CN108499623B - Automatic sample tube picking clamp with rotatable picking tube shaft - Google Patents
Automatic sample tube picking clamp with rotatable picking tube shaft Download PDFInfo
- Publication number
- CN108499623B CN108499623B CN201810335790.7A CN201810335790A CN108499623B CN 108499623 B CN108499623 B CN 108499623B CN 201810335790 A CN201810335790 A CN 201810335790A CN 108499623 B CN108499623 B CN 108499623B
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- CN
- China
- Prior art keywords
- shaft
- electromagnet
- clamp
- sample tube
- tube picking
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000009413 insulation Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 239000000696 magnetic material Substances 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 7
- 239000004020 conductor Substances 0.000 claims description 5
- 238000005034 decoration Methods 0.000 claims description 5
- 239000006261 foam material Substances 0.000 claims description 5
- 239000006260 foam Substances 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 description 25
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
- 239000012472 biological sample Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000881 Cu alloy Inorganic materials 0.000 description 1
- 229910001030 Iron–nickel alloy Inorganic materials 0.000 description 1
- 239000004642 Polyimide Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910000963 austenitic stainless steel Inorganic materials 0.000 description 1
- 238000002425 crystallisation Methods 0.000 description 1
- 230000008025 crystallization Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009477 glass transition Effects 0.000 description 1
- 230000003834 intracellular effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920001721 polyimide Polymers 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L9/00—Supporting devices; Holding devices
- B01L9/50—Clamping means, tongs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Clinical Laboratory Science (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Sampling And Sample Adjustment (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic sample tube picking clamp with a rotatable tube picking shaft, which comprises a clamp arm, wherein a coil frame is arranged at one end of the clamp arm, a first shaft and an electromagnet are arranged on the coil frame, a direct current motor is arranged in the clamp arm and connected with the first shaft through a transmission device, a bearing is arranged between the first shaft and the coil frame, the lower end of the first shaft is fixedly connected with a hollow shaft at the outer side of the first shaft, a central hole is arranged in the middle of the electromagnet, the hollow shaft penetrates through the central hole of the electromagnet, the outer wall of the hollow shaft is in clearance fit with the central hole of the electromagnet, a second shaft capable of axially sliding along the hollow shaft is arranged in the hollow shaft, a clearance is arranged between the second shaft and the first shaft, at least 3 connecting rods are uniformly distributed at the lower end of the second shaft along the circumferential direction, each connecting rod is hinged with one clamping jaw through a pin shaft, the middle of the clamping jaw is provided with a pin hole, and the pin hole in the middle of the clamping jaw is hinged with the hollow shaft through a hinge shaft. By adopting the pipe picking clamp, the storage density is improved, and the storage cost is reduced.
Description
Technical Field
The invention relates to an automatic sample tube picking clamp with a rotatable tube picking shaft, and belongs to the technical field of sample tube transferring.
Background
Long-term storage of biological samples such as cells and tissues is maintained in a cryogenic environment, typically a gaseous liquid nitrogen environment at-150 ℃. The prior art is to manually take out a tube rack or a sample box with a biological sample tube from a liquid nitrogen tank, and then manually take out a target sample tube by using tweezers or a direct glove under the normal temperature environment. The environment temperature of the automatic storage equipment picking operation is set to be more or less than 130 ℃ below zero, the necessary operation time can be ensured, and the allowable exposure time is expected to be as large as possible in consideration of the unexpected condition of operation. Because the glass transition temperature of the cell crystallization water is less than-130 ℃, the sample is manually picked up under the normal temperature environment, so that the temperature fluctuation of an irrelevant sample is large, and the intracellular water is repeatedly frozen and thawed and recrystallized, thereby damaging biological samples such as cells.
Disclosure of Invention
The invention aims to solve the technical problems that: the problem of how to reduce or avoid temperature fluctuation of irrelevant samples when the samples are manually picked up under the normal temperature environment is solved.
In order to solve the technical problems, the technical scheme of the invention provides an automatic sample tube picking clamp with a rotatable picking tube shaft, which is characterized by comprising a clamp arm, wherein one end of the clamp arm is provided with a coil rack, a first shaft and an electromagnet are arranged on the coil rack, a direct current motor is arranged in the clamp arm, the direct current motor is connected with the first shaft through a transmission device, a bearing is arranged between the first shaft and the coil rack, the lower end of the first shaft is fixedly connected with a hollow shaft on the outer side of the first shaft, a central hole is arranged in the middle of the electromagnet, the hollow shaft penetrates through the central hole of the electromagnet, the outer wall of the hollow shaft is in clearance fit with the central hole of the electromagnet, a second shaft capable of axially sliding along the hollow shaft is arranged in the hollow shaft, a clearance is arranged between the second shaft and the first shaft, at least 3 connecting rods are uniformly distributed at the lower end of the second shaft along the circumferential direction, each connecting rod is hinged with one clamping jaw through a pin shaft, a pin hole is arranged in the middle of each clamping jaw, and the middle pin hole is hinged with the hollow shaft through a hinge shaft.
Preferably, the transmission device comprises a first bevel gear and a second bevel gear which are meshed with each other, wherein the first bevel gear is fixed on the first shaft, and the second bevel gear is fixed on the rotating shaft of the direct current motor.
Preferably, a groove is formed in the hollow shaft and is axially formed in the hollow shaft, a limiting pin is arranged on the second shaft and is arranged in the groove of the hollow shaft, and the length of the groove is not smaller than the size of the gap.
Preferably, a motor groove is formed in the clamp arm, a first heat insulation block and a second heat insulation block for protecting the direct current motor are arranged in the motor groove, and the direct current motor is arranged between the first heat insulation block and the second heat insulation block.
Preferably, the materials of the first heat insulation block and the second heat insulation block are foam materials, and the foam materials are polyurethane hard foam or EPS or PIR.
Preferably, the outer part of the clamp arm is provided with an external decoration, and the external decoration is a nonmetallic piece resistant to low temperature below-150 ℃.
Preferably, the first shaft and the second shaft are manufactured by processing low-temperature-resistant soft magnetic materials; the clamp arm, the coil rack, the hollow shaft, the clamping jaw and the connecting rod are all made of low-temperature-resistant non-magnetic conductive materials; the magnetic yoke of the electromagnet is manufactured by processing a low-temperature-resistant soft magnetic material, and the coil of the electromagnet is manufactured by processing a low-temperature-resistant material.
Preferably, a compression spring is arranged between the first shaft and the second shaft.
Preferably, the compression spring is made of a low-temperature-resistant non-magnetic material.
Preferably, before the electromagnet is electrified, the lower end of the first shaft stretches into the central hole of the electromagnet, and the distance of the gap is m, wherein m is greater than 0; after the electromagnet is electrified, electromagnetic attraction force is generated between the end surfaces of the first shaft and the second shaft, the second shaft is pulled to move upwards along the axis of the hollow shaft, the distance between the gaps is n, n is smaller than m, n is larger than 0, and the clamping jaw is enabled to rotate and retract around the hinge axis in the direction deviating from the axis of the hollow shaft through the connecting rod connected with the second shaft, so that the clamping of the outer side of the clamping jaw to the blind hole of the sample tube is realized; after the electromagnet is powered off, the electromagnetic suction force disappears, the second shaft moves downwards along the axis direction of the hollow shaft under the action of dead weight, the clamping jaw rotates around the axis direction of the hinged shaft to the hollow shaft through the connecting rod connected with the second shaft and opens, and therefore separation of the contact surface of the outer side surface of the clamping jaw and the blind hole of the sample tube is achieved, and the sample tube with the blind hole of the sample tube is released.
By adopting the tube picking clamp, the operation space of the clamping jaws is not needed to be considered in the arrangement of the sample tubes, the arrangement is denser, the storage density is improved, and the storage cost is reduced. Meanwhile, the first shaft of the tube picking clamp can rotate to realize the code scanning function of the bar code of the sample tube body, and the first shaft is utilized to replace a sensor contact to search and calculate the origin of coordinates under the condition of no origin checking sensor and other devices at the deep low temperature, the rotation can be used for obtaining the detection data of 3 or more points in the circumferential direction in the process, the control precision can be improved, the application range of the ultra-low temperature environment is enlarged,
drawings
FIG. 1 is a schematic illustration of an electromagnet of an automated sample tube picking clamp with a rotatable tube picking shaft in de-energized operation;
FIG. 2 is a schematic illustration of an electromagnet of an automated sample tube picking clamp with a rotatable picking tube shaft in energized operation;
FIG. 3 is a schematic illustration of an automated sample tube picking gripper with a rotatable picking shaft.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
The invention relates to an automatic sample tube picking clamp with a rotatable tube picking shaft, which comprises a clamp arm 1, as shown in figures 1, 2 and 3, wherein one end of the clamp arm 1 is used for fixing, and can rotate around a second axis 32, and the specific plane coordinates of the tube picking can be determined through the distance between the second axis 32 and a first axis 31 and the rotation angle around the second axis 32. The tube picking clamp can be integrally arranged on a motion platform with the degrees of freedom of an X axis and a Z translation axis, so that tube picking operation of a sample tube is realized. The coil former 11 is installed to the anchor clamps arm 1 other end, installs first axle 14 on the coil former 11, is equipped with direct current motor 3 in the anchor clamps arm 1, and the rotation axis of direct current motor 3 passes through transmission drive first axle 14 rotation, and transmission includes intermeshing's first bevel gear 13 and second bevel gear 26, and first bevel gear 13 is fixed on first axle 14, and second bevel gear 26 is fixed on the rotation axis of direct current motor 3. A bearing 15 is mounted between the first shaft 14 and the bobbin 11. The electromagnet 16 is fixed on the coil frame 11, the yoke of the electromagnet 16 is manufactured by processing a low-temperature-resistant soft magnetic material, and the coil of the electromagnet 16 is required to be manufactured by processing a low-temperature-resistant material such as polyimide enameled copper wires. The lower end of the first shaft 14 is secured to the hollow shaft 18 on the outside thereof by an interference fit or other means to form a relatively motion free assembly that rotates or stops simultaneously. The hollow shaft 18 is rotatable with the first shaft 14. The first shaft center 31 is a central shaft of the hollow shaft 18, a second shaft 21 capable of sliding along the axial direction of the hollow shaft 18 is arranged in the hollow shaft 18 to form sliding fit, a groove arranged along the axial direction of the hollow shaft 18 is arranged on the hollow shaft 18, a limiting pin 20 is arranged on the second shaft 21, the limiting pin 20 can slide in one groove of the hollow shaft 18, and the length of the groove is not smaller than the size of the gap 28. When the first shaft 14 is driven to rotate by the direct current motor 3, the hollow shaft 18 ensures that the second shaft 21 rotates synchronously with the first shaft by the limiting pin 20. A central hole is arranged in the middle of the electromagnet 16, a hollow shaft 18 penetrates through the central hole of the electromagnet 16, and the outer wall of the hollow shaft 18 is in clearance fit with the central hole of the electromagnet 16, so that the hollow shaft can freely rotate without interference. The lower end of the second shaft 21 is uniformly distributed with 3 connecting rods 22 along the circumferential direction, the 3 connecting rods 22 are respectively hinged with 3 clamping jaws 27 through pin shafts 23, namely the connecting rods 22 and the clamping jaws 27 are uniformly distributed along the circumferential direction of the second shaft 21 at 120 degrees, the middle of the clamping jaws 27 is provided with pin holes, and the pin holes in the middle of the clamping jaws 27 are hinged with the hollow shaft 18 through hinge shafts 24. The first shaft 14 and the second shaft 21 must be manufactured from a low temperature resistant soft magnetic material such as iron-nickel alloy, and the clamp arm 1, the coil former 11, the hollow shaft 18, the clamping jaw 27, the connecting rod 22, etc. are manufactured from a low temperature resistant non-magnetic conductive material such as: aluminum and aluminum alloys, copper and copper alloys, austenitic stainless steel.
The lower end of the first shaft 14 should go deep into the central hole of the electromagnet 16, the end faces of the second shaft 21 and the first shaft 14 are always not jointed in the movement travel range of the first shaft 14, a gap 28 is formed, the distance m of the gap 28 is larger than 0, a compression spring 17 is arranged in the gap 28 between the first shaft 14 and the second shaft 21, and the compression spring 17 is made of low-temperature resistant non-magnetic conductive materials. After the electromagnet 16 is energized, electromagnetic attraction force is generated between the end surfaces of the first shaft 14 and the second shaft 21, and the second shaft 21 is pulled to move upwards along the axis of the hollow shaft 18 (in the direction of an upward arrow 34 in fig. 2), at this time, the distance of the gap 28 is n, the distance n of the gap 28 is smaller than the distance m of the gap 28, and the distance n of the gap 28 is greater than 0. The second shaft 21 moves upwards, and the 3 clamping jaws 27 rotate around the hinge shaft 24 in the direction away from the axis of the hollow shaft 18 through the 3 connecting rods 22 and are folded, so that the clamping of the outer sides of the clamping jaws 27 to the blind hole 30 of the sample tube is realized. After the electromagnet 16 is powered off, the electromagnetic suction force disappears, the second shaft 21 moves downwards along the axis direction of the hollow shaft 18 (as shown by the direction of a downward arrow 33 in fig. 1) under the action of the dead weight and the rebound force of the compression spring 17, the second shaft 21 moves downwards, and the 3 clamping jaws 27 rotate and open around the hinge shaft 24 to the axis direction of the hollow shaft 18 through the 3 connecting rods 22, so that the separation of the outer side surfaces of the clamping jaws 27 and the contact surface of the sample tube blind hole 30 is realized, and the sample tube with the sample tube blind hole 30 is released. The direct current motor 3 is arranged in a motor groove of the clamp arm 1, and is protected by a first heat insulation block 2 and a second heat insulation block 4 on the outer side of the direct current motor 3, and the materials of the first heat insulation block 2 and the second heat insulation block 4 can be polyurethane hard foam, EPS, PIR and other foam materials. All the materials of the metal parts in the invention should be resistant to low temperatures below-150 ℃. The outer decoration 10 of the tube picking jig should use a nonmetallic member such as polytetrafluoroethylene resistant to low temperatures below-150 c.
The invention is used for automatic storage system equipment of the sample tube, and realizes the grabbing and releasing of the sample tube. The pipe picking operation is particularly suitable for deep low-temperature environment, and the range can be as follows: +30℃ ～ -200℃。
Claims (10)
1. An automatic sample tube picking clamp with a rotatable tube picking shaft is characterized by comprising a clamp arm (1), wherein one end of the clamp arm (1) is provided with a coil frame (11), a first shaft (14) and an electromagnet (16) are arranged on the coil frame (11), a direct current motor (3) is arranged in the clamp arm (1), the direct current motor (3) is connected with the first shaft (14) through a transmission device, a bearing (15) is arranged between the first shaft (14) and the coil frame (11), the lower end of the first shaft (14) is fixedly connected with a hollow shaft (18) on the outer side of the first shaft, a central hole is arranged in the middle of the electromagnet (16), the hollow shaft (18) penetrates through the central hole of the electromagnet (16), the outer wall of the hollow shaft (18) is in clearance fit with the central hole of the electromagnet (16), a second shaft (21) capable of axially sliding along the hollow shaft (18) is arranged in the hollow shaft (18), a clearance (28) is arranged between the second shaft (21) and the first shaft (14), at least 3 connecting rods (22) are uniformly distributed on the lower end of the second shaft (21) along the circumferential direction, each connecting rod (22) is hinged with a clamping jaw (27) through a pin hole respectively, the pin hole in the middle of the clamping jaw (27) is hinged with the hollow shaft (18) through a hinge shaft (24).
2. An automated sample tube picking clamp with rotatable tube picking shaft as claimed in claim 1, wherein the transmission means comprises a first bevel gear (13) and a second bevel gear (26) which are engaged with each other, the first bevel gear (13) being fixed to the first shaft (14) and the second bevel gear (26) being fixed to the rotational shaft of the dc motor (3).
3. An automated sample tube picking clamp with a rotatable tube picking shaft as claimed in claim 1, wherein the hollow shaft (18) is provided with a groove axially arranged along the hollow shaft (18), the second shaft (21) is provided with a limiting pin (20), the limiting pin (20) is arranged in the groove of the hollow shaft (18), and the length of the groove is not less than the size of the gap (28).
4. An automated sample tube picking clamp with a rotatable tube picking shaft as claimed in claim 1, wherein a motor groove is arranged in the clamp arm (1), a first heat insulation block (2) and a second heat insulation block (4) for protecting the direct current motor (3) are arranged in the motor groove, and the direct current motor (3) is arranged between the first heat insulation block (2) and the second heat insulation block (4).
5. An automated sample tube picking clamp with rotatable tube picking shaft as claimed in claim 4 wherein the material of the first and second insulating blocks (2, 4) is foam material, the foam material is polyurethane hard foam or EPS or PIR.
6. An automated sample tube picking clamp with a rotatable tube picking shaft as claimed in claim 1, wherein the outer part of the clamp arm (1) is provided with an outer decoration (10), and the outer decoration (10) is a nonmetallic piece resistant to low temperatures below-150 ℃.
7. An automated sample tube picking clamp with rotatable tube picking shaft as claimed in claim 1, wherein the first shaft (14) and the second shaft (21) are manufactured from a low temperature resistant soft magnetic material; the clamp arm (1), the coil rack (11), the hollow shaft (18), the clamping jaw (27) and the connecting rod (22) are all made of low-temperature-resistant non-magnetic conductive materials; the magnetic yoke of the electromagnet (16) is manufactured by processing a low-temperature-resistant soft magnetic material, and the coil of the electromagnet (16) is manufactured by processing a low-temperature-resistant material.
8. An automated sample tube picking clamp with rotatable tube picking shaft as claimed in claim 1, characterized in that a compression spring (17) is arranged between the first shaft (14) and the second shaft (21).
9. An automated sample tube picking clamp with rotatable tube picking shaft as claimed in claim 8 wherein said compression spring (17) is made of a low temperature resistant non-magnetically conductive material.
10. An automated sample tube picking clamp with a rotatable tube picking shaft as claimed in claim 1, wherein the lower end of the first shaft (14) is deep into the central hole of the electromagnet (16) before the electromagnet (16) is energized, the gap (28) has a distance m, m being greater than 0; after the electromagnet (16) is electrified, electromagnetic suction force is generated between the end surfaces of the first shaft (14) and the second shaft (21), the second shaft (21) is pulled to move upwards along the axis of the hollow shaft (18), the distance of a gap (28) is n, n is smaller than m, n is larger than 0, the clamping jaw (27) rotates around the hinge shaft (24) in the direction away from the axis of the hollow shaft (18) and is folded by the connecting rod (22) connected with the second shaft (21), and therefore the clamping of the outer side of the clamping jaw (27) facing the blind hole (30) of the sample tube is achieved; after the electromagnet (16) is powered off, the electromagnetic suction force disappears, the second shaft (21) moves downwards along the axis direction of the hollow shaft (18) under the action of dead weight, the clamping jaw (27) rotates around the hinge shaft (24) to the axis direction of the hollow shaft (18) and opens through the connecting rod (22) connected with the second shaft (21), and therefore separation of the contact surface of the outer side surface of the clamping jaw (27) and the sample tube blind hole (30) is achieved, and the sample tube with the sample tube blind hole (30) is released.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810335790.7A CN108499623B (en) | 2018-04-13 | 2018-04-13 | Automatic sample tube picking clamp with rotatable picking tube shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810335790.7A CN108499623B (en) | 2018-04-13 | 2018-04-13 | Automatic sample tube picking clamp with rotatable picking tube shaft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108499623A CN108499623A (en) | 2018-09-07 |
| CN108499623B true CN108499623B (en) | 2024-02-02 |
Family
ID=63382307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810335790.7A Active CN108499623B (en) | 2018-04-13 | 2018-04-13 | Automatic sample tube picking clamp with rotatable picking tube shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108499623B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108499623A (en) | 2018-09-07 |
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Address after: 5th floor, Building 1, No. 139 Duhui Road, Minhang District, Shanghai, 201109; Block C, 3rd floor, Building 4 Applicant after: Dongfulong Life Technology Co.,Ltd. Applicant after: Dongfulong Technology Group Co.,Ltd. Address before: 201109 area a and 5 / F, 4th floor, building 1, 139 Duhui Road, Minhang District, Shanghai Applicant before: SHANGHAI TOFFLON MEDICAL EQUIPMENT Co.,Ltd. Applicant before: SHANGHAI TOFFLON SCIENCE AND TECHNOLOGY Co.,Ltd. |
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