it; Be used for the liquid suction is installed in the dispensing head on the nozzle, and liquid is discharged from said dispensing head is inner.Because porous plate commonly used now is 96 international hole on-gauge plates, so have four types the liquid treating system that moves now: 12 groups of types, 8 groups of types, 1 group of type and 96 groups of types.Move in the liquid treating system at 12 groups of types; The nozzle of 12 tubes vertically is arranged in a straight line along porous plate; And be operation synchronized with each other, can unify to be installed on the dispensing head on these 12 nozzles, accomplish suction or discharge such as liquid such as reagent; And the distance between these 12 nozzles is fixed the pitch of holes of corresponding porous plate.Same, move in the liquid treating system at 8 groups of types, 8 nozzle arrangement are in line, and operation simultaneously each other, 96 groups of types move liquid treating system and then 96 nozzle arrangement are become 12 * 8 matrix, and 1 group of type moves liquid treating system and then only operates a nozzle.When being emitted on above-mentioned these when moving liquid treating system and on porous plate, operating; Its emission direction limits; Moving at 12 groups of types such as standard 12 * 8 standard porous plates can only be with nozzle arrangement in 12 hole direction in the liquid treating system; Can only be in the liquid treating system and move with nozzle arrangement in 8 hole directions at 8 groups of types, 96 groups move liquid treating system then can only operation such as unified implementation suction and discharge on all 96 holes.
These a plurality of nozzles that move liquid treating system all are unified to suck with discharging operation synchronously, thus just require in porous plate, must carry out the operation of a round simultaneously, and draw in can not some therein or a plurality of holes or add liquid.And these distances of moving between a plurality of nozzles of liquid treating system are all fixed, and corresponding to the pitch of holes of porous plate, thereby are not suitable for the bigger situation of spacing, such as test tube, reagent bottle, glass etc.And a lot of sample collecting all are with test tube or plastic-like QC with depositing in the practice, so just need sample be transferred to and just can carry out sample treatment in the porous plate, operate more loaded down with trivial details, and easy error.
And existing moving in the liquid treating system monopolized by import equipment basically, and the device rate of these imports is fast, precision is high, good operating stability; But these equipment prices are high, and the cost of annex and consumptive material is also all very high, are difficult to promote; Homemade liquid shifting equipment is then because simple in structure; Function singleness, precision and stability are not high, so occupation rate of market is low.
Based on the present national conditions of our country, and in order to satisfy the needs of laboratory and hospital, we will overcome a series of problems and the defective that exists in the home equipment, develop applicability more by force, the high and cheap full-automatic liquor-transferring system of precision.
Summary of the invention
The object of the invention just is to overcome the existing existing problem of liquor-transferring system, a kind of compact conformation, modularization is provided, precision is high, cross pollution is few, applicability is strong, automaticity is high moves liquid treating system.This liquor-transferring system not only is fit to the scientific research and the application of laboratory and hospital, and can be used for large-scale sample treatment.
Technical scheme of the present invention is following:
A kind of automatic liquor removing workstation of the present invention; Mainly by workbench, support frame, the accurate electronic control translation stage of X axle, X axis drive motor, X axle auxiliary guide rail, Y axle overarm brace, Y spindle guide post, Y axial filament bar, 1～12 separately the assemblies such as manipulator, electric cabinet, computer of independent control form; Workbench is provided with the suction nozzle recovery area; Can put other modules such as suction nozzle storage module, sample storage module as required on the workbench.
Wherein support frame is fixed on the workbench, supports automatically controlled platform of X axle and X axle auxiliary guide rail; Y axle overarm brace one end is installed on the X axle electronic control translation stage, and the other end rides on the X axle auxiliary guide rail through draw-in groove, can move by the X axle in the driving lower edge of X axis drive motor; Y spindle guide post and Y axial filament bar are fixed on the Y axle overarm brace, play supported mechanical fingerprint piece; Manipulator is installed on Y spindle guide post and the Y axial filament bar, can slide along Y spindle guide post and Y axial filament bar.
Groove (or projection) interlock mutually on suction nozzle storage module and the sample storage module projection (or groove) through module bottom and the workbench is installed on the workbench with the mode that can dismantle flexibly.
Connect by data wire between X axis drive motor, manipulator, electric cabinet and the computer, receive computer software control.
Wherein manipulator comprises Y direction motion drive motors, synchronous band, Y direction drive nut, guide pillar overcoat, Z axis drive motor, Z shaft movement mechanism, push rod Z axle motion drive motors, push rod connector, push rod, removes suction nozzle Z axis drive motor, microsyringe, removes suction nozzle spare, suction nozzle installed part; And the fixed support A that is used to install Y direction motion drive motors, Y direction drive nut, guide pillar overcoat, Z axis drive motor and Z shaft movement mechanism, be used to that push rod Z axle motion drive motors, push rod connector, microsyringe are installed, remove suction nozzle Z axis drive motor, remove the fixed support B of suction nozzle spare and suction nozzle installed part.
This manipulator is through Y direction motion drive motor drives Y direction drive nut; And the Y direction drive nut rotates on Y axial filament bar and move on Y direction through the guiding of Y spindle guide post; Each manipulator is coordinated each other distance and motion through computer and electric cabinet control.The Z axis drive motor through push rod Z axle motion drive motors, push rod connector, the microsyringe of Z shaft movement mechanism drive installation on fixed support B, remove suction nozzle Z axis drive motor, go suction nozzle spare and suction nozzle installed part to move up and down in Z-direction.Push rod Z axle motion drive motors makes the push rod of microsyringe move up and down in Z-direction through the push rod connector.Go suction nozzle Z axis drive motor to go suction nozzle spare to move up and down and from the suction nozzle installed part, release suction nozzle in Z-direction through driving, suction nozzle is owing to self gravitation falls down.
Be useful on equidistant groove (or projection) of each module positioning and fixing on the described workbench.In the modules such as described suction nozzle storage module, sample storage module separately base bottom all have with workbench on the match projection (or groove) of location of groove (or projection), the spacing of the groove (or projection) on its spacing and the workbench is corresponding.Can also put other functional module on the workbench, such as detection module, reaction module, wash module etc.
Described automatic liquor removing workstation has comprised 1～20 group of suction nozzle storage module, and wherein said each suction nozzle storage module comprises that suction nozzle, suction nozzle storage rack and suction nozzle deposit base.Wherein suction nozzle is international standard disposable tip.A plurality of pore space structures are arranged on the suction nozzle storage rack; A plurality of suction nozzles are arranged on the suction nozzle storage rack through its most advanced and sophisticated pore space structure that inserts correspondence; And the suction nozzle storage rack is placed in suction nozzle and deposits on the base, deposits projection or depressions or protrusions on depression and the workbench below the base through suction nozzle and cooperates and be positioned on the workbench.
Described automatic liquor removing workstation has comprised 1～10 group of sample storage module, and described sample storage module comprises test tube, test tube storage rack.Described test tube is that external diameter general on the market is 8mm～12mm test tube.Described test tube storage rack is formed for the multilayer orifice plate, and has deformable the extruding to the center, hole to design around each hole, can deposit the stability that the different test tube of external diameter guarantees that simultaneously test tube is placed, and the quantity of the test tube that can put on the frame is 1～96.
Described computer software, through electric cabinet control be whole manipulator in the position of X-direction and each manipulator in the position of Y direction, the installation of suction nozzle and removal, suction nozzle be in the height of Z-direction, the actions such as push-and-pull of microsyringe push rod.
Compare with present existing products, major advantage of the present invention is:
1) error is few, and sample treatment result is reliable and stable.Move all processes that liquid handles among the present invention and all accomplished automatically by system, the error of having avoided manual operation to bring has improved sample treatment result's stability and reliability greatly.
2) accuracy is high.The present invention is because overall process machinery is accomplished automatically, and all processes can both be monitored, thus all relate to move the liquid processed steps can optimising and adjustment, thereby reach higher accuracy.
3) speed is fast, and efficient is high.Because integrated a plurality of manipulator have not only been optimized the cooperation time among the present invention, and a plurality of module can work simultaneously, improved detection speed greatly, optimized and moved liquid work of treatment efficient.
4) compact conformation.The present invention is not only with each functional module miniaturization, and each functional module is carried out central combination, and compact conformation has improved effective utilization in space greatly.
5) cross pollution is few.Adopt disposable suction nozzle to carry out imbibition and liquid feeding among the present invention, the suction nozzle of using during a kind of liquid handling before just abandoning in the different liquid operating process has been avoided the cross pollution between the different liquids.
6) flexibility is good, and applicability is wide.The present invention has adopted modularized design; Each functional module not only can be used separately, but also combination that can be random is formed different system's collocation and used; And can also be suitable for the container of various ways such as 96 hole on-gauge plates, test tube, reagent bottle; And can select 1～12 manipulator work as required, so not only be fit to the scientific research and the small-scale application of laboratory and hospital, and can be used for the large-scale application such as sample examination of large hospital and blood station.
7) easy and simple to handle.Because the present invention all adopts machinery to replace operating personnel to accomplish all complex operations processes automatically; Only need the reagent of required distribution or sample, porous plate to be placed or reagent bottle etc. be placed into corresponding position; Set the liquid process of moving again; Just can be by the machinery remaining work of all doing, up to accomplishing all allocating tasks.
8) practice thrift human and material resources, reduced the sample treatment cost.Because the present invention's manufacturing cost itself is lower, and overall process employing mechanical automation completion, the loaded down with trivial details operation element of operating personnel reduced greatly, and treatment effeciency is high, has improved usage ratio of equipment greatly, has reduced the sample treatment cost.
In a word, the present invention has overcome the defective of existing sample processing system, has reduced the error that manual operation brings, and sample treatment result is reliable and stable; Not only cross pollution is few, and processing speed is fast, and efficient is high; Flexibility is good, and applicable to the liquid that moves under the container of various ways and specification and the multiple situation, and use cost is low; This system is simple to operate, not only is fit to the scientific research and the application of laboratory and hospital, and can be used for large-scale sample treatment such as large hospital, drug research and blood station.
Description of drawings
Figure .1 is the schematic three dimensional views of a kind of embodiment of automatic liquor removing workstation of the present invention;
Figure .2 is the last apparent direction sketch map of a kind of embodiment of automatic liquor removing workstation of the present invention;
Figure .3 is the schematic three dimensional views of a manipulator among a kind of embodiment of automatic liquor removing workstation of the present invention;
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified:
As shown in the figure, (1) is workbench, and (2) are the suction nozzle storage module, and (3) are the suction nozzle recovery area; (4) be support frame, (5) are X axle auxiliary guide rail, and (6) are the X axis drive motor, and (7) are X axle electronic control translation stage; (8) be Y axle overarm brace, (9) are a manipulator, and (10) are link, (11) and used guide pillar and the screw mandrel of (12) Y direction motion; (13) be the sample storage module, (14) are computer, and (15) are adjustable caster group, and (16) are fixed support A; Be used to install Y direction motion drive motors (17), Y direction drive nut (19), guide pillar overcoat (20), Z axis drive motor (21) and Z shaft movement mechanism (22) etc., (17) are the drive motors of Y direction motion, and (18) are to be with synchronously, and (19) are the Y direction drive nut; (20) be the guide pillar overcoat, (21) are the Z axis drive motor, and (22) are the Z shaft movement mechanism; (23) be fixed support B, be used to install push rod Z axle motion drive motors (24), push rod connector (25), microsyringe (28), remove suction nozzle Z axis drive motor (27), remove suction nozzle spare (29) and suction nozzle installed part (30) etc. that (24) are push rod Z axle motion drive motors; (25) be the push rod connector, (26) are push rod, and (27) are for removing suction nozzle Z axle motion drive motors; (28) be microsyringe, (29) for removing suction nozzle spare, (30) are the suction nozzle installed part.
In this embodiment; A kind of automatic liquor removing workstation of the present invention; Mainly form by workbench (1), support frame (4), the accurate electronic control translation stage (7) of X axle, X axis drive motor (6), X axle auxiliary guide rail (5), Y axle overarm brace (8), Y spindle guide post (11), Y axial filament bar (12), 8 independent separately manipulator (9), electric cabinet, computer assemblies of controlling such as (14); The accurate electronic control translation stage (7) of workbench (1) and X axle, X axle auxiliary guide rail (5) all are installed on the support frame (4); Y axle overarm brace (8) is across on accurate electronic control translation stage (7) of X axle and X axle auxiliary guide rail (5); Y spindle guide post (11) and Y axial filament bar (12) are installed on the Y axle overarm brace (8) through link (10), and each manipulator (9) is enclosed within Y spindle guide post (11) and the motion of Y axial filament bar (12) upper edge Y direction through Y direction drive nut (19) and guide pillar overcoat (20).Workbench (1) is provided with suction nozzle recovery area (3), can put suction nozzle storage module (2) as required on the workbench (1), and sample storage module (13) waits other module.
Wherein, Described each manipulator (9) comprise Y direction motion drive motors (17), synchronously band (18), Y direction drive nut (19), guide pillar overcoat (20), Z axis drive motor (21), Z shaft movement mechanism (22), push rod Z axle motion drive motors (24), push rod connector (25), push rod (26), remove suction nozzle Z axis drive motor (27), microsyringe (28), remove suction nozzle spare (29), suction nozzle installed part (30); And the fixed support A (16) that is used to install Y direction motion drive motors (17), Y direction drive nut (19), guide pillar overcoat (20), Z axis drive motor (21) and Z shaft movement mechanism (22), be used to that push rod Z axle motion drive motors (24), push rod connector (25), microsyringe (28) are installed, remove suction nozzle Z axis drive motor (27), remove the fixed support B of suction nozzle spare (29) and suction nozzle installed part (30).
This manipulator (9) drives Y direction drive nut (19) through Y direction motion drive motors (17); And Y direction drive nut (19) moves on Y direction in the last rotation of Y axial filament bar (12) and through the guiding of Y spindle guide post (11); Each manipulator (9) is coordinated each other distance and motion through computer (14) and electric cabinet control.Z axis drive motor (21) through Z shaft movement mechanism (22) drive fixing support B (23) and push rod Z axle motion drive motors (24), push rod connector (25), microsyringe (28) mounted thereto, remove suction nozzle Z axis drive motor (27), go suction nozzle spare (29) and suction nozzle installed part (30) etc. to move up and down, with moving up and down of the Z-direction that realizes suction nozzle in Z-direction.Push rod Z axle motion drive motors (24) makes the push rod (26) of microsyringe move up and down in Z-direction through push rod connector (25), to realize absorption and the liquid feeding to liquid.And go suction nozzle Z axis drive motor (27) to go suction nozzle spare (29) to move up and down in Z-direction through driving, and from suction nozzle installed part (30), release suction nozzle downwards, suction nozzle is owing to self gravitation falls down.
Be useful on equidistant groove (or projection) of each module positioning and fixing on the described workbench (1).In described suction nozzle storage module (2), the sample storage module modules such as (13) separately base bottom all have and workbench (1) on the match projection (or groove) of location of groove (or projection), the spacing of the groove (or projection) on its spacing and the workbench (1) is corresponding.Workbench can also be put other functional module on (1), such as detection module, reaction module, wash module etc., to realize the combination of multifunction module, accomplishes more multitask.
In this embodiment, described automatic liquor removing workstation has comprised 8 groups of suction nozzle storage module (2), and wherein said each suction nozzle storage module (2) comprises that suction nozzle, suction nozzle storage rack and suction nozzle deposit base.Wherein suction nozzle is international standard disposable tip.
In this embodiment, described automatic liquor removing workstation has comprised 3 groups of sample storage module (13), and described sample storage module (13) comprises test tube, test tube storage rack.Described test tube is that external diameter general on the market is 8mm～12mm test tube.Described test tube storage rack is formed for the multilayer orifice plate, and has deformable the extruding to the center, hole to design around each hole, can deposit the stability that the different test tube of external diameter guarantees that simultaneously test tube is placed, and the quantity of the test tube that can put on the frame is 48.
Described computer software; Through being Y direction motion drive motors (17), Z axis drive motor (21), the push rod Z axle motion drive motors (24) in X axis drive motor (6) and each manipulator (9) and removing suction nozzle Z axis drive motor (27) of electric cabinet control, thus control whole manipulator in the position of X-direction and the distance of each manipulator in the position of Y direction, between the manipulator, suction nozzle in actions such as the installation of height, suction nozzle imbibition and the liquid feeding of Z-direction, suction nozzle and removals.
Should be understood that the module described in the present invention can arbitrary combination, compound mode all covers within the content of the present invention arbitrarily.After reading foregoing of the present invention, those skilled in the art can do various increases and decreases or modification to the present invention, and these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Claims (7)
1. automatic liquor removing workstation; It is characterized in that: primary clustering comprises workbench, support frame, X axle electronic control translation stage, X axis drive motor, X axle auxiliary guide rail, Y axle overarm brace, Y spindle guide post, Y axial filament bar, 1～12 independently manipulator, electric cabinet, computer separately, also can select to comprise 1～20 group of suction nozzle storage module and 1～10 group of sample storage module;
Wherein support frame is fixed on the workbench, supports X axle electronic control translation stage and X axle auxiliary guide rail; Y axle overarm brace one end is installed on the X axle electronic control translation stage, and the other end rides on the X axle auxiliary guide rail through draw-in groove, can move by the X axle in the driving lower edge of X axis drive motor; Y spindle guide post and Y axial filament bar are fixed on the Y axle overarm brace, play supported mechanical fingerprint piece; Manipulator is installed on Y spindle guide post and the Y axial filament bar, can slide along Y spindle guide post and Y axial filament bar;
Suction nozzle storage module and sample storage module are through the projection or the groove of module bottom, and groove or projection interlock mutually with on the workbench are installed on the workbench with the mode that can dismantle flexibly;
Connect by data wire between X axis drive motor, manipulator, electric cabinet and the computer, receive computer software control;
Manipulator comprises Y direction motion drive motors, synchronous band, Y direction drive nut, guide pillar overcoat, Z axis drive motor, Z shaft movement mechanism, push rod Z axle motion drive motors, push rod connector, push rod, removes suction nozzle Z axis drive motor, microsyringe, removes suction nozzle spare, suction nozzle installed part, fixed support A, fixed support B;
Wherein Y direction motion drive motors, Y direction drive nut, guide pillar overcoat, Z axis drive motor and Z shaft movement mechanism are installed on the fixed support A, push rod Z axle motion drive motors, push rod connector, microsyringe, remove suction nozzle Z axis drive motor, go suction nozzle spare and suction nozzle installed part to be installed on the fixed support B;
The Y direction drive nut is enclosed within on the Y axial filament bar, and is connected with synchronous band with Y direction motion drive motors, can on Y axial filament bar, rotate under the Y direction motion drive motor drives, drives manipulator and moves along Y axial filament bar and Y spindle guide post;
The Z shaft movement mechanism is connected with fixed support B with the Z axis drive motor respectively, the Z axis drive motor through push rod Z axle motion drive motors, push rod connector, the microsyringe of Z shaft movement mechanism drive installation on fixed support B, remove suction nozzle Z axis drive motor, go suction nozzle spare and suction nozzle installed part to move up and down in Z-direction;
Push rod connector two ends are connected with the push rod of push rod Z axle motion drive motors and microsyringe respectively, and push rod Z axle motion drive motors makes the push rod of microsyringe move up and down in Z-direction through the push rod connector;
Go suction nozzle spare to be connected, and be enclosed within on the suction nozzle installed part, go suction nozzle Z axis drive motor to go suction nozzle spare to move up and down and from the suction nozzle installed part, release suction nozzle in Z-direction through driving with removing suction nozzle Z axis drive motor.
2. a kind of automatic liquor removing workstation according to claim 1 is characterized in that: also be provided with suction nozzle recovery area and the equidistant groove or the projection that are used for miscellaneous function module positioning and fixing on the described workbench.
3. a kind of automatic liquor removing workstation according to claim 1 is characterized in that: described suction nozzle storage module comprises that suction nozzle, suction nozzle storage rack, suction nozzle deposit base; A plurality of pore space structures are arranged on the suction nozzle storage rack; A plurality of suction nozzles are arranged on the suction nozzle storage rack through its most advanced and sophisticated pore space structure that inserts correspondence; And the suction nozzle storage rack is placed in suction nozzle and deposits on the base, deposits projection or depressions or protrusions on depression and the workbench below the base through suction nozzle and cooperates and be positioned on the workbench.
4. a kind of automatic liquor removing workstation according to claim 1 is characterized in that: described sample storage module comprises test tube, test tube storage rack.
5. a kind of automatic liquor removing workstation according to claim 1; It is characterized in that: the test tube storage rack in the described sample storage module is formed for the multilayer orifice plate; And center position outstanding deformable elastic device in oriented hole around each hole, the diameter in elastic device hole when relaxation state is littler than test tube diameter.
6. a kind of automatic liquor removing workstation according to claim 1 is characterized in that: the quantity of the test tube that can put in the test tube storage rack in the described sample storage module is 1～96.
7. a kind of automatic liquor removing workstation according to claim 1; It is characterized in that: described computer software, through electric cabinet control be whole manipulator in the position of X-direction and each manipulator at the installation of the motion of Y direction, suction nozzle and removal, suction nozzle in the height of Z-direction, the push-and-pull of microsyringe push rod.
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| CN200710042663XA CN101332439B (en) | 2007-06-26 | 2007-06-26 | Automatic liquor removing workstation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710042663XA CN101332439B (en) | 2007-06-26 | 2007-06-26 | Automatic liquor removing workstation |
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| CN101332439A CN101332439A (en) | 2008-12-31 |
| CN101332439B true CN101332439B (en) | 2012-05-30 |
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| CN200710042663XA Active CN101332439B (en) | 2007-06-26 | 2007-06-26 | Automatic liquor removing workstation |
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| Publication number | Publication date |
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| CN101332439A (en) | 2008-12-31 |
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Application publication date: 20081231 Assignee: Nanjing Yulong Biological Medical Development Co., Ltd. Assignor: Shanghai Yulong Biological Science And Technology Co., Ltd. Contract record no.: 2013310000011 Denomination of invention: Automatic liquor removing workstation Granted publication date: 20120530 License type: Exclusive License Record date: 20130226 |
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