CN104459177A - Loading mechanical arm for image pickup - Google Patents
Loading mechanical arm for image pickup Download PDFInfo
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- CN104459177A CN104459177A CN201410663480.XA CN201410663480A CN104459177A CN 104459177 A CN104459177 A CN 104459177A CN 201410663480 A CN201410663480 A CN 201410663480A CN 104459177 A CN104459177 A CN 104459177A
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- axis
- sample
- tooth bar
- sliding seat
- hole
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Abstract
The invention discloses a loading arm, and aims at providing the loading arm which has an image pickup function, and has the advantages that the recording accuracy rate is improved, a lot of labor cost is reduced, and the working efficiency and the traceability of a test are improved. The loading mechanical arm comprises a loading mechanical arm body with a loading needle, wherein the loading mechanical arm body comprises a Y-axis transmission mechanism, a Z-axis transmission mechanism and a control board; the Y-axis transmission mechanism is arranged on a loading arm fixing seat; the control board is connected with and controls the Y-axis transmission mechanism and the Z-axis transmission mechanism; the loading needle is connected and fixed with the lower end of the Y-axis transmission mechanism; the Y-axis transmission mechanism and the Z-axis transmission mechanism achieve movement in Y-axis and Z-axis directions of the loading needle through driving sliding seats; the Z-axis transmission mechanism is fixedly connected with a camera base; and a camera which is arranged in parallel to the loading needle is arranged at the lower end of the camera base, and is connected with the control board. Compared with the prior art, a bar code on a slide can be shot when a sample is injected into the slide, so that the problem that an error is easily generated by manual recording is solved.
Description
Technical field
The present invention relates to a kind of experimental facilities, particularly a kind of shooting application of sample robot assemblies of the automatic checkout equipment for ThinPrep cytologic test field.
Background technology
At present at the automatic detection field of Thinprep pap test, normally the cell liquid of separator well is transferred on slide and carries out Cell sheet glass making, deriving from which sample to differentiate the Cell sheet glass that slide is made into, generally sticking exclusive bar code to differentiate on each slide.In order to record the unique barcode number on slide, usually adopt manual record at present, this manual record mode is easily made mistakes, and human cost cost is higher, inefficiency.
Summary of the invention
The object of this invention is to provide a kind of sample arm, the technical matters that solve is the function making sample arm have shooting, improves the accuracy rate of record, reduces a large amount of cost of labor, improve the trackability of work efficiency and test.
For solving the problem, the present invention realizes by the following technical solutions: a kind of shooting application of sample mechanical arm, comprise the application of sample mechanical arm body with sample needle, described application of sample mechanical arm body comprises the Y-axis gear train be arranged on sample arm holder, Z axis rotating mechanism and connection control Y-axis gear train, the control panel of Z axis rotating mechanism, described sample needle is fastened on the lower end of Y-axis gear train, Y-axis gear train and Z-axis transmission mechanism are by driving sliding seat to realize the Y-axis of sample needle and Z-direction moves, described Z-axis transmission mechanism is fixedly connected with shooting headstock, the lower end of described shooting headstock is provided with the camera be arranged in parallel with sample needle, the camera lens of described camera down, camera is connected with control panel.
Z-axis transmission mechanism of the present invention comprises and being connected and the tooth bar with groove arranged along Z-direction with sample needle, described shooting headstock is fixed on the bottom of tooth bar, sample needle is fixedly connected on the lower surface of tooth bar, sliding seat is provided with the tooth bar through hole passed for tooth bar, the upper end of tooth bar to be arranged in tooth bar through hole and can sliding axially along tooth bar through hole, sliding seat is provided with the sliding seat through hole arranged along Y direction, described sliding seat through hole is communicated with tooth bar through hole, Z axis gear is provided with in sliding seat through hole, described Z axis gear and sliding seat through hole are coaxially arranged, when tooth bar is through tooth bar through hole, tooth bar and Z axis gears meshing, the axle center of Z axis gear is provided with gear hole, in gear hole, grafting is fixed with drive link, the rear end of described drive link is connected through the output shaft of shaft coupling with Z axis motor, Z axis motor is connected with control panel.
Y-axis gear train of the present invention comprises and is fixedly connected with methoxy than the first synchronizing wheel on holder, be fixed on the y-axis motor on sample arm holder, the output shaft of y-axis motor is provided with the second synchronizing wheel, first synchronizing wheel and the second synchronizing wheel are arranged in same level, Timing Belt is arranged with between described first synchronizing wheel and the second synchronizing wheel, the side belt of Timing Belt is fixed on sliding seat, when y-axis motor rotates, first synchronizing wheel and the second synchronizing wheel drive Timing Belt to rotate, Timing Belt drives sliding seat to move, sample arm holder is fixedly connected with the guide rail corresponding and parallel with drive link with sliding seat position, guide rail is connected with can along the slide block of rail length direction movement, slide block and sliding seat are connected and fixed.
Sample arm holder of the present invention is provided with supporting seat, and supporting seat is respectively equipped with the transmission rod aperture of passing for drive link and Timing Belt and synchronously with holes.
The rear and front end end face of Z axis gear of the present invention is respectively equipped with the spacing collar, and the inner ring footpath of the spacing collar is less than the outside diameter of gear of Z axis gear and is greater than the external diameter of drive link.
The external annulus of the spacing collar of the present invention establishes bossed connecting portion, the both sides end face that sliding seat is relative with stop collar ring position is respectively equipped with connecting portion embedded groove, connecting portion embedded groove is arranged on the position corresponding with connecting portion, connecting portion embedded groove is communicated with sliding seat through hole, and described connecting portion to be embedded in connecting portion embedded groove and to be fixed by screw in connecting portion embedded groove.
Bearing is respectively equipped with between the spacing collar of the present invention and Z axis gear.
Sliding seat of the present invention is provided with synchronizing wheel groove, and the side belt of described Timing Belt is fixed in synchronizing wheel groove.
The side of tooth bar of the present invention is provided with the axis spool parallel with rack axis, the upper end of spool is through tooth bar through hole, the bottom of spool is inserted in shooting headstock, align with the lower surface of shooting headstock in the lower end of spool, camera is fixed on the lower end of spool, and the cable of described camera is connected with control panel through spool.
Sample arm holder of the present invention is connected with sample arm shell, is provided with sample arm front end end cover in the front end of sample arm holder.
The present invention compared with prior art, adopt and a camera be connected with control panel is set on sample arm, make the bar code on slide under can taking while slide injected sample, not only solve the problem that manual record is easily made mistakes, and reduce cost of labor, and improve the accuracy rate of record.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is external structure schematic diagram of the present invention.
Fig. 4 is stereo decomposing structural representation of the present invention.
Fig. 5 is the present invention first synchronizing wheel, syndeton schematic diagram between the second synchronizing wheel and sample arm holder.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, Figure 2 and Figure 3, in the present invention, to add the application of sample box of model machine for surface level, the axis direction of sample needle 1 is defined as Z axis, the length direction (i.e. the long limit of sample arm holder 26) of the guide rail 24 with sample needle 1 axes normal is defined as Y-axis.
Shooting application of sample mechanical arm of the present invention comprises application of sample mechanical arm body 30, application of sample mechanical arm body 30 comprises Z-axis transmission mechanism, Y-axis gear train, sample arm holder 26 and control panel 75, Z-axis transmission mechanism, Y-axis gear train is all arranged on sample arm holder 26, sample needle 1 is provided with in the lower end of Z-axis transmission mechanism, the Y-axis of sample needle 1 and the movement of Z axis is achieved by sliding seat 7 between Y-axis gear train and Z-axis transmission mechanism, Z-axis transmission mechanism is provided with shooting headstock 2, the lower end of shooting headstock 2 is provided with the axis of the camera lens camera 3 parallel with the axis direction of sample needle 1, the camera lens of camera 3 down, thus enable the bar code that records while application of sample on slide.
As shown in Figure 4, the xsect of sample arm holder 26 is inverted L-shaped, the front end of sample arm holder 26 is fixedly connected with sample arm front end end cover 27, control panel 75 is arranged on sample arm front end end cover 27, sample arm holder 26 is also provided with the sample arm shell 28 for shielding, and it is fixedly connected with sample arm holder 26 by screw;
Z-axis transmission mechanism comprises and being connected and the tooth bar 5 arranged along Z axis (axis of sample needle 1) direction with sample needle 1, shooting headstock 2 is fixed on the bottom of tooth bar 5, the shooting headstock groove 34 offered along Z-direction is provided with in the rear end of shooting headstock 2, described shooting headstock groove 34 is provided with two, two shooting headstock grooves 34 run through the two ends up and down of shooting headstock 2, the bottom of tooth bar 5 is fixedly connected in one of them shooting headstock groove 34, the spool 6 with the axis being parallel of tooth bar 5 is also provided with in shooting headstock groove 34, it is other that spool 6 is arranged on tooth bar 5, the bottom of spool 6 is fixed in another shooting headstock groove 34, align with the lower surface of shooting headstock 2 in its lower surface, sample needle 1 is fixedly connected on the lower surface of tooth bar 5, camera 3 is fixed on the lower end of spool 6, the cable of camera 3 is connected with control panel through spool 6, the rear end of described shooting headstock 2 is provided with and is connected and fixed and the camera flap plate 4 of closed shooting headstock groove 34 opening by screw,
Described sliding seat 7 is a rectangle, the side, right side of sliding seat 7 is provided with the tooth bar through hole 33 passed for tooth bar 5 and spool 6, described tooth bar through hole 33 is rectangular opening, the upper end of tooth bar 5 and spool 6 is arranged in tooth bar through hole 33 and also can realizes sample needle 1 and the axial movement of camera 3Z along sliding axially of tooth bar through hole 33, the sliding seat through hole 31 offered along Y direction is provided with on the top of sliding seat 7, sliding seat through hole 31 is circular hole, sliding seat through hole 31 runs through the rear and front end end face of sliding seat 7, the right side of sliding seat through hole 31 is communicated with tooth bar through hole 33, Z axis gear 29 is provided with in sliding seat through hole 31, described Z axis gear 29 is coaxially arranged with sliding seat through hole 31, when tooth bar 5 is through tooth bar through hole 33, tooth bar 5 engages with Z axis gear 29, the axle center of Z axis gear 29 is provided with gear hole 32, in gear hole 32, grafting is fixed with drive link 13, the rear end of described drive link 13 is connected through the output shaft of shaft coupling 16 with Z axis motor 18, Z axis motor 18 is connected with control panel, Z axis motor 18 is fixed on sample arm holder 26 through Z axis motor fixing seat 17.
In the present invention, drive link 13 is square tube, accordingly, gear hole 32 is also rectangular opening, and drive link 13 and gear hole 32 interference fit, be connected by square bar connector 15 between shaft coupling 16 with drive link 13, the front portion of this square bar connector 15 is rectangular cylindrical structures, the rear portion of square bar connector 15 is cylindrical structure, and the front portion of square bar connector 15 is plugged in the rear end of drive link 13, and cylindrical structure is plugged in the axis hole of shaft coupling 16.
The rear and front end end face of Z axis gear 29 is respectively equipped with the spacing collar 22 that structure is all identical, the inner ring footpath of the spacing collar 22 is less than the outside diameter of gear of Z axis gear 29 and is greater than the external diameter of drive link 13, the external loop diameter of the spacing collar 22 is equal with the aperture of sliding seat through hole 31, the external annulus of the spacing collar 22 is established bossed connecting portion 37, connecting portion 37 is provided with connecting portion hole 40, on the rear and front end end face of sliding seat 7, connecting portion embedded groove 38 is respectively equipped with corresponding section, connecting portion 37 position, the spacing collar 22 can be arranged in sliding seat 7 completely, described connecting portion embedded groove 38 is communicated with sliding seat through hole 31, the embedded groove through hole 11 being communicated with former and later two connecting portion holes 40 is respectively provided with in connecting portion embedded groove 38, central siphon 10 is provided with in embedded groove through hole 11, connecting portion 37 to be embedded in connecting portion embedded groove 38 and to be fastened in connecting portion embedded groove 38 by screw through connecting portion hole 40 and central siphon 10, realize restriction Z axis gear 29 to drop out from sliding seat through hole 31, be limited in sliding seat through hole 31 and rotated, bearing 21 is respectively equipped with between the spacing collar 22 and Z axis gear 29, the rear and front end end face of described Z axis gear 29 is provided with the protuberance 12 for being socketed in by bearing 21 on Z axis gear 29.
Y-axis gear train comprises the first synchronizing wheel 8, be fixed on the y-axis motor 20 of sample arm holder 26 rear end, synchronizing wheel groove 39 is offered in the lower left side of sliding seat 7, synchronizing wheel groove 39 runs through the rear and front end end face of sliding seat 7, the length of the lower end groove walls of synchronizing wheel groove 39 is less than the length of synchronizing wheel groove 39 upper recess wall, first synchronizing wheel 8 is fixed on the upper end (as shown in Figure 5) of sample arm holder 26 by the rotating shaft grafting on the first synchronizing wheel 8, the axis direction of y-axis motor 20 output shaft is parallel with the tooth bar direction of sample needle 1, the output shaft of y-axis motor 20 is provided with the second synchronizing wheel 19, first synchronizing wheel 8 and the second synchronizing wheel 19 are arranged in same level, Timing Belt 9 is arranged with between described first synchronizing wheel 8 and the second synchronizing wheel 19, the right side belt of Timing Belt 9 is fixed in synchronizing wheel groove 39 by stator, sample arm holder 26 is fixedly connected with the guide rail 24 corresponding and parallel with drive link 13 with sliding seat 7 position, guide rail 24 is connected with can along the slide block 25 of guide rail 24 length direction movement, slide block 25 and sliding seat 7 are connected and fixed, realize the effect of guiding.
Sample arm holder 26 is provided with the supporting seat 14 of L-shaped, and supporting seat 14 is respectively equipped with the transmission rod aperture 35 of passing for drive link 13 and Timing Belt 9 and synchronously with holes 36, and supporting seat 14 is positioned at the side rearward, middle part of sample arm holder 26.
Sliding seat 7 of the present invention can also be made up of two parts, the base cover 23 being respectively base 71 and being arranged on the right side of base 71, base 71 and base cover 23 are connected and fixed by screw, sliding seat through hole 31 is arranged on the top of base 71, synchronizing wheel groove 39 is arranged on the bottom of base 71, the opening of synchronizing wheel groove 39 is arranged on the left side of base 71, the right side of sliding seat through hole 31 has an opening 72, tooth bar through hole 33 is formed after the base groove 73 be separately positioned on the right side of base 71 on side and the limit, left side of base cover 23 are combined, base groove 73 and opening 72 are for being communicated with, base cover 23 also can be set up a spool hole 74 passed for spool 6.
Tooth bar 5 of the present invention is ganoid hollow cylinder, and the groove of tooth bar 5 is arranged on tooth bar 5 side relative with the groove of Z axis gear 29.
In experimentation, control panel controls the output shaft rotation of y-axis motor 20, the second synchronizing wheel 19 be fixed thereon is driven to rotate, described second synchronizing wheel 19 drives the first synchronizing wheel 8 to move by Timing Belt 9, Timing Belt 9 drives sliding seat 7 to move, sliding seat 7 is under the effect of slide block 25, guide rail 24 moves along Y direction, sliding seat 7 drives the tooth bar 5 that is fixed thereon and spool 6 to move in the Y-axis direction, therefore the object of sample needle 1 and camera 3 movement in the Y-axis direction is simultaneously achieved, allow application of sample and identify bar code concurrent working, improve work efficiency.
Control panel controls the output shaft rotation of Z axis motor 18, Z axis motor 18 drives the shaft coupling 16 be fixed thereon to rotate, shaft coupling 16 drives drive link 13 to rotate by square bar connector 15, drive link 13 drives Z-direction tooth bar 5 to move in the Z-axis direction by Z axis gear 29, and therefore Z axis tooth bar 5 drives the sample needle 1 that is fixed thereon and camera 3 to move in the Z-axis direction.Achieve ThinPrep cytologic test application of sample and record bar code and synchronously carry out, reduce the error rate that manual record brings, not only also improve work efficiency, and saved human cost.
Claims (10)
1. a shooting application of sample mechanical arm, comprise the application of sample mechanical arm body (30) with sample needle (1), described application of sample mechanical arm body (30) comprises the Y-axis gear train be arranged on sample arm holder (26), Z axis rotating mechanism and connection control Y-axis gear train, the control panel (75) of Z axis rotating mechanism, described sample needle (1) is fastened on the lower end of Y-axis gear train, Y-axis gear train and Z-axis transmission mechanism are by driving sliding seat (7) to realize the Y-axis of sample needle (1) and Z-direction moves, it is characterized in that: described Z-axis transmission mechanism is fixedly connected with shooting headstock (2), the lower end of described shooting headstock (2) is provided with the camera (3) be arranged in parallel with sample needle (1), the camera lens of described camera (3) down, camera (3) is connected with control panel.
2. shooting application of sample mechanical arm according to claim 1, it is characterized in that: described Z-axis transmission mechanism comprises and being connected and the tooth bar (5) with groove arranged along Z-direction with sample needle (1), described shooting headstock (2) is fixed on the bottom of tooth bar (5), sample needle (1) is fixedly connected on the lower surface of tooth bar (5), sliding seat (7) is provided with the tooth bar through hole (33) passed for tooth bar (5), the upper end of tooth bar (5) to be arranged in tooth bar through hole (33) and can sliding axially along tooth bar through hole (33), sliding seat (7) is provided with the sliding seat through hole (31) arranged along Y direction, described sliding seat through hole (31) is communicated with tooth bar through hole (33), Z axis gear (29) is provided with in sliding seat through hole (31), described Z axis gear (29) and sliding seat through hole (31) are coaxially arranged, when tooth bar (5) is through tooth bar through hole (33), tooth bar (5) engages with Z axis gear (29), the axle center of Z axis gear (29) is provided with gear hole (32), gear hole (32) interior grafting is fixed with drive link (13), the rear end of described drive link (13) is connected through the output shaft of shaft coupling (16) with Z axis motor (18), Z axis motor (18) is connected with control panel.
3. shooting application of sample mechanical arm according to claim 2, it is characterized in that: described Y-axis gear train comprises and is fixedly connected with methoxy than the first synchronizing wheel (8) on holder (26), be fixed on the y-axis motor (20) on sample arm holder (26), the output shaft of y-axis motor (20) is provided with the second synchronizing wheel (19), first synchronizing wheel (8) and the second synchronizing wheel (19) are arranged in same level, Timing Belt (9) is arranged with between described first synchronizing wheel (8) and the second synchronizing wheel (19), the side belt of Timing Belt (9) is fixed on sliding seat (7), when y-axis motor (20) rotates, first synchronizing wheel (8) and the second synchronizing wheel (19) drive Timing Belt (9) to rotate, Timing Belt (9) drives sliding seat (7) mobile, sample arm holder (26) is fixedly connected with corresponding with sliding seat (7) position and parallel with drive link (13) guide rail (24), guide rail (24) is connected with can along the slide block (25) of guide rail (24) length direction movement, slide block (25) and sliding seat (7) are connected and fixed.
4. shooting application of sample mechanical arm according to claim 3, it is characterized in that: described sample arm holder (26) is provided with supporting seat (14), supporting seat (14) to be respectively equipped with for drive link (13) and Timing Belt (9) the transmission rod aperture (35) of passing and synchronously (36) with holes.
5. shooting application of sample mechanical arm according to claim 4, it is characterized in that: the rear and front end end face of described Z axis gear (29) is respectively equipped with the spacing collar (22), the inner ring footpath of the spacing collar (22) is less than the outside diameter of gear of Z axis gear (29) and is greater than the external diameter of drive link (13).
6. shooting application of sample mechanical arm according to claim 5, it is characterized in that: the external annulus of the described spacing collar (22) establishes bossed connecting portion (37), the both sides end face that sliding seat (7) is relative with the spacing collar (22) position is respectively equipped with connecting portion embedded groove (38), connecting portion embedded groove (38) is arranged on the position corresponding with connecting portion (37), connecting portion embedded groove (38) is communicated with sliding seat through hole (31), described connecting portion (37) to be embedded in connecting portion embedded groove (38) and to be fixed by screw in connecting portion embedded groove (38).
7. require the shooting application of sample mechanical arm described in 6 according to power, it is characterized in that: between the described spacing collar (22) and Z axis gear (29), be respectively equipped with bearing (21).
8. shooting application of sample mechanical arm according to claim 7, it is characterized in that: described sliding seat (7) is provided with synchronizing wheel groove (39), the side belt of described Timing Belt (9) is fixed in synchronizing wheel groove (39).
9. the shooting application of sample mechanical arm according to claim 1 to 8 any one, it is characterized in that: the side of described tooth bar (5) is provided with the spool (6) of axis and tooth bar (5) axis being parallel, the upper end of spool (6) is through tooth bar through hole (33), the bottom of spool (6) is inserted in shooting headstock (2), align with the lower surface of shooting headstock (2) in the lower end of spool (6), camera (3) is fixed on the lower end of spool (6), and the cable of described camera (3) is connected with control panel through spool (6).
10. the shooting application of sample mechanical arm belonging to claim 9, it is characterized in that: described sample arm holder (26) is connected with sample arm shell (28), is provided with sample arm front end end cover (27) in the front end of sample arm holder (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663480.XA CN104459177A (en) | 2014-11-19 | 2014-11-19 | Loading mechanical arm for image pickup |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663480.XA CN104459177A (en) | 2014-11-19 | 2014-11-19 | Loading mechanical arm for image pickup |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104459177A true CN104459177A (en) | 2015-03-25 |
Family
ID=52905561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410663480.XA Pending CN104459177A (en) | 2014-11-19 | 2014-11-19 | Loading mechanical arm for image pickup |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104459177A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976553A (en) * | 2017-12-18 | 2018-05-01 | 置展生物医疗科技（深圳）有限公司 | Multi-channel loading mechanical arm |
| CN108828249A (en) * | 2018-07-28 | 2018-11-16 | 湖南中瑞互信医疗科技有限公司 | A kind of sample adding device |
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| US20050257259A1 (en) * | 2004-05-12 | 2005-11-17 | Torre-Bueno Jose De La | Method for controlling the re-use of prefilled reagent dispensers and other consumables |
| JP2007024537A (en) * | 2005-07-12 | 2007-02-01 | Juki Corp | Dispenser |
| US20080006653A1 (en) * | 2006-03-13 | 2008-01-10 | Biomachines, Inc. | Small volume liquid handling system |
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| CN103988064A (en) * | 2011-09-09 | 2014-08-13 | 简.探针公司 | Automated sample handling instrumentation, systems, processes, and methods |
| CN203870115U (en) * | 2014-05-27 | 2014-10-08 | 深圳市爱康生物科技有限公司 | Mechanical blood card sampling arm |
| CN204269667U (en) * | 2014-11-19 | 2015-04-15 | 深圳市爱康生物科技有限公司 | Shooting application of sample mechanical arm |
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2014
- 2014-11-19 CN CN201410663480.XA patent/CN104459177A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050257259A1 (en) * | 2004-05-12 | 2005-11-17 | Torre-Bueno Jose De La | Method for controlling the re-use of prefilled reagent dispensers and other consumables |
| JP2007024537A (en) * | 2005-07-12 | 2007-02-01 | Juki Corp | Dispenser |
| US20080006653A1 (en) * | 2006-03-13 | 2008-01-10 | Biomachines, Inc. | Small volume liquid handling system |
| CN103988064A (en) * | 2011-09-09 | 2014-08-13 | 简.探针公司 | Automated sample handling instrumentation, systems, processes, and methods |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976553A (en) * | 2017-12-18 | 2018-05-01 | 置展生物医疗科技（深圳）有限公司 | Multi-channel loading mechanical arm |
| CN108828249A (en) * | 2018-07-28 | 2018-11-16 | 湖南中瑞互信医疗科技有限公司 | A kind of sample adding device |
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| C06 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20150325 |