CN105014657A - Clamping device and analyzer - Google Patents
Clamping device and analyzer Download PDFInfo
- Publication number
- CN105014657A CN105014657A CN201510481207.XA CN201510481207A CN105014657A CN 105014657 A CN105014657 A CN 105014657A CN 201510481207 A CN201510481207 A CN 201510481207A CN 105014657 A CN105014657 A CN 105014657A
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- clamp device
- tooth bar
- drive disk
- disk assembly
- rectilinear motion
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Abstract
The invention discloses a clamping device and an analyzer. The clamping device comprises a rotating transmission component, at least one pair of linear movement transmission components and a clamping component, wherein the linear movement transmission components are connected with the clamping component, the linear movement transmission components of each pair are made to be opposite in movement direction by driving the rotating transmission component, and therefore the clamping component can clamp or move out a target object. According to the clamping device, the clamping component clamps or moves out the target object by means of forward and reverse rotation of the rotating transmission component, transmission control is easy and effective, the target object can be grabbed and placed stably, the clamping device can adapt to a miniature clamping claw mechanism, clamping force does not need to be provided by springs, the service life of the clamping device is prolonged, the clamping speed can be effectively controlled, and control is precise.
Description
Technical field
The present invention relates to in-vitro diagnosis detection field, particularly a kind of clamp device and analyzer.
Background technology
In vitro in diagnositc analyser, reaction tube captures and apparatus for placing is the key component that whole equipment carries out automatic analysis and test.The final purpose of gripper equipment makes the spatial alternation of realization response pipe, test tube, kit etc. in self-reacting device equipment.In crawl process, the speed of whole device in space and acceleration are comparatively large, require high to crawl reliability and fastness.Its speed and stability will directly affect testing efficiency and the stability of whole analytical instrument.
At present, the electric gripper equipment kind of drive is on the market mainly cams, and drive source is electromagnet or cylinder.Cams electric gripper needs spring to provide clamping force, and the speed of handgrip gripping object is difficult to control.Meanwhile, the service life of whole handgrip equipment is determined the service life of spring to a great extent.
In prior art, have employed two traditional hydraulic cylinders and drive two handgrips respectively, a pair parallel relative tooth bar that process and handgrip are fixedly connected with and a gears meshing are to carry out the synchronous of handgrip length travel, the rack-and-pinion of this device is only that passive components is for displacement synchronous, driver part is still the linear drives mode of traditional hydraulic cylinder and piston rod, drives structure complexity is bulky, controls inconvenience.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency existing in prior art, a kind of clamp device can stablizing crawl and drop target thing is provided, make the direction of motion of at least one pair of rectilinear motion drive disk assembly contrary by driving a rotary transmission part, thus realize gripping parts to the gripping of object or shift out, can effectively control clamping speed, improve service life.
To achieve these goals, the invention provides following technical scheme:
A kind of clamp device, comprising: a rotary transmission part; At least one pair of rectilinear motion drive disk assembly; One gripping parts, described rectilinear motion drive disk assembly is connected with gripping parts; By driving described rotary transmission part to make the direction of motion of often pair of rectilinear motion drive disk assembly contrary, thus realize gripping parts to the gripping of object or shift out.
In the such scheme of the application, clamp device adopts and drives rotary transmission part to make the direction of motion of at least one pair of rectilinear motion drive disk assembly contrary, such as driven wheel drives tooth bar arranged in parallel, the rotating of rotary driving part is utilized to realize gripping parts to the gripping of object or shift out, transmission controls effectively simple, can stablize crawl and drop target thing, can adapt to miniature clip claw mechanism, without the need to using spring to provide clamping force, improve service life.
Preferably, described rotary transmission part is gear.
Preferably, described rectilinear motion drive disk assembly is tooth bar.
In the such scheme of the application, rotary transmission part is set to gear, rectilinear motion drive disk assembly is set to tooth bar, by the cooperation of rack-and-pinion, realize the driving of rectilinear motion drive disk assembly, because rack-and-pinion coordinates, there is accurate transmission accuracy, so, the clamp device of the application, when carrying out gripping to object or shifting out, the folding degree of control gripping parts that can be accurate.
Preferably, the tooth of often pair of described tooth bar is oppositely arranged, and described tooth bar is all meshed with described gear.
Preferably, often pair of described tooth bar is arranged in parallel.
In the such scheme of the application, the tooth of often pair of tooth bar is oppositely arranged, tooth bar is all meshed with gear, often pair of tooth bar is arranged in parallel, that is, make often pair of tooth bar be in a plane, and then the gear of thinner thickness can be adopted can to realize and the engaging of tooth bar, the further volume having saved the application's structure, and installing space.
Preferably, described gripping parts are at least one finger member be connected respectively with each rectilinear motion drive disk assembly.By the gripping of finger member realize target thing or shift out.
Preferably, described rotary transmission part is driven by motor.
Preferably, described rotary transmission part is fixed on motor shaft.
Preferably, described motor is stepper motor or servomotor.
Preferably, described stepper motor or servomotor band encoder.
In the such scheme of the application, motor is adopted to realize the driving of rotary transmission part, motor is ordinary elements, facilitate the manufacture of the application's clamp device, reduce design difficulty and manufacture difficulty, and in later maintenance process, maintenance and the replacing of motor are convenient, reduce later maintenance cost; Meanwhile, due to motor belt motor encoder, in practical work process, can convenience be carried out to motor and control accurately, improve the automatization level of clamp device.
Preferably, each described tooth bar is connected with gripping parts by respective rack connector, and described gripping parts are at least one finger member be connected respectively with each rack connector.
In the such scheme of the application, tooth bar is connected with gripping parts by rack connector, is first to make the stable connection between tooth bar and rack connector reliable, meanwhile, also facilitate the production assembling in early stage, and the maintenance in later stage more changes jobs.
Preferably, each described tooth bar is fixed on above corresponding rack connector, and each described finger member is carried out installation by the installing hole below corresponding rack connector and fixed.
Preferably, described clamp device also comprises a mounting base, and described motor is fixed on above mounting base.
Preferably, described rotary transmission part and described rectilinear motion drive disk assembly are arranged at mounting base inside.
In the such scheme of the application; by arranging mounting base; first be the installation facilitating motor; and rotary transmission part and rectilinear motion drive disk assembly are arranged at mounting base inside, further make the application's clamp device compact conformation, reduce installing space; and; mounting base can protection setting rotary transmission part therein and rectilinear motion drive disk assembly, ensure that carrying out smoothly of transmission, and then further ensure that the reliability of the application's clamp device.
Preferably, described rotary transmission part is gear, and described rectilinear motion drive disk assembly is tooth bar, and the tooth of often pair of described tooth bar is oppositely arranged, and described tooth bar is all meshed with described gear.
Preferably, each described tooth bar is connected with gripping parts by respective rack connector, described gripping parts are at least one finger member be connected respectively with each rack connector, each described tooth bar is fixed on above corresponding rack connector, and each described finger member is carried out installation by the installing hole below corresponding rack connector and fixed.
Preferably, each described rack connector is individually fixed on each self-corresponding slide block.
Preferably, each described slide block is arranged on each self-corresponding guide rail respectively, and described guide rail is individually fixed in medial surface corresponding to mounting base.
In the such scheme of the application, by arranging slide block on rack connector, and the guide rail corresponding with slide block is set, first be the wearing and tearing making to reduce rack connector, simultaneously, make the motion of gripping parts more smooth and easy, the frictional force between avoiding due to drive disk assembly is excessive and cause Caton phenomenon to affect the gripping precision of clamp device; Meanwhile, guide rail also opens the effect of guiding, ensures that the movement locus of gripping parts carries out according to design, ensures the reliability of the application's clamp device.
Preferably, often pair of opposing parallel setting of described guide rail, described guide rail is line slideway.
In the such scheme of the application, guide rail is opposing parallel, and guide rail is line slideway, and structure is simple, conveniently manufactures assembling, and follow-up working service.
Preferably, described rectilinear motion drive disk assembly be 1 to or 2 right.
Preferably, often pair of described rectilinear motion drive disk assembly be arranged in parallel.
Preferably, described rectilinear motion drive disk assembly is 2 right, and described 2 pairs of rectilinear motion drive disk assemblies become vertical direction to arrange.
In the application's such scheme, by arranging 2 pairs of rectilinear motion drive disk assemblies, that is by the cooperation of 2 pairs of rectilinear motion drive disk assemblies, realize to 1 to or the drive of 2 pairs of gripping parts, the cooperation of multiple gripping parts realizes the gripping of object or shifts out, and ensures gripping or shifts out the reliability of action.
The present invention also provides a kind of analyzer, and it comprises above-mentioned clamp device.
The analyzer of the application, owing to have employed clamp device, in the gripping to object or when shifting out, transmission controls effectively simple, can stablizing crawl and drop target thing, without the need to using spring to provide clamping force, improve service life.
compared with prior art, beneficial effect of the present invention:
Clamp device of the present invention adopts and drives rotary transmission part to make the direction of motion of at least one pair of rectilinear motion drive disk assembly contrary, such as driven wheel drives tooth bar arranged in parallel, the rotating of rotary driving part is utilized to realize gripping parts to the gripping of object or shift out, transmission controls effectively simple, crawl and drop target thing can be stablized, miniature clip claw mechanism can being adapted to, without the need to using spring to provide clamping force, improve service life;
the beneficial effect of other detailed description of the invention of the present invention:
1. clamp device of the present invention can adopt stepper motor or servomotor to carry out rotary transmission part driving, thus effectively can control Linear transmission displacement and clamping speed, controls precisely;
2. clamp device of the present invention can adopt 1 to or 2 the reliable gripping to simple shape and complicated shape object is realized to above rectilinear motion drive disk assembly, wide adaptability.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of inside of the present invention.
Mark in figure: 1-rotary transmission part, 2-rectilinear motion drive disk assembly, 3-gripping parts, 4-rack connector, 5-motor, 6-mounting base, 7-slide block, 8-guide rail.
Detailed description of the invention
Below in conjunction with test example and detailed description of the invention, the present invention is described in further detail.But this should be interpreted as that the scope of the above-mentioned theme of the present invention is only limitted to following embodiment, all technology realized based on content of the present invention all belong to scope of the present invention.
Embodiment 1:
As illustrated in fig. 1 and 2, a kind of clamp device, comprising: a rotary transmission part 1; At least one pair of rectilinear motion drive disk assembly 22; One gripping parts 3, described rectilinear motion drive disk assembly 2 is connected with gripping parts 3; By driving described rotary transmission part 1 to make the direction of motion of often pair of rectilinear motion drive disk assembly 2 contrary, thus realize the gripping of gripping parts 3 pairs of objects or shift out.
In the present embodiment, clamp device adopts and drives rotary transmission part 1 to make the direction of motion of at least one pair of rectilinear motion drive disk assembly 2 contrary, such as driven wheel drives tooth bar arranged in parallel, the rotating of rotary driving part is utilized to realize the gripping of gripping parts 3 pairs of objects or shift out, transmission controls effectively simple, can stablize crawl and drop target thing, can adapt to miniature clip claw mechanism, without the need to using spring to provide clamping force, improve service life.
Embodiment 2:
As illustrated in fig. 1 and 2, clamp device as described in Example 1, described rotary transmission part 1 is gear, described rectilinear motion drive disk assembly 2 is tooth bar, the tooth of often pair of described tooth bar is oppositely arranged, described tooth bar is all meshed with described gear, and often pair of described tooth bar is arranged in parallel, and described gripping parts 3 are at least one finger member be connected respectively with each rectilinear motion drive disk assembly 2.
In an embodiment, rotary transmission part 1 is set to gear, rectilinear motion drive disk assembly 2 is set to tooth bar, by the cooperation of rack-and-pinion, realize the driving of rectilinear motion drive disk assembly 2, because rack-and-pinion coordinates, there is accurate transmission accuracy, so, the clamp device of the application, when carrying out gripping to object or shifting out, the folding degree of control gripping parts 3 that can be accurate; The tooth of often pair of tooth bar is oppositely arranged, tooth bar is all meshed with gear, often pair of tooth bar is arranged in parallel, namely, often pair of tooth bar is made to be in a plane, and then the gear of thinner thickness can be adopted can to realize and the engaging of tooth bar, further save the volume of the application's structure, and installing space; By the gripping of finger member realize target thing or shift out.
Embodiment 3:
As illustrated in fig. 1 and 2, clamp device as described in Example 2, described rotary transmission part 1 is driven by motor 5, described rotary transmission part 1 is fixed on motor 5 axle,, described motor 5 is stepper motor 5 or servomotor 5, and encoder is with by described stepper motor 5 or servomotor 5.
In the present embodiment, adopt motor 5 to realize the driving of rotary transmission part 1, motor 5 is ordinary elements, facilitate the manufacture of the application's clamp device, reduce design difficulty and manufacture difficulty, and in later maintenance process, maintenance and the replacing of motor 5 are convenient, reduce later maintenance cost; Meanwhile, because encoder is with by motor 5, in practical work process, can convenience be carried out to motor 5 and control accurately, improve the automatization level of clamp device.
Embodiment 4:
As illustrated in fig. 1 and 2, clamp device as described in Example 3, each described tooth bar is connected with gripping parts 3 by respective rack connector 4, described gripping parts 3 are at least one finger member be connected respectively with each rack connector 4, each described tooth bar is fixed on above corresponding rack connector 4, and each described finger member is carried out installation by the installing hole (not indicating in figure) below corresponding rack connector 4 and fixed.
In the present embodiment, tooth bar is connected with gripping parts 3 by rack connector 4, is first to make the stable connection between tooth bar and rack connector 4 reliable, meanwhile, also facilitate the production assembling in early stage, and the maintenance in later stage more changes jobs.
Embodiment 5:
As illustrated in fig. 1 and 2, clamp device as described in Example 1, described clamp device also comprises a mounting base 6, described motor 5 is fixed on above mounting base 6, it is inner that described rotary transmission part 1 and described rectilinear motion drive disk assembly 2 are arranged at mounting base 6, described rotary transmission part 1 is gear, described rectilinear motion drive disk assembly 2 is tooth bar, the tooth of often pair of described tooth bar is oppositely arranged, described tooth bar is all meshed with described gear, each described tooth bar is connected with gripping parts 3 by respective rack connector 4, described gripping parts 3 are at least one finger member be connected respectively with each rack connector 4, each described tooth bar is fixed on above corresponding rack connector 4, each described finger member is carried out installation by the installing hole below corresponding rack connector 4 and is fixed.
In the present embodiment; by arranging mounting base 6; first be the installation facilitating motor 5; and rotary transmission part 1 and rectilinear motion drive disk assembly 2 to be arranged at mounting base 6 inner, further make the application's clamp device compact conformation, reduce installing space; and; mounting base 6 can protection setting rotary transmission part 1 therein and rectilinear motion drive disk assembly 2, ensure that carrying out smoothly of transmission, and then further ensure that the reliability of the application's clamp device.
Embodiment 6:
As illustrated in fig. 1 and 2, clamp device as described in Example 5, each described rack connector 4 is individually fixed on each self-corresponding slide block 7, each described slide block 7 is arranged on each self-corresponding guide rail 8 respectively, described guide rail 8 is individually fixed in the medial surface of mounting base 6 correspondence, the opposing parallel setting of often pair of described guide rail 8, and described guide rail 8 is line slideway 8, described rectilinear motion drive disk assembly 2 is 1 right, and described rectilinear motion drive disk assembly 2 be arranged in parallel.
In the present embodiment, by arranging slide block 7 on rack connector 4, and the guide rail 8 corresponding with slide block 7 is set, first be the wearing and tearing making to reduce rack connector 4, simultaneously, make the motion of gripping parts 3 more smooth and easy, the frictional force between avoiding due to drive disk assembly is excessive and cause Caton phenomenon to affect the gripping precision of clamp device; Meanwhile, guide rail 8 also opens the effect of guiding, ensures that the movement locus of gripping parts 3 carries out according to design, ensures the reliability of the application's clamp device; Guide rail 8 is opposing parallel, and guide rail 8 is line slideway 8, and structure is simple, conveniently manufactures assembling, and follow-up working service.
Embodiment 7:
As illustrated in fig. 1 and 2, a kind of analyzer, it comprises above-mentioned clamp device.
The analyzer of the present embodiment, owing to have employed clamp device, in the gripping to object or when shifting out, transmission controls effectively simple, can stablizing crawl and drop target thing, without the need to using spring to provide clamping force, improve service life.
What specific embodiment of clamp device of the present invention adopted is gear teeth bar shaped transmission, rotary transmission part 1 adopts gear, what rectilinear motion drive disk assembly 2 adopted is tooth bar, here example is 1 to the tooth bar be arranged in parallel, according to the shape of object also can adopt 2 to or more to tooth bar, 2 pairs of tooth bars can be set to mutually vertical, by that analogy during 2 pairs of tooth bars.What gripping parts 3 adopted is the finger be connected with each tooth bar, and the shape of finger is set to the shape of applicable gripping object, such as arc, crescent, semicircle etc.With motor 5 for drive source, here the stepper motor 5 of band encoder is adopted, also servomotor 5 can be adopted, gear is fixed on motor shaft, two toothed rack are engagement shape with gear, two toothed rack are parallel to each other and are fixed on two different rack connector, and rack connector is connected with the straight-line guide rail slide block be parallel to each other again.Below rack connector 4, be provided with installing hole, facilitate the finger mounted of gripping target.When motor 5 rotates, the gear be fixed on axle rotates thereupon, thus drives the tooth bar engaged with it to move in the opposite direction.Drive two different slide blocks along respective guide rail thereupon, move in the opposite direction, the final gripping target finger be fixed on rack connector that drives moves towards different directions.When motor 5 rotates forward, two toothed rack are moved along guide rail 8 near center position, realize the function that finger merges gripping target object; When motor 5 reversely rotates, two toothed rack are moved along guide rail 8 to away from center position, realize finger and open and shift out/the function of drop target object.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. a clamp device, is characterized in that, comprising:
One rotary transmission part;
At least one pair of rectilinear motion drive disk assembly;
One gripping parts, described rectilinear motion drive disk assembly is connected with gripping parts;
By driving described rotary transmission part to make the direction of motion of often pair of rectilinear motion drive disk assembly contrary, thus realize gripping parts to the gripping of object or shift out.
2. clamp device according to claim 1, is characterized in that, described rotary motion parts are gear, and/or described rectilinear motion drive disk assembly is tooth bar.
3. clamp device according to claim 2, is characterized in that, the tooth of often pair of described tooth bar is oppositely arranged, and described tooth bar is all meshed with described gear, and often pair of described tooth bar is arranged in parallel.
4. clamp device according to claim 1, is characterized in that, described gripping parts are at least one finger member be connected respectively with each Linear transmission parts.
5. clamp device according to claim 1, it is characterized in that, described rotary transmission part is driven by motor, described rotary transmission part is fixed on motor shaft, described clamp device also comprises a mounting base, described motor is fixed on above mounting base, and described rotary transmission part and described rectilinear motion drive disk assembly are arranged at mounting base inside.
6. clamp device according to claim 2, is characterized in that, each described tooth bar is connected with gripping parts by respective rack connector, and described gripping parts are at least one finger member be connected respectively with each rack connector.
7. clamp device according to claim 6, is characterized in that, each described tooth bar is fixed on above corresponding rack connector, and each described finger member is carried out installation by the installing hole below corresponding rack connector and fixed.
8. clamp device according to claim 7, is characterized in that, described rotary transmission part is gear, and the tooth of often pair of described tooth bar is oppositely arranged, and described tooth bar is all meshed with described gear.
9. clamp device according to claim 8, it is characterized in that, each described tooth bar is connected with gripping parts by respective rack connector, described gripping parts are at least one finger member be connected respectively with each rack connector, each described tooth bar is fixed on above corresponding rack connector, each described finger member is carried out installation by the installing hole below corresponding rack connector and is fixed, and each described rack connector is individually fixed on each self-corresponding slide block.
10. clamp device according to claim 9, it is characterized in that, each described slide block is arranged on each self-corresponding guide rail respectively, and described guide rail is individually fixed in medial surface corresponding to mounting base, often pair of opposing parallel setting of described guide rail, described guide rail is line slideway.
11. clamp devices according to claim 1, is characterized in that, described rectilinear motion drive disk assembly be 1 to or 2 right, often pair of described rectilinear motion drive disk assembly be arranged in parallel.
12. clamp devices according to claim 11, is characterized in that, described rectilinear motion drive disk assembly is 2 right, and described 2 pairs of Linear transmission parts become vertical direction to arrange.
13. 1 kinds of analyzers, is characterized in that, comprise the clamp device described in any one of claim 1-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510481207.XA CN105014657A (en) | 2015-08-07 | 2015-08-07 | Clamping device and analyzer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510481207.XA CN105014657A (en) | 2015-08-07 | 2015-08-07 | Clamping device and analyzer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105014657A true CN105014657A (en) | 2015-11-04 |
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ID=54405139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510481207.XA Pending CN105014657A (en) | 2015-08-07 | 2015-08-07 | Clamping device and analyzer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105014657A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687790A (en) * | 2018-08-14 | 2018-10-23 | 安徽工业大学 | A kind of gear-rack drive formula catching robot |
| CN112230007A (en) * | 2020-11-06 | 2021-01-15 | 珠海科域生物工程股份有限公司 | A tongs mechanism for external diagnostic apparatus |
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| US4707013A (en) * | 1986-05-30 | 1987-11-17 | The United States Of America As Represented By The Secretary Of Commerce | Split rail parallel gripper |
| CN2902673Y (en) * | 2006-04-29 | 2007-05-23 | 林翼飞 | Mechanical hand used for blow moulding shaping equipment |
| CN101412219A (en) * | 2008-11-28 | 2009-04-22 | 苏州明志科技有限公司 | Synchronous clamp |
| CN202878322U (en) * | 2012-10-30 | 2013-04-17 | 江苏天宏机械工业有限公司 | Rotary machine clamping jaw mechanism |
| CN103974806A (en) * | 2011-10-07 | 2014-08-06 | 雄克有限公司 | Gripping or tensioning device |
| CN204183561U (en) * | 2014-11-13 | 2015-03-04 | 李世琛 | A kind of automation gripping body being convenient to regulate |
| CN204819500U (en) * | 2015-08-07 | 2015-12-02 | 四川迈克生物医疗电子有限公司 | Press from both sides and get device and analysis appearance |
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2015
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4707013A (en) * | 1986-05-30 | 1987-11-17 | The United States Of America As Represented By The Secretary Of Commerce | Split rail parallel gripper |
| CN2902673Y (en) * | 2006-04-29 | 2007-05-23 | 林翼飞 | Mechanical hand used for blow moulding shaping equipment |
| CN101412219A (en) * | 2008-11-28 | 2009-04-22 | 苏州明志科技有限公司 | Synchronous clamp |
| CN103974806A (en) * | 2011-10-07 | 2014-08-06 | 雄克有限公司 | Gripping or tensioning device |
| CN202878322U (en) * | 2012-10-30 | 2013-04-17 | 江苏天宏机械工业有限公司 | Rotary machine clamping jaw mechanism |
| CN204183561U (en) * | 2014-11-13 | 2015-03-04 | 李世琛 | A kind of automation gripping body being convenient to regulate |
| CN204819500U (en) * | 2015-08-07 | 2015-12-02 | 四川迈克生物医疗电子有限公司 | Press from both sides and get device and analysis appearance |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687790A (en) * | 2018-08-14 | 2018-10-23 | 安徽工业大学 | A kind of gear-rack drive formula catching robot |
| CN108687790B (en) * | 2018-08-14 | 2024-01-30 | 安徽工业大学 | Gear rack driving type grabbing manipulator |
| CN112230007A (en) * | 2020-11-06 | 2021-01-15 | 珠海科域生物工程股份有限公司 | A tongs mechanism for external diagnostic apparatus |
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Application publication date: 20151104 |
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