CN103149876B - Displacement accurately positioning device and sampling arm accurately positioning device applied to ELISA (enzyme-linked immunosorbent assay) workstation - Google Patents
Displacement accurately positioning device and sampling arm accurately positioning device applied to ELISA (enzyme-linked immunosorbent assay) workstation Download PDFInfo
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- CN103149876B CN103149876B CN201310101141.8A CN201310101141A CN103149876B CN 103149876 B CN103149876 B CN 103149876B CN 201310101141 A CN201310101141 A CN 201310101141A CN 103149876 B CN103149876 B CN 103149876B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 52
- 238000002965 ELISA Methods 0.000 title abstract 4
- 238000005070 sampling Methods 0.000 title abstract 3
- 230000003287 optical effect Effects 0.000 claims abstract description 65
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000005693 optoelectronics Effects 0.000 claims description 117
- 102000004190 Enzymes Human genes 0.000 claims description 8
- 108090000790 Enzymes Proteins 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 13
- 230000008859 change Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 101100408455 Arabidopsis thaliana PLC7 gene Proteins 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention firstly discloses an X-direction displacement accurately positioning device which comprises two belt wheels and a transmission belt, wherein the transmission belt is tightly wound around the two belt wheels; an active wheel is driven by a step motor, two groups of photoelectric switches are fixedly arranged on an X-direction side of the transmission belt, an object to be detected of each photoelectric switch is provided with a column of optical channels arranged in the X-direction at equal intervals, and a target object is fixedly arranged on the X-direction side of the transmission belt. The invention further discloses an X-direction and Y-direction displacement accurately positioning device. Furthermore, the invention discloses a sampling arm accurately positioning device applied to an ELISA (enzyme-linked immunosorbent assay) workstation, which is used for simultaneously realizing the accurate position of a sampling arm in X-direction and Y-direction. The step motor drives the active wheel, the transmission belt moves to drive the target object and the two groups of photoelectric switches to move; and while the step motor rotates for one constant angle every time, the two groups of photoelectric switches change once feedback signal output state, and a PLC (programmable logic controller) control circuit judges whether a mechanical motion assembly moves in place or not, so that the step motor is controlled.
Description
technical field
The invention belongs to Displacement Control Technique field, be specifically related to a kind of displacement accurate positioning device, more specifically, relate to and realize enzyme and exempt from the pinpoint device of sample arm in workstation.
background technology
Current enzyme is exempted from workstation, and the Motor Positioning System that is accurately located through of sample arm displacement realizes, and Motor Positioning System generally adopts photoelectric encoder.Photoelectric encoder is a kind of sensor by opto-electronic conversion, the geometric displacement amount on motor output shaft being converted to pulse or digital quantity, has the advantages such as high precision, high resolution, low energy consumption, stable output, but adopts photoelectric encoder cost higher.
In the teaching material of Fundamentals of Machine Design, when discussing V belt translation, the driving-belt being positioned at two belt wheel both sides is referred to as the both sides of driving-belt.When being described below the invention, the concept on the both sides of driving-belt will be used.
summary of the invention
The technical problem to be solved in the present invention is to provide the low displacement accurate positioning device of a kind of cost.
A kind of X is to displacement accurate positioning device, in order to realize target object X to accurate location, comprise two belt wheels with tight around the driving-belt on two belt wheels, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, target object is fixed on driving-belt X on limit.
A kind of X to Y-direction displacement accurate positioning device, in order to while realize target object at X to the accurate location with Y-direction, X is to displacement accurate positioning device and Y-direction displacement accurate positioning device;
X comprises two belt wheels with tight around the driving-belt on two belt wheels to displacement accurate positioning device, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, target object is fixed on driving-belt X on limit,
X is to the integral installation of displacement accurate positioning device on sliding bottom, and sliding bottom and Y-direction slide rail are slidably matched;
Y-direction displacement accurate positioning device comprises two belt wheels with tight around the driving-belt on two belt wheels, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has Y-direction limit, two groups of optoelectronic switches are fixed on driving-belt Y-direction limit, the detected material of optoelectronic switch has the optical channel that a row Y-direction equidistantly arranges, the Y-direction spacing of adjacent optical channel is greater than the Y-direction distance of two groups of optoelectronic switch transmitted beam, the Y-direction width being positioned at the optical channel A of one end equals the Y-direction distance of two groups of optoelectronic switch transmitted beam, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be Y-direction zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sliding bottom is fixed on driving-belt Y-direction limit.
A kind of enzyme exempts from sample arm accurate positioning device in workstation, and in order to realize sample arm at X to the accurate location with Y-direction simultaneously, X is to displacement accurate positioning device and Y-direction displacement accurate positioning device;
X comprises two belt wheels with tight around the driving-belt on two belt wheels to displacement accurate positioning device, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sample arm is fixed on driving-belt X on limit,
X is to the integral installation of displacement accurate positioning device on sliding bottom, and sliding bottom and Y-direction slide rail are slidably matched;
Y-direction displacement accurate positioning device comprises two belt wheels with tight around the driving-belt on two belt wheels, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has Y-direction limit, two groups of optoelectronic switches are fixed on driving-belt Y-direction limit, the detected material of optoelectronic switch has the optical channel that a row Y-direction equidistantly arranges, the Y-direction spacing of adjacent optical channel is greater than the Y-direction distance of two groups of optoelectronic switch transmitted beam, the Y-direction width being positioned at the optical channel A of one end equals the Y-direction distance of two groups of optoelectronic switch transmitted beam, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be Y-direction zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sliding bottom is fixed on driving-belt Y-direction limit.
When two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be zero-base on schedule, driving stepper motor driving wheel, conveyor belt motion drives target object and the motion of two groups of optoelectronic switches.In motion process, stepper motor often rotates a fixing angle, optoelectronic switch will change the signal output state once fed back, by the counting of the signal output state fed back optoelectronic switch, PLC control circuit then judges whether mechanical moving components moves and puts in place, thus the work of control step motor whether, accurately locates with the displacement of realize target object.
accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is described in more detail:
Fig. 1 is structural representation of the present invention.
Fig. 2 is partial enlarged drawing in Fig. 1.
Fig. 3 is control principle drawing of the present invention.
In figure: 1 optoelectronic switch, 2 optoelectronic switches, 3 detected materials, 4 engaged wheels, 5 driving-belts, 6 driving wheels, 7 PLC, 8 step actuators, 9 stepper motors, 10 optical channel A.
Embodiment
As shown in Figure 1 to Figure 3, a kind of X to displacement accurate positioning device, in order to realize target object X to accurate location, it comprises two belt wheels (engaged wheel 4 and driving wheel 6) and tightly around the driving-belt 5 on two belt wheels, this V belt translation is opening transmission, and driving wheel is driven by stepper motor 9.Driving-belt has X to limit, and two groups of optoelectronic switches (1 and 2) are fixed on driving-belt X on limit.The detected material 3 of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A 10 of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC7, and target object is fixed on driving-belt X on limit.
When two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be zero-base on schedule, driving stepper motor driving wheel, conveyor belt motion drives target object and the motion of two groups of optoelectronic switches.In motion process, stepper motor often rotates a fixing angle, optoelectronic switch will change the signal output state once fed back, by the counting of the signal output state fed back optoelectronic switch, PLC control circuit then judges whether mechanical moving components moves and puts in place, thus the work of control step motor (step actuator 8) whether, accurately locates with the displacement of realize target object.
A kind of X to Y-direction displacement accurate positioning device, in order to while realize target object at X to the accurate location with Y-direction, X is to displacement accurate positioning device and Y-direction displacement accurate positioning device;
X comprises two belt wheels with tight around the driving-belt on two belt wheels to displacement accurate positioning device, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, target object is fixed on driving-belt X on limit,
X is to the integral installation of displacement accurate positioning device on sliding bottom, and sliding bottom and Y-direction slide rail are slidably matched;
Y-direction displacement accurate positioning device comprises two belt wheels with tight around the driving-belt on two belt wheels, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has Y-direction limit, two groups of optoelectronic switches are fixed on driving-belt Y-direction limit, the detected material of optoelectronic switch has the optical channel that a row Y-direction equidistantly arranges, the Y-direction spacing of adjacent optical channel is greater than the Y-direction distance of two groups of optoelectronic switch transmitted beam, the Y-direction width being positioned at the optical channel A of one end equals the Y-direction distance of two groups of optoelectronic switch transmitted beam, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be Y-direction zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sliding bottom is fixed on driving-belt Y-direction limit.
Exempt from workstation by above-mentioned X to being applied to enzyme with Y-direction displacement accurate positioning device, accurately locate to Y-direction displacement to realize sample arm X, concrete structure is as follows:
A kind of enzyme exempts from sample arm accurate positioning device in workstation, and in order to realize sample arm at X to the accurate location with Y-direction simultaneously, X is to displacement accurate positioning device and Y-direction displacement accurate positioning device;
X comprises two belt wheels with tight around the driving-belt on two belt wheels to displacement accurate positioning device, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sample arm is fixed on driving-belt X on limit,
X is to the integral installation of displacement accurate positioning device on sliding bottom, and sliding bottom and Y-direction slide rail are slidably matched;
Y-direction displacement accurate positioning device comprises two belt wheels with tight around the driving-belt on two belt wheels, this V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has Y-direction limit, two groups of optoelectronic switches are fixed on driving-belt Y-direction limit, the detected material of optoelectronic switch has the optical channel that a row Y-direction equidistantly arranges, the Y-direction spacing of adjacent optical channel is greater than the Y-direction distance of two groups of optoelectronic switch transmitted beam, the Y-direction width being positioned at the optical channel A of one end equals the Y-direction distance of two groups of optoelectronic switch transmitted beam, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, this position be Y-direction zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sliding bottom is fixed on driving-belt Y-direction limit.
Enzyme is exempted from workstation sample arm and is all utilized belt transport mode at X to Y-direction motion, converts the angular displacement of stepper motor to displacement of the lines.Be arranged on by optoelectronic switch on belt, the rotation made it with stepper motor realizes displacement of the lines.The detected material of optoelectronic switch is arranged on below belt, two groups of optoelectronic switches can be run by friction free on detected material.Utilize PLC to carry out the motion of control step driver and motor, utilize the motion of optoelectronic switch to stepper motor to feed back, when optoelectronic switch is blocked, feedback loop output signal is 0, when optoelectronic switch is not blocked, and feedback loop output signal is 1.
When two groups of optoelectronic switches run to detected material one end optical channel A, optoelectronic switch A, B feedback states is (1,1), this point can be set to zero point.
When optoelectronic switch is at other regional movement, two groups of optoelectronic switches have three kinds of feedback states:
(1) entirely block, be (0,0).
(2) A is blocked, and B is not blocked, and is (0,1).
(3) A is not blocked, and B is blocked, and is (1,0).
The transformation period of the feedback signal that two groups of optoelectronic switches move on detected material is (1,0)-(0,0)-(0,1)-(0,0).
In positioning system feedback signal, take the feedback signal of (1,0) state effective, (0,0) and (0,1) feedback signal is invalid.In stepper motor motion positions, take relative zero, the counting of PLC to feedback signal (1,0) state processes.So in stepper motor motion positions, can be arranged in PLC to the count value of target location, after action command sends, stepper motor runs, PLC starts to count the feedback signal of photoelectric sensor group simultaneously, when count value is full, PLC closes the operation of stepper drive and motor, thus makes moving parts arrive assigned address.
It is low that the invention has cost, realizes simple, walk accurately, debug advantage easily.
Claims (3)
1. an X is to displacement accurate positioning device, in order to realize target object X to accurate location, it is characterized in that: comprise two belt wheels with tight around the driving-belt on two belt wheels, V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, now optoelectronic switch present position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, target object is fixed on driving-belt X on limit.
2. X to a Y-direction displacement accurate positioning device, in order to while realize target object at X to the accurate location with Y-direction, it is characterized in that: comprise X to displacement accurate positioning device and Y-direction displacement accurate positioning device;
X comprises two belt wheels with tight around the driving-belt on two belt wheels to displacement accurate positioning device, V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, now optoelectronic switch present position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, target object is fixed on driving-belt X on limit,
X is to the integral installation of displacement accurate positioning device on sliding bottom, and sliding bottom and Y-direction slide rail are slidably matched;
Y-direction displacement accurate positioning device comprises two belt wheels with tight around the driving-belt on two belt wheels, V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has Y-direction limit, two groups of optoelectronic switches are fixed on driving-belt Y-direction limit, the detected material of optoelectronic switch has the optical channel that a row Y-direction equidistantly arranges, the Y-direction spacing of adjacent optical channel is greater than the Y-direction distance of two groups of optoelectronic switch transmitted beam, the Y-direction width being positioned at the optical channel A of one end equals the Y-direction distance of two groups of optoelectronic switch transmitted beam, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, now optoelectronic switch present position be Y-direction zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sliding bottom is fixed on driving-belt Y-direction limit.
3. enzyme exempts from a sample arm accurate positioning device in workstation, in order to realize sample arm at X to the accurate location with Y-direction simultaneously, it is characterized in that: comprise X to displacement accurate positioning device and Y-direction displacement accurate positioning device;
X comprises two belt wheels with tight around the driving-belt on two belt wheels to displacement accurate positioning device, V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has X to limit, two groups of optoelectronic switches are fixed on driving-belt X on limit, the detected material of optoelectronic switch have the optical channel of a row X to equidistantly arrangement, the X of adjacent optical channel is greater than the X of two groups of optoelectronic switch transmitted beam to distance to spacing, the X being positioned at the optical channel A of one end equals the X of two groups of optoelectronic switch transmitted beam to distance to width, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, now optoelectronic switch present position be X to zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sample arm is fixed on driving-belt X on limit,
X is to the integral installation of displacement accurate positioning device on sliding bottom, and sliding bottom and Y-direction slide rail are slidably matched;
Y-direction displacement accurate positioning device comprises two belt wheels with tight around the driving-belt on two belt wheels, V belt translation is opening transmission, driving wheel is by driving stepper motor, driving-belt has Y-direction limit, two groups of optoelectronic switches are fixed on driving-belt Y-direction limit, the detected material of optoelectronic switch has the optical channel that a row Y-direction equidistantly arranges, the Y-direction spacing of adjacent optical channel is greater than the Y-direction distance of two groups of optoelectronic switch transmitted beam, the Y-direction width being positioned at the optical channel A of one end equals the Y-direction distance of two groups of optoelectronic switch transmitted beam, when two groups of optoelectronic switch transmitted beam are simultaneously through optical channel A, now optoelectronic switch present position be Y-direction zero-base on schedule, two groups of optoelectronic switches and stepper motor are all electrically connected PLC, sliding bottom is fixed on driving-belt Y-direction limit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310101141.8A CN103149876B (en) | 2013-03-27 | 2013-03-27 | Displacement accurately positioning device and sampling arm accurately positioning device applied to ELISA (enzyme-linked immunosorbent assay) workstation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310101141.8A CN103149876B (en) | 2013-03-27 | 2013-03-27 | Displacement accurately positioning device and sampling arm accurately positioning device applied to ELISA (enzyme-linked immunosorbent assay) workstation |
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| CN103149876B true CN103149876B (en) | 2014-12-31 |
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| CN2705948Y (en) * | 2004-04-29 | 2005-06-22 | 杭州中达电机有限公司 | Stepper motor absolute zero controller |
| EP1935562A1 (en) * | 2006-12-20 | 2008-06-25 | komax Holding AG | Transfer device for workpieces and method for transferring workpieces |
| CN101299021A (en) * | 2008-05-04 | 2008-11-05 | 南昌百特生物高新技术有限公司 | Biochemistry instrument grating positioning apparatus |
| CN101482388A (en) * | 2008-11-27 | 2009-07-15 | 合肥工业大学 | Measurement system for measuring height and diameter of movable workpiece |
| CN102118128A (en) * | 2009-12-31 | 2011-07-06 | 北大方正集团有限公司 | Control method and device for accurate positioning on stepping motor |
| CN203133562U (en) * | 2013-03-27 | 2013-08-14 | 山东博科生物产业有限公司 | Accurate displacement positioning device and accurate position device for sample feeding arm in enzyme-immunity work station |
-
2013
- 2013-03-27 CN CN201310101141.8A patent/CN103149876B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2705948Y (en) * | 2004-04-29 | 2005-06-22 | 杭州中达电机有限公司 | Stepper motor absolute zero controller |
| EP1935562A1 (en) * | 2006-12-20 | 2008-06-25 | komax Holding AG | Transfer device for workpieces and method for transferring workpieces |
| CN101299021A (en) * | 2008-05-04 | 2008-11-05 | 南昌百特生物高新技术有限公司 | Biochemistry instrument grating positioning apparatus |
| CN101482388A (en) * | 2008-11-27 | 2009-07-15 | 合肥工业大学 | Measurement system for measuring height and diameter of movable workpiece |
| CN102118128A (en) * | 2009-12-31 | 2011-07-06 | 北大方正集团有限公司 | Control method and device for accurate positioning on stepping motor |
| CN203133562U (en) * | 2013-03-27 | 2013-08-14 | 山东博科生物产业有限公司 | Accurate displacement positioning device and accurate position device for sample feeding arm in enzyme-immunity work station |
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Denomination of invention: The utility model relates to a displacement precise positioning device and a sample adding arm precise positioning device in an enzyme-free workstation Effective date of registration: 20211101 Granted publication date: 20141231 Pledgee: Overpass Branch of Jinan Rural Commercial Bank Co.,Ltd. Pledgor: BIOBASE BIODUSTRY (SHANDONG) Co.,Ltd. Registration number: Y2021370000122 |
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Denomination of invention: A displacement precise positioning device and a sampling arm precise positioning device in the enzyme immunoassay workstation Effective date of registration: 20230206 Granted publication date: 20141231 Pledgee: Overpass Branch of Jinan Rural Commercial Bank Co.,Ltd. Pledgor: BIOBASE BIODUSTRY (SHANDONG) Co.,Ltd. Registration number: Y2023980032056 |
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