A centrifuge rotor tilt detection device and a detection method thereof

Abstract

The application discloses a centrifuge rotor inclination detection device and a detection method thereof, and relates to the technical field of centrifuges.The centrifuge rotor inclination detection device comprises a centrifuge rotor body and at least three interval distributed sensor sensing components; a sensor assembly comprising a sensor support and at least three sensor probes, the sensor probes being interval distributed along the circumference of the sensor support, and the sensor probes and the sensor sensing components being cooperatively operated; a motor rotor comprising a connecting shaft and a motor rotating shaft, one end of the connecting shaft penetrating through the sensor support and being connected with the centrifuge rotor, and the other end of the connecting shaft being connected with the motor rotating shaft; and a control device, the sensor sensing components, the sensor probes and the motor rotor being connected with the control device. The device can detect the inclination angle of the rotor in real time, make a prediction on the change trend of the inclination angle, and improve the overall safety of the centrifuge and avoid damage of the centrifuge.

Description

Technical Field

[0001] This invention relates to the field of centrifuge technology, and more specifically, to a centrifuge rotor tilt detection device. Furthermore, it also relates to a detection method applied to the aforementioned centrifuge rotor tilt detection device. Background Technology

[0002] In related technologies, the current state of centrifuge rotor tilt detection involves using a Hall effect sensor for rotor identification. Tilting detection is achieved by generating a switching signal through the contact between a flexible shaft and a deflector spring. When the centrifuge rotor tilts, the flexible shaft connecting the motor rotor and the centrifuge rotor tilts. When the maximum allowable tilt angle is reached, the flexible shaft contacts the deflector spring, triggering a protective switching signal. However, this method has the problem that it cannot detect the rotor's tilt angle in real time, nor can it predict the trend of tilt angle changes, thus hindering the development of a more appropriate tilt protection strategy.

[0003] In summary, how to detect the tilt angle of the rotor in real time and predict its trend is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a centrifuge rotor tilt detection device that can detect the tilt angle of the rotor in real time and predict the trend of its tilt angle change, so as to improve the overall safety of the centrifuge and effectively avoid damage to the centrifuge.

[0005] Another object of the present invention is to provide a detection method applicable to the above-mentioned centrifuge rotor tilt detection device.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A centrifuge rotor tilt detection device, comprising:

[0008] A centrifugal rotor, comprising a centrifugal rotor body and at least three sensor sensing components spaced circumferentially along the centrifugal rotor body;

[0009] The sensor assembly includes a sensor bracket disposed parallel to the centrifugal rotor directly below it and at least three sensor probes, the sensor probes being distributed circumferentially along the sensor bracket, and the sensor probes cooperating with the sensor sensing component.

[0010] The motor rotor includes a connecting shaft and a motor shaft, one end of the connecting shaft passes through the sensor bracket and is connected to the centrifugal rotor, and the other end of the connecting shaft is connected to the motor shaft;

[0011] The control device is connected to the sensor sensing component, the sensor probe, and the motor rotor.

[0012] In one embodiment, bearings are provided at both ends of the motor shaft.

[0013] In one embodiment, the number of sensor sensing elements is greater than the number of sensor probes;

[0014] Alternatively, the number of sensor sensing components may be equal to the number of sensor probes, and the sensor sensing components and sensor probes may be distributed in a one-to-one correspondence.

[0015] In one embodiment, the connecting shaft and the motor shaft are connected by a tapered hole.

[0016] In one embodiment, the connecting shaft includes a flexible shaft.

[0017] In one embodiment, the centrifugal rotor includes an angle rotor, a horizontal rotor, a continuous flow rotor, or a vertical rotor.

[0018] A detection method, applied to the centrifuge rotor tilt detection device described in any one of the above claims, includes:

[0019] Acquire the position information of each point and the dimension information of each side of the first plane A1B1C1 formed by the three sensor sensing components in the initial state;

[0020] After the motor rotor runs for a certain period of time, it reaches the real-time state and acquires the position information of each point and the dimension information of each side of the third plane A3B3C3 formed by the three sensor sensing components in the real-time state.

[0021] Construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1, and obtain the position information of each point and the dimension information of each side of the second plane A2B2C2;

[0022] Construct the first intersection point T of the extension lines of line segment B2C2 and line segment B3C3, and construct the second intersection point P of the perpendicular line from point C2 on the second plane A2B2C2 to line segment A2T and the perpendicular line from point C3 on the third plane A2B3C3.

[0023] Based on the similarity theorem of triangles, the cosine theorem, and the Pythagorean theorem, calculate the first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 to determine the degree of inclination of the centrifugal rotor.

[0024] In one embodiment, calculating the first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 according to the triangle similarity theorem, the cosine theorem, and the Pythagorean theorem includes:

[0025] Obtain the dimensions of line segments A2B2, B2C2, Λ2C2, A1A2, B1B3, and C1C3;

[0026] Calculate the dimensions of line segment C3T using the similarity theorem of triangles;

[0027] Calculate the second included angle A2B2C2 using the Law of Cosines;

[0028] Calculate the dimensions of line segment A2T using the law of cosines;

[0029] Calculate the third included angle C3A2T using the Law of Cosines;

[0030] Calculate line segment C3P and line segment A2C3 using the Pythagorean theorem;

[0031] The first included angle C2PC3 is calculated using the law of cosines.

[0032] In one embodiment, determining the degree of tilt of the centrifugal rotor includes:

[0033] Determine whether the first included angle C2PC3 is greater than the preset tilt angle. If so, control the motor rotor to decelerate and issue an alarm. If not, control the motor rotor to increase its speed.

[0034] When using the centrifuge rotor tilt detection device provided by this invention, the control device can control the motor rotor to run, so that the motor shaft drives the connecting shaft to rotate synchronously. The connecting shaft can pass through the sensor assembly and connect to the centrifuge rotor to drive the centrifuge rotor to rotate synchronously. During use, the sensor probe and sensor sensing component work together and transmit detection signals to the control device so that the control device can calculate the rotor tilt angle.

[0035] For example, the control device can acquire the position information of each point and the dimension information of each side of the first plane A1B1C1 formed by the three sensor sensing components in the initial state. Furthermore, after the motor rotor runs for a certain period of time and reaches the real-time state, the control device can also acquire the position information of each point and the dimension information of each side of the third plane A3B3C3 formed by the three sensor sensing components in the real-time state.

[0036] Then, a second plane A2B2C2 is constructed, passing through point A2 and parallel to the first plane A1B1C1. The position information of each point and the dimension information of each side of the second plane A2B2C2 are obtained. Next, the first intersection point T of the extension lines of line segment B2C2 and line segment B3C3 is constructed, and the second intersection point P of the perpendicular line from point C2 on the second plane A2B2C2 to line segment A2T and the perpendicular line from point C3 on the third plane A2B3C3 is constructed.

[0037] Finally, based on the similarity theorem of triangles, the cosine theorem, and the Pythagorean theorem, the real-time first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 is calculated. The first included angle C2PC3 is the rotor tilt angle, which is the first included angle calculated in real time by the algorithm. It can predict the trend of the rotor tilt angle, thereby improving the overall safety of the centrifuge and effectively avoiding damage to the centrifuge.

[0038] In summary, the centrifuge rotor tilt detection device provided by the present invention can detect the tilt angle of the rotor in real time and predict the trend of its tilt angle change, so as to improve the overall safety of the centrifuge and effectively avoid damage to the centrifuge.

[0039] In addition, the present invention also provides a detection method for the centrifuge rotor tilt detection device described above. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the centrifuge rotor tilt detection device provided by the present invention.

[0042] Figure 2 This is a schematic diagram showing the distribution of the sensor sensing components of a centrifugal rotor;

[0043] Figure 3 This is a schematic diagram showing the distribution of the sensor probes in the sensor assembly;

[0044] Figure 4 This is a schematic flowchart of the detection method provided by the present invention;

[0045] Figure 5 A schematic diagram of the auxiliary structure constructed for calculating the rotor tilt angle.

[0046] Figures 1-5 middle:

[0047] 1 is the centrifugal rotor, 11 is the centrifugal rotor body, 12 is the sensor sensing component, 2 is the sensor assembly, 21 is the sensor probe, 22 is the sensor bracket, 3 is the motor rotor, 31 is the connecting shaft, 32 is the motor shaft, and 4 is the bearing. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] The core of this invention is to provide a centrifuge rotor tilt detection device that can detect the rotor's tilt angle in real time and predict its changing trend, thereby improving the overall safety of the centrifuge and effectively preventing damage. Another core aspect of this invention is to provide a detection method applied to the aforementioned centrifuge rotor tilt detection device.

[0050] Please refer to Figures 1 to 5 .

[0051] This specific embodiment provides a centrifuge rotor tilt detection device, including:

[0052] Centrifugal rotor 1, which includes a centrifugal rotor body 11 and at least three sensor sensing components 12 distributed circumferentially along the centrifugal rotor body 11;

[0053] The sensor assembly 2 includes a sensor bracket 22 disposed parallel to the centrifugal rotor 1 directly below it and at least three sensor probes 21. The sensor probes 21 are distributed circumferentially along the sensor bracket 22, and the sensor probes 21 and the sensor sensing component 12 cooperate to operate.

[0054] The motor rotor 3 includes a connecting shaft 31 and a motor rotating shaft 32. One end of the connecting shaft 31 passes through the sensor bracket 22 and is connected to the centrifugal rotor 1, and the other end of the connecting shaft 31 is connected to the motor rotating shaft 32.

[0055] The control device, sensor sensing component 12, sensor probe 21 and motor rotor 3 are all connected to the control device.

[0056] When using the centrifuge rotor tilt detection device provided by this invention, the control device can control the motor rotor 3 to run, so that the motor shaft 32 drives the connecting shaft 31 to rotate synchronously. The connecting shaft 31 can pass through the sensor assembly 2 and connect to the centrifuge rotor 1 to drive the centrifuge rotor 1 to rotate synchronously. During use, the sensor probe 21 and the sensor sensing component 12 work together and transmit detection signals to the control device so that the control device can calculate the rotor tilt angle.

[0057] For example, the control device can acquire the position information of each point and the dimension information of each side of the first plane A1B1C1 formed by the three sensor sensing components 12 in the initial state. Furthermore, after the motor rotor 3 has been running for a certain period of time and reaches the real-time state, the control device can also acquire the position information of each point and the dimension information of each side of the third plane A3B3C3 formed by the three sensor sensing components 12 in the real-time state.

[0058] Then, a second plane A2B2C2 is constructed, passing through point A2 and parallel to the first plane A1B1C1. The position information of each point and the dimension information of each side of the second plane A2B2C2 are obtained. Next, the first intersection point T of the extension lines of line segment B2C2 and line segment B3C3 is constructed, and the second intersection point P of the perpendicular line from point C2 on the second plane A2B2C2 to line segment A2T and the perpendicular line from point C3 on the third plane A2B3C3 is constructed.

[0059] Finally, based on the similarity theorem of triangles, the cosine theorem, and the Pythagorean theorem, the real-time first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 is calculated. The first included angle C2PC3 is the rotor tilt angle, which is the first included angle calculated in real time by the algorithm. It can predict the trend of the rotor tilt angle, thereby improving the overall safety of the centrifuge and effectively avoiding damage to the centrifuge.

[0060] When the device is in high-speed operation, the three sensor probes 21 on the sensor bracket 22 measure the distance between themselves and the centrifugal rotor 1. The three distance signals can generate a plane. The tilt angle between this plane and the reference plane is the rotor tilt angle. The tilt angle can be measured in real time through the algorithm, and the trend of the rotor tilt angle change can be predicted, thereby improving the overall safety of the centrifuge and effectively avoiding damage to the centrifuge.

[0061] Based on the existing centrifuge rotor design, this application increases the number of sensor probes 21 on the sensor bracket 22 from one to three or more. With other structures remaining unchanged, tilt detection can be achieved by combining relevant algorithms.

[0062] In summary, the centrifuge rotor tilt detection device provided by the present invention can detect the tilt angle of the rotor in real time and predict the trend of its tilt angle change, so as to improve the overall safety of the centrifuge and effectively avoid damage to the centrifuge.

[0063] In one embodiment, bearings 4 are provided at both ends of the motor shaft 32 to improve the rotation effect of the motor shaft 32 and prevent the motor shaft 32 from being easily damaged.

[0064] In one embodiment, the number of sensor sensing elements 12 is greater than the number of sensor probes 21; or the number of sensor sensing elements 12 is equal to the number of sensor probes 21, and the sensor sensing elements 12 and sensor probes 21 are distributed in a one-to-one correspondence.

[0065] It should be noted that if there are three sensor probes 21, the detection points of the three sensor probes 21 can form a plane. In practical applications, the number of sensor probes 21 can be more than three. Moreover, the sensor probes 21 can be evenly distributed on the same circumference. In practical applications, the sensor probes 21 can also not be completely evenly distributed. However, when the sensor probes 21 are evenly distributed, the detection plane formed is larger, which is more conducive to tilt detection.

[0066] It should also be noted that the number of sensor sensing elements 12 must be at least greater than or equal to the number of sensor probes 21. If the number of sensor sensing elements 12 and sensor probes 21 are the same, then the distribution angles of the sensor probes 21 and sensor sensing elements 12 in the initial state must be completely consistent to simultaneously sample signal amplitudes and generate a tilt detection plane. Moreover, the mounting surfaces of the sensor assembly 2 and the sensor sensing elements 12 on the centrifugal rotor 1 are correspondingly distributed, and the mounting distance between the centrifugal rotor 1 and the sensor assembly 2 is determined by the characteristics of the sensor probes 21.

[0067] In one embodiment, a tapered hole connection is used between the connecting shaft 31 and the motor shaft 32 to improve the alignment and connection effect between the connecting shaft 31 and the motor shaft 32.

[0068] In one embodiment, the connecting shaft 31 includes a flexible shaft. In high-speed and ultra-high-speed centrifuge applications, the connecting shaft 31 is typically configured as a flexible shaft to prevent the device from being easily damaged during high-speed operation.

[0069] In one embodiment, the centrifugal rotor 1 includes an angle rotor, a horizontal rotor, a continuous flow rotor, or a vertical rotor. That is, the specific type of centrifugal rotor 1 is not limited and can be selected according to the actual situation and needs in practical application.

[0070] In addition to the centrifuge rotor tilt detection device described above, the present invention also provides a detection method for the centrifuge rotor tilt detection device disclosed in the above embodiments, the detection method comprising:

[0071] S1. Obtain the position information of each point and the dimension information of each side of the first plane A1B1C1 formed by the three sensor sensing components in the initial state;

[0072] S2. After the motor rotor runs for a certain period of time, it reaches the real-time state. The position information of each point and the dimension information of each side of the third plane A3B3C3 formed by the three sensor sensing components in the real-time state are obtained.

[0073] S3. Construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1, and obtain the position information of each point and the dimension information of each side of the second plane A2B2C2.

[0074] S4. Construct the first intersection point T of the extension lines of line segment B2C2 and line segment B3C3. Construct the second intersection point P of the perpendicular line from point C2 on the second plane A2B2C2 to line segment A2T and the perpendicular line from point C3 on the third plane A2B3C3 (since point A2 and point A3 coincide, plane A2B3C3 is also plane A3B3C3).

[0075] S5. Based on the similarity theorem of triangles, the cosine theorem and the Pythagorean theorem, calculate the first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 to determine the degree of tilt of the centrifugal rotor.

[0076] The explanations of each point, line segment, and plane are shown in Table 1 below.

[0077] Table 1. Definitions of Points, Line Segments, and Planes

[0078]

[0079]

[0080] It should be noted that the first plane A1B1C1 is the reference plane, the second plane A2B2C2 is a constructed virtual plane parallel to the first plane A1B1C1, and the third plane A2B3C3 and the third plane A3B3C3 are the same, both being real-time detection planes.

[0081] Based on the above detection method, a schematic diagram of the auxiliary structure constructed for calculating the rotor tilt angle can be drawn, such as... Figure 5 As shown. Figure 5The assumed reference plane is the first plane A1B1C1. This plane is formed by the initial positions detected by the three sensor sensing components 12 when the rotor is installed. After the positions of the sensor sensing components 12 are fixed, the lengths of line segments A1B1, A1C1, and B1C1 are known. If, within a certain control cycle of the centrifuge system, the rotor reaches a certain mode point after rotating to a certain speed, and this mode point is related to the rotor speed, and the position difference between the real-time detection plane A2B3C3 (i.e., the third plane A3B3C3) formed by the positions detected by the three sensor sensing components 12 and the first plane A1B1C1 between the three sensor sensing components 12 is A1A2, B1B3, and C1C3.

[0082] If line segment A1A2 is the shortest (choose the shortest line segment among A1A2, B1B3, and C1C3), construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1. Then, the first angle between the second plane A2B2C2 and the third plane A2B3C3 is C2PC3. Ignore the rotor tilting. Figure 5 The changes in the positions of A1A2, B1B3, and C1C3 perpendicular to the first plane A1B1C1 are considered to mean that A1A2, B1B3, and C1C3 always change in this vertical direction.

[0083] In one embodiment, calculating the first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 according to the triangle similarity theorem, the cosine theorem, and the Pythagorean theorem includes:

[0084] Obtain the dimensions of line segments A2B2, B2C2, A2C2, A1A2, B1B3, and C1C3;

[0085] Calculate the dimensions of line segment C3T using the similarity theorem of triangles;

[0086] Calculate the second included angle A2B2C2 using the Law of Cosines;

[0087] Calculate the dimensions of line segment A2T using the law of cosines;

[0088] Calculate the third included angle C3A2T using the Law of Cosines;

[0089] Calculate line segment C3P and line segment A2C3 using the Pythagorean theorem;

[0090] Calculate the first included angle C2PC3 using the Law of Cosines.

[0091] exist Figure 5 The known lengths of the line segments are: A2B2, B2C2, A2C2, A1A2, B1B3, and C1C3. The definitions of each line segment are shown in Table 2 below.

[0092] Table 2. Definitions of Known Line Segments

[0093]

[0094] According to the similarity theorem of similar triangles, we can obtain:

[0095]

[0096] According to the Law of Cosines, the measure of ∠A²B²C² (i.e., the second included angle A²B²C²) is:

[0097]

[0098] ∠A²B²T=180-∠A²B²C²

[0099] According to the Law of Cosines, the magnitude of A²T can be obtained as follows:

[0100]

[0101] According to the Law of Cosines, the measure of ∠C3A2T (i.e., the third included angle C3A2T) can be obtained as follows:

[0102]

[0103] According to the Pythagorean theorem, C3P can be obtained:

[0104] C3P=A2C3*sin(∠C3A2T)

[0105]

[0106] Based on the line segment lengths obtained above, ∠C2PC3 (also known as the first included angle C2PC3) can be calculated:

[0107]

[0108] In one embodiment, determining the degree of tilt of the centrifugal rotor includes:

[0109] Determine whether the first included angle C2PC3 is greater than the preset tilt angle. If so, control the motor rotor to decelerate and issue an alarm; otherwise, control the motor rotor to increase speed.

[0110] It should be noted that the first included angle C2PC3, the second included angle A2B2C2, the third included angle C3A2T, the first plane A1B1C1, the second plane A2B2C2, the third plane A3B3C3, the first intersection point T, and the second intersection point P mentioned in this invention are only used to distinguish different positions and do not have any order.

[0111] In addition, it should be noted that the orientation or positional relationship indicated by "up and down" in this invention is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the purpose of simplifying the description and making it easier to understand, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Any combination of all embodiments provided by this invention is within the scope of protection of this invention and will not be elaborated upon here.

[0113] The centrifuge rotor tilt detection device and its detection method provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core idea of ​​the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A centrifuge rotor tilt detection device, characterized in that, include: Centrifugal rotor (1), which includes a centrifugal rotor body (11) and at least three sensor sensing components (12) distributed circumferentially along the centrifugal rotor body (11). The sensor assembly (2) includes a sensor bracket (22) disposed parallel to the centrifugal rotor (1) directly below it and at least three sensor probes (21). The sensor probes (21) are distributed circumferentially along the sensor bracket (22), and the sensor probes (21) and the sensor sensing component (12) cooperate to operate. The motor rotor (3) includes a connecting shaft (31) and a motor shaft (32). One end of the connecting shaft (31) passes through the sensor bracket (22) and is connected to the centrifugal rotor (1). The other end of the connecting shaft (31) is connected to the motor shaft (32). The control device is connected to the sensor sensing component (12), the sensor probe (21), and the motor rotor (3). The control device is configured to perform the following detection method: Acquire the position information of each point and the dimension information of each side of the first plane A1B1C1 formed by the three sensor sensing components (12) in the initial state; After the motor rotor (3) runs for a certain period of time, it reaches the real-time state and obtains the position information of each point and the dimension information of each side of the third plane A3B3C3 formed by the three sensor sensing components (12) in the real-time state. Construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1, and obtain the position information of each point and the dimension information of each side of the second plane A2B2C2; Construct the first intersection point T of the extension lines of line segment B2C2 and line segment B3C3, and construct the second intersection point P of the perpendicular line from point C2 on the second plane A2B2C2 to line segment A2T and the perpendicular line from point C3 on the third plane A3B3C3 on line segment A2T. Based on the similarity theorem of triangles, the cosine theorem, and the Pythagorean theorem, calculate the first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 to determine the degree of inclination of the centrifugal rotor.

2. The centrifuge rotor tilt detection device according to claim 1, characterized in that, The motor shaft (32) is provided with bearings (4) at both ends.

3. The centrifuge rotor tilt detection device according to claim 1, characterized in that, The number of sensor sensing components (12) is greater than the number of sensor probes (21); Alternatively, the number of sensor sensing components (12) may be equal to the number of sensor probes (21), and the sensor sensing components (12) and the sensor probes (21) may be distributed in a one-to-one correspondence.

4. The centrifuge rotor tilt detection device according to any one of claims 1 to 3, characterized in that, The connecting shaft (31) and the motor shaft (32) are connected by a tapered hole.

5. The centrifuge rotor tilt detection device according to any one of claims 1 to 3, characterized in that, The connecting shaft (31) includes a flexible shaft.

6. The centrifuge rotor tilt detection device according to any one of claims 1 to 3, characterized in that, The centrifugal rotor (1) includes an angular rotor, a horizontal rotor, a continuous flow rotor, or a vertical rotor.

7. The centrifuge rotor tilt detection device according to claim 1, characterized in that, The step of calculating the first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 based on the similarity theorem, the cosine theorem, and the Pythagorean theorem includes: Obtain the dimensions of line segments A2B2, B2C2, A2C2, A1A2, B1B3, and C1C3; Calculate the dimensions of line segment C3T using the similarity theorem of triangles; Calculate the second included angle A2B2C2 using the Law of Cosines; Calculate the dimensions of line segment A2T using the law of cosines; Calculate the third included angle C3A2T using the Law of Cosines; Calculate line segment C3P and line segment A2C3 using the Pythagorean theorem; The first included angle C2PC3 is calculated using the law of cosines.

8. The centrifuge rotor tilt detection device according to claim 1, characterized in that, The determination of the tilt degree of the centrifugal rotor (1) includes: Determine whether the first included angle C2PC3 is greater than the preset tilt angle. If so, control the motor rotor (3) to decelerate and issue an alarm. If not, control the motor rotor (3) to speed up.

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