Centrifuge plate transport mechanism and control method thereof, centrifuge apparatus

Abstract

The application relates to a centrifugal plate conveying mechanism and a control method thereof and a centrifugal device. The centrifugal plate conveying mechanism is arranged on a table surface of a workbench of the centrifugal device, and comprises a receiving component for receiving the centrifugal plate. A first driving assembly is connected with the receiving component and used for driving the receiving component to move between a preset first receiving position and a second receiving position. A grabbing assembly is used for grabbing the centrifugal plate received on the receiving component from the second receiving position or grabbing the centrifugal plate from a centrifugal machine arranged below the table surface. A second driving assembly is connected with the grabbing assembly and used for driving the grabbing assembly to move relative to the table surface, so that the centrifugal plate grabbed from the second receiving position can be sent into the centrifugal machine through a passing hole arranged on the table surface when the grabbing assembly moves, or the centrifugal plate grabbed from the centrifugal machine can be sent back to the receiving component at the second receiving position, so as to realize the placing of the centrifugal plate into the centrifugal machine or the taking of the centrifugal plate from the centrifugal machine.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automated reagent preparation, and particularly to a centrifuge plate transport mechanism and its control method, and centrifugation equipment. Background Technology

[0002] Currently, in the reagent preparation process, many reagents require centrifugation to achieve chemical reactions. Therefore, during reagent preparation, the filled reagents need to be placed on a centrifuge to complete the reaction. In automated reagent bottle preparation, the filled reagent bottles are collectively placed on centrifuge plates. By placing the centrifuge plates inside the centrifuge, the centrifugal reaction of the reagent bottles on the plates is achieved.

[0003] Because centrifuges are heavy and vibrate during operation, they are typically placed below the workbench to improve stability. However, before centrifuging reagents, the centrifuge plates need to be placed inside and then removed after centrifugation. Traditionally, this is done manually, which is wasteful of manpower and resources and significantly reduces centrifugation efficiency. Using a robotic arm mounted on the workbench to transfer the plates is impractical because the workbench would interfere with its movement. Therefore, improving the centrifugation efficiency of centrifuge plates is a key problem to be solved. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a centrifuge plate transport mechanism and its control method, as well as a centrifugation device, which can effectively improve the centrifugation efficiency of the centrifuge plate.

[0005] To address the aforementioned technical problems, the present invention provides the following technical solutions.

[0006] In a first aspect, the present invention provides a centrifuge plate transport mechanism, which is disposed on the workbench of a centrifuge apparatus. The transport mechanism includes:

[0007] Receiving component, used to support centrifuge plates;

[0008] The first drive assembly is connected to the receiving component and is used to drive the receiving component to move between a preset first receiving position and a second receiving position, so that the receiving component receives the centrifugal plate at the first receiving position or the second receiving position.

[0009] The gripping assembly is used to grip the centrifugal plate that is supported on the receiving component from the second receiving position, or to grip the centrifugal plate from inside the centrifuge located below the table.

[0010] The second drive assembly, connected to the gripping assembly, is used to drive the gripping assembly to move relative to the table surface, so that when the gripping assembly moves, it can send the centrifugal plate gripped from the second receiving position into the centrifuge through the through hole provided on the table surface, or send the centrifugal plate gripped from the centrifuge back to the receiving component of the second receiving position.

[0011] Using the above-described structure, when centrifugal plates need to be placed into the centrifuge, the receiving component receives the centrifugal plates at the first receiving position and transports them. The first drive assembly drives the receiving component, enabling it to move on the worktable surface, transporting the centrifugal plates from the first receiving position to the second receiving position. Driven by the second drive assembly, the gripping component passes through the second receiving position and reaches the centrifuge, thus gripping the centrifugal plates carried by the receiving component at the second receiving position. After gripping the centrifugal plates, the gripping component moves under the action of the second drive assembly, passing through the through-hole on the worktable surface to reach the centrifuge and placing the centrifugal plates into the centrifuge.

[0012] Therefore, the cooperation between the first drive component and the receiving component enables the centrifuge plate to move horizontally along the workbench surface. The cooperation between the second drive component and the gripping component enables the centrifuge plate to move vertically along the workbench surface. Ultimately, this transports the centrifuge plate from the workbench surface to the centrifuge located beneath it. This eliminates the need for manual operation, where centrifuge plates are manually placed from the workbench surface into the centrifuge below, or manually removed from the centrifuge and placed onto the workbench. It achieves fully automated centrifugation, significantly improving the efficiency of centrifugation work.

[0013] A centrifugation device includes a main control module, a centrifuge, and the aforementioned centrifuge plate transport mechanism. The main control module is communicatively connected to the centrifuge plate transport mechanism, which transports centrifuge plates to the centrifuge for centrifugation. The main control module controls the centrifuge plate transport mechanism to release or remove plates according to instructions.

[0014] Using the above-described structure, the main control module controls the centrifuge plate transport mechanism and the centrifuge. The centrifuge plate transport mechanism moves the centrifuge plates from their initial position into the centrifuge for centrifugation. After the centrifugation reaction is complete, the main control module removes the centrifuge plates from the centrifuge and returns them to their initial position. This automates the centrifugation process and improves work efficiency.

[0015] A control method for a centrifuge plate transport mechanism, the control method being used to control the centrifuge plate transport mechanism to perform a plate-releasing action or a plate-retrieving action according to an instruction, the control method comprising:

[0016] When the control method is used to control the centrifuge plate transport mechanism to perform the plate-releasing action according to the instruction, the control method includes the following steps:

[0017] Determine whether the receiving component of the centrifugal plate transport mechanism receives the centrifugal plate at the first receiving position of the centrifugal equipment;

[0018] If the determination result is yes, then the first drive component of the centrifugal plate transport mechanism is controlled, and the first drive component drives the receiving component to move toward the second receiving position of the centrifugal equipment.

[0019] When the receiving component moves to the second receiving position, the second drive component of the centrifugal plate transport mechanism is controlled to drive the gripping component to move toward the second receiving position.

[0020] When the gripping component reaches the second receiving position, control the gripping component to grip the centrifugal plate on the receiving component;

[0021] When the gripping component clamps the centrifuge plate, the first drive component is controlled to drive the receiving part to move toward the first receiving position of the centrifuge.

[0022] Once the receiving component reaches the first receiving position, the second drive assembly of the centrifuge plate transport mechanism is controlled to drive the gripping component to move in the centrifuge direction; wherein, when the gripping component moves in the direction of the centrifuge, it passes through the through hole on the worktable surface;

[0023] Once the gripping component reaches the centrifuge, control the gripping component to release the centrifuge plate, allowing the centrifuge plate to be placed into the centrifuge.

[0024] When the control method is used to control the transport mechanism of a centrifuge to perform a plate-picking action according to an instruction, the control method includes the following steps:

[0025] Determine whether the receiving component of the centrifugal plate conveying mechanism is in the second receiving position blocking the through hole on the worktable surface:

[0026] If the determination result is yes, then control the first drive component to drive the receiving component to move towards the first receiving position;

[0027] When the receiving component moves to the first receiving position, the second drive component is controlled to drive the gripping component to move toward the centrifuge; wherein the gripping component passes through the through hole on the worktable surface;

[0028] Once the gripping component reaches the centrifuge, control the gripping component to grip the centrifuge plate;

[0029] When the gripping component clamps the centrifugal plate, the second drive component is controlled to drive the gripping component to move toward the second receiving position; wherein the gripping component clamps the centrifugal plate through the through hole on the table surface of the worktable;

[0030] When the gripping component reaches the second receiving position, the first driving component is controlled to drive the bearing component to move towards the second receiving position.

[0031] When the supporting component reaches the second receiving position, the gripping assembly is controlled to release the centrifugal plate, so that the centrifugal plate is supported on the supporting part.

[0032] Using the above method, since the receiving component moves on the worktable surface and transports the centrifugal plates under the drive of the first drive assembly, and the centrifuge is located below the worktable surface, the receiving component can transport the centrifugal plates from the first receiving position to the second receiving position above the centrifuge. The second drive assembly drives the gripping assembly to transport the centrifugal plates located above the centrifuge and place them into the centrifuge through the through-hole on the worktable surface. Furthermore, the second drive assembly can also drive the gripping assembly to remove the centrifugal plates after centrifugation from the centrifuge and return them to the second receiving position through the through-hole on the worktable surface. Upon returning to the second receiving position, the gripping assembly carries the centrifugal plates onto the receiving component, which then transports the centrifugal plates to the first receiving position to await the next transport. Through the cooperation of the first and second drive assemblies, the centrifugal plates can move relative to the worktable surface in a vertical two-dimensional coordinate system. By incorporating the through holes on the workbench surface, centrifuge plates can be transported from above to below the workbench surface, solving the problem of low efficiency in manual handling of centrifuge plates, realizing fully automated operation of the centrifuge plate centrifugation process, and improving the working efficiency of centrifuge plate centrifugation.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] Through the cooperation of the first drive assembly and the receiving component, and the cooperation of the second drive assembly and the gripping assembly, the centrifuge plate can achieve horizontal and vertical movement relative to the worktable surface, respectively. This combination enables the centrifuge plate to move within a vertical two-dimensional coordinate system relative to the worktable surface. The through holes on the worktable surface allow the centrifuge plate to be transported from above to below the worktable surface. Simultaneously, the reverse operation allows the centrifuge plate to be removed from the centrifuge and transported back to above the worktable surface. This solves the problem of low efficiency in manually placing or removing centrifuge plates from the centrifuge. Attached Figure Description

[0035] The invention can be better understood by describing the embodiments of the invention in conjunction with the accompanying drawings, in which:

[0036] Figure 1 This is a schematic diagram of the structure of a centrifugal plate transport mechanism according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of a centrifuge device according to an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of the first clamping member and the second clamping member according to an embodiment of the present invention;

[0039] Figure 4 This is a step diagram illustrating the process of a centrifugal plate transport mechanism performing the plate-releasing action according to an embodiment of the present invention;

[0040] Figure 5 This is a step diagram illustrating the process of a centrifugal plate transport mechanism performing a plate-picking action according to an embodiment of the present invention;

[0041] Figure 6 This is a system module diagram of a centrifugal plate transport mechanism according to an embodiment of the present invention.

[0042] In the above figures, the meanings of the reference numerals are as follows:

[0043] Component 1

[0044] Disk body 11

[0045] 12 baffles

[0046] First drive component 2

[0047] Crawler Component 3

[0048] First movable arm 4

[0049] First level section 41

[0050] First vertical segment 42

[0051] First clamping component 43

[0052] First clamping block 431

[0053] First protrusion 432

[0054] Second movable arm 5

[0055] Second horizontal section 51

[0056] Second vertical segment 52

[0057] Second clamping component 53

[0058] Second clamping block 531

[0059] Second protrusion 532

[0060] Second drive component 6

[0061] Bracket 61

[0062] First drive module 62

[0063] Centrifuge 7

[0064] Countertop 8

[0065] Through hole 9

[0066] Clamping drive 10

[0067] Centrifuge plate 101 Detailed Implementation

[0068] Unless otherwise defined, the technical or scientific terms used in this specification and claims shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0069] All the values ​​listed in this article, ranging from the lowest to the highest, refer to all values ​​obtained by incrementing the lowest and highest values ​​by one unit when the difference between the lowest and highest values ​​is more than two units.

[0070] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0071] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0072] like Figure 1In some embodiments, a transport mechanism for a centrifuge plate 101 is disclosed. The centrifuge plate transport mechanism is disposed on the table surface 8 of the centrifuge equipment's workbench. The transport mechanism includes a receiving component 1, a first driving assembly 2, a gripping assembly 3, and a second driving assembly 6. The receiving component 1 is used to receive the centrifuge plate 101, and the first driving assembly 2 is connected to the receiving component 1. The first driving assembly 2 drives the receiving component 1 to move between a preset first receiving position and a second receiving position, so that the receiving component 1 receives the centrifuge plate 101 at the first receiving position or the second receiving position. The gripping assembly 3 is used to grip the centrifuge plate 101 received on the receiving component 1 from the second receiving position, or to grip the centrifuge plate 101 from inside the centrifuge 7 located below the table surface 8. The second drive assembly 6 is connected to the gripping assembly 3 and is used to drive the gripping assembly 3 to move relative to the table 8. When the gripping assembly 3 moves, it can send the centrifugal plate 101 gripped from the second receiving position into the centrifuge 7 through the through hole 9 provided on the table 8, or send the centrifugal plate 101 gripped from the centrifuge 7 back to the receiving component 1 of the second receiving position.

[0073] From the above, it can be concluded that, under the action of the first drive assembly 2, the receiving component 1 transports the centrifugal plate 101 from the first receiving position to the second receiving position. Both the first and second receiving positions are located on the table surface 8 of the workbench. With the cooperation of the receiving component 1 and the first drive assembly 2, the centrifugal plate 101 can move horizontally along the table surface 8. The first receiving position is selected according to the needs of the workbench, ensuring that the centrifugal plate 101 is received by the receiving component 1 at the first receiving position. Since the second receiving position is located directly above the through hole 9 between the centrifuge 7 and the table surface 8, and with the cooperation of the gripping assembly 3 and the second drive assembly 6, the centrifugal plate 101 can move vertically relative to the table surface 8. Therefore, under the action of the second drive assembly 6, the gripping assembly 3 can grip the centrifugal plate 101 at the second receiving position, pass it across the table surface 8, and place it into the centrifuge 7. This allows the centrifuge plate 101 to pass smoothly over the worktable surface 8, preventing the worktable surface 8 from obstructing the centrifuge plate 101. The centrifuge plate transport mechanism enables the centrifuge plate 101 to move in a vertical two-dimensional coordinate system, and the length of the movement can be adjusted by changing the travel distance of the first drive component 2 and the second drive component 6.

[0074] It is also evident that by manipulating the second drive assembly 6 and the first drive assembly 2, the centrifugal plates 101 inside the centrifuge 7 can be removed and transported from below the worktable surface 8 to the second receiving position above the worktable surface 8. Furthermore, under the action of the centrifugal plate transport mechanism, the centrifugal plates 101 transported back to the worktable surface 8 are transported back to the first receiving position. This automated transport of the centrifugal plates 101 eliminates the need for manual movement. The centrifugation process of the centrifugal plates 101 is fully automated, improving the working efficiency of the centrifugal plates 101.

[0075] like Figure 1 In some embodiments, the second drive assembly 6 includes a first drive module 62 and a bracket 61. The bracket 61 is mounted on the worktable, and the gripping assembly 3 is connected to the first drive module 62. The first drive module 62 is mounted on the bracket 61 and is used to drive the gripping assembly 3 to slide vertically relative to the worktable surface 8. The orthographic projection of the gripping assembly 3 on the worktable surface 8 falls into the through hole 9, so that the gripping assembly 3 can pass through the through hole 9 on the worktable surface 8 when sliding, ensuring that the gripping assembly can smoothly transport the centrifuge plate 101 into the centrifuge or smoothly remove the centrifuge plate 101 from the centrifuge 7.

[0076] Furthermore, the bracket 61 can improve the overall stability of the second drive assembly 6, and when the first drive module 62 mounted on the bracket 61 drives the gripping assembly 3 to move vertically along the table surface 8 perpendicular to the worktable, the gripping assembly 3 can pass through the through hole 9 on the table surface 8 while also having good stability.

[0077] like Figure 1 , Figure 3 In some embodiments, the gripping assembly 3 includes a clamping drive 10, a first movable arm 4, and a second movable arm 5. The first movable arm 4 and the second movable arm 5 are respectively connected to the clamping drive assembly, which drives the first movable arm 4 and the second movable arm 5 to move relative to each other. A first clamping member 43 is disposed on the first movable arm 4 and is rotatable relative to the second movable arm 5. A second clamping member 53 is disposed on the second movable arm 5 and is rotatable relative to the first movable arm 4. The first clamping member 43 and the second clamping member 53 are used to clamp the centrifugal plate 101 when the first movable arm 4 and the second movable arm 5 move relative to each other to a preset position.

[0078] When the gripping assembly 3 grips the centrifuge plate 101, the clamping drive 10 drives the first movable arm 4 and the second movable arm 5 to move closer to each other. The gripping effect of the gripping assembly 3 is optimal when the first clamping member 43 and the second clamping member 53 are respectively attached to both sides of the centrifuge plate 101. Since the centrifuge plate 101 is placed on the receiving component 1, the two sides of the centrifuge plate 101 may not be parallel to the first clamping member 43 or the second clamping member 53. The first clamping member 43 and the second clamping member 53, which can rotate relative to each other, achieve self-adaptation through rotation, so that the clamping sides of the first clamping member 43 and the second clamping member 53 are both attached to the centrifuge plate 101. This increases the contact area of ​​the gripping assembly 3 when gripping the centrifuge plate 101, allowing the centrifuge plate 101 to achieve the best gripping effect.

[0079] like Figure 3 As shown, in some embodiments, the first clamping member 43 includes a first clamping block 431 and at least one first protrusion 432. The first clamping block 431 is rotatably mounted on the first movable arm 4, and the side of the first clamping block 431 relative to the second clamping member 53 is a first clamping side for clamping the centrifuge plate 101. Each first protrusion 432 is formed by a portion of the first clamping side protruding towards the second clamping member 53. The second clamping member 53 includes a second clamping block 531 and at least one second protrusion 532. The second clamping block 531 is rotatably mounted on the second movable arm 5, and the side of the second clamping block 531 relative to the first clamping member 43 is a second clamping side for clamping the centrifuge plate 101. Each second protrusion 532 is formed by a portion of the second clamping side protruding towards the first clamping member 43. Each first protrusion 432 and each second protrusion 532 are used to jointly support the clamped centrifuge plate 101. After clamping the centrifuge plate 101, the first protrusion 432 and the second protrusion 532 support the clamped centrifuge plate 101, allowing the bottom of the centrifuge plate 101 to receive a vertically upward supporting force from the first clamping member 43 and the second clamping member 53. Even if the clamping distance provided by the first clamping member 43 and the second clamping member 53 under the action of the clamping drive member 10 is insufficient, the gripping assembly 3 can still grip the centrifuge plate 101, enabling its lifting and lowering. Under the action of the second drive assembly 6, the centrifuge plate 101 is transferred through the through hole 9 on the table surface 8 of the worktable.

[0080] like Figure 1In some embodiments, the first movable arm 4 includes a first vertical segment 42 and a first horizontal segment 41. The first horizontal segment 41 is arranged along a surface 8 parallel to the worktable, and the first vertical segment 42 is arranged along a surface 8 perpendicular to the worktable. One end of the first horizontal segment 41 is connected to the clamping drive member 10, and the other end of the first horizontal segment 41 is connected to the first vertical segment 42. The end of the first vertical segment 42 away from the first horizontal segment 41 is connected to the first clamping member 43. The second movable arm 5 includes a second vertical segment 52 and a second horizontal segment 51. The second horizontal segment 51 is arranged along a surface 8 parallel to the worktable, and the second vertical segment 52 is arranged along a surface 8 perpendicular to the worktable. One end of the second horizontal segment 51 is connected to the clamping drive member 10, and the other end of the second horizontal segment 51 is connected to the second vertical segment 52. The end of the second vertical segment 52 away from the second horizontal segment 51 is connected to the second clamping member 53. From the above structure, it is easy to see that the first movable arm 4 and the second movable arm 5 form a receiving space. The first horizontal segment 41 and the second horizontal segment 51 allow the clamping drive 10 to reduce the stroke of the first movable arm 4 and the second movable arm 5 when driving them to move relative to each other, simplifying the gripping action of the gripping assembly 3 and further improving the working efficiency of the centrifuge plate transport mechanism. It also enables the gripping assembly 3 to grip larger centrifuge plates 101, improving the versatility of the centrifuge plate transport mechanism.

[0081] like Figure 1In some embodiments, the receiving component 1 includes a disc body 11 and a plurality of baffles 12. The disc body 11 has a top side and a bottom side opposite to the top side. Each baffle 12 is disposed around the top side of the disc body 11, and each baffle 12 forms a storage position for storing the centrifuge plate 101 on the top side of the disc body 11. Each baffle 12 has an inner side facing the storage position and an outer side away from the storage position. The inner side of each baffle 12 extends gradually outward from one end connected to the top side to the other end to form a slope. Alternatively, the inner side of each baffle 12 extends curved outward from one end connected to the top side to the other end to form an arc surface. At the junction of the slope or arc surface and the bottom edge of the centrifuge plate 101, a gap is formed between the bottom surface of the centrifuge plate 101 and the disc body 11 for the insertion of each first protrusion 432 and each second protrusion 532. Several baffles 12 around the disc body 11 support the centrifugal plate 101 mounted on the receiving component 1. The baffles 12, with their inclined or curved surfaces, support the bottom of the centrifugal plate 101, creating a gap between it and the disc body 11. This gap allows the first protrusions 432 of the first clamping member 43 and the second protrusions 532 of the second clamping member 53 to extend into the gap when the gripping component 3 grips the centrifugal plate 101. Each first protrusion 432 and each second protrusion 532 contacts the bottom of the centrifugal plate 101, supporting it and facilitating gripping. This prevents the centrifugal plate 101 from detaching during gripping, as it relies solely on the friction between the first and second clamping members 43 and 53 and the centrifugal plate 101.

[0082] like Figure 2 , Figure 6 The illustration also discloses a centrifugation device in some embodiments. The device includes a main control module, a centrifuge plate transport mechanism, and a centrifuge 7. The main control module is communicatively connected to the centrifuge plate transport mechanism, which transports centrifuge plates 101 to the centrifuge 7 for centrifugation. The main control module controls the centrifuge plate transport mechanism to place or remove plates according to instructions. This achieves automated transport of the centrifuge plates 101, moving them from their initial position to the centrifuge 7, and removing them from the centrifuge 7 after centrifugation. This solves the problem that the centrifuge plates 101 cannot reach the centrifuge 7, which is located below the workbench surface 8, due to obstruction.

[0083] In some embodiments, photoelectric sensors are respectively provided at the first receiving position and the second receiving position to detect whether the receiving component is located at the first receiving position or the second receiving position. Figure 4 , Figure 5 The embodiments also disclose a control method for a centrifuge plate transport mechanism. The control method is used to control the centrifuge plate transport mechanism to perform a plate-releasing or plate-retrieving action according to instructions. The control method includes:

[0084] When the control method is used to control the centrifuge plate transport mechanism to perform the plate-releasing action according to the instruction, the control method includes the following steps.

[0085] S1. Determine whether the receiving component 1 of the centrifugal plate transport mechanism receives the centrifugal plate 101 at the first receiving position of the centrifugal equipment.

[0086] S2. If the determination result is negative, control the first drive component 2 to drive the receiving part to move toward the first receiving position and receive the centrifugal plate 101.

[0087] S3. If the determination result is yes, then control the first drive component 2 of the centrifugal plate transport mechanism to drive the receiving component 1 to move towards the second receiving position of the centrifugal equipment.

[0088] S4. When the receiving component 1 moves to the second receiving position, the second drive component 6 of the centrifugal plate transport mechanism is controlled to drive the gripping component 3 to move toward the second receiving position.

[0089] S5. When the gripping component 3 reaches the second receiving position, control the gripping component 3 to grip the centrifugal plate 101 on the receiving component 1.

[0090] S6. When the gripping component 3 clamps the centrifugal plate 101, the first driving component 2 is controlled to drive the receiving part to move towards the first receiving position of the centrifugal equipment.

[0091] S7. When the receiving component 1 arrives at the first receiving position, the second drive component 6 of the centrifuge plate transport mechanism is controlled to drive the gripping component 3 to move in the direction of the centrifuge 7; wherein, when the gripping component 3 moves in the direction of the centrifuge 7, it passes through the through hole 9 on the table surface 8 of the workbench.

[0092] S8. When the gripping component 3 reaches the centrifuge 7, control the gripping component 3 to release the centrifuge plate 101 so that the centrifuge plate 101 is placed into the centrifuge 7.

[0093] When the control method is used to control the transport mechanism of the centrifuge to perform a plate-picking action according to the instructions, the control method includes the following steps.

[0094] S9. Determine whether the receiving component 1 of the centrifugal plate transport mechanism is in the second receiving position of the through hole 9 on the table surface 8 that blocks the workbench.

[0095] S10. If the determination result is yes, then control the first drive component 2 to drive the receiving component 1 to move towards the first receiving position.

[0096] If the result is negative, proceed directly to the next step.

[0097] S11. When the receiving component 1 moves to the first receiving position, the second drive component 6 is controlled to drive the gripping component 3 to move toward the centrifuge 7; wherein the gripping component 3 passes through the through hole 9 on the table surface 8 of the workbench.

[0098] S12. When the gripping component 3 arrives inside the centrifuge 7, control the gripping component 3 to grip the centrifuge plate 101.

[0099] S13. When the gripping component 3 clamps the centrifugal plate 101, the second drive component 6 is controlled to drive the gripping component 3 to move toward the second receiving position; wherein the gripping component 3 clamps the centrifugal plate 101 through the through hole 9 on the table surface 8 of the workbench.

[0100] S14. When the gripping component 3 reaches the second receiving position, control the first driving component 2 so that the first driving component 2 drives the bearing component to move towards the second receiving position.

[0101] S15. When the supporting component reaches the second receiving position, control the gripping component 3 to release the centrifugal plate 101 so that the centrifugal plate 101 is supported on the supporting part.

[0102] Because the receiving component 1 moves on the workbench surface 8 and transports the centrifugal plate 101 under the drive of the first drive assembly 2, and the centrifuge 7 is located below the workbench surface 8, the receiving component 1 can transport the centrifugal plate 101 from the first receiving position to the second receiving position above the centrifuge 7. The second drive assembly 6 drives the gripping assembly 3 to transport the centrifugal plate 101 above the centrifuge 7 and place it into the centrifuge 7 through the through hole 9 on the workbench surface 8. Furthermore, the second drive assembly 6 can also drive the gripping assembly 3 to remove the centrifugal plate 101 from the centrifuge 7 after centrifugation and return it to the second receiving position through the through hole 9 on the workbench surface 8. After returning to the second receiving position, the gripping assembly carries the centrifugal plate 101 onto the receiving component 1, and the receiving component 1 transports the centrifugal plate 101 back to the first receiving position to await the next transport. Through the cooperation of the first drive assembly 2 and the second drive assembly 6, the centrifugal plate 101 can move in a vertical two-dimensional coordinate system relative to the workbench surface 8. By combining the through hole 9 provided on the workbench surface 8, the centrifuge plate 101 can be transported from above the workbench surface 8 to below the workbench surface 8, thus solving the difficulty of transporting the centrifuge plate 101 above the workbench surface 8 to the centrifuge 7 below the workbench surface 8.

[0103] In some embodiments, after the gripping component 3 releases the centrifuge plate 101 and places it into the centrifuge 7, the control method further includes the following steps:

[0104] After the gripping component 3 releases the centrifugal plate 101, the second drive component 6 is controlled to drive the gripping component 3 to move towards the second receiving position and return to the initial position.

[0105] After the centrifuge plate 101 is placed into the centrifuge 7, the gripping assembly 3 returns to its initial position to wait for the centrifuge 7 to start working. After the centrifuge 7 completes the centrifugation, the gripping assembly 3, under the action of the second drive assembly 6, grips the centrifuge plate 101 from inside the centrifuge 7 and returns it to the top of the worktable 8.

[0106] After the gripping component 3 releases the centrifuge plate 101 so that the centrifuge plate 101 is placed on the support, the control method further includes:

[0107] After the centrifugal plate 101 is received by the bearing part, the first drive assembly 2 is controlled to drive the bearing part to move towards the first receiving position, so as to return to the first receiving position. This enables the receiving part 1 of the centrifugal plate transport mechanism to wait for the next centrifugal plate 101, and under the action of the centrifugal plate transport mechanism, the centrifugal plate 101 is transported into the centrifuge 7.

[0108] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A centrifugal plate transport mechanism, characterized in that, The centrifuge plate transport mechanism is disposed on the workbench of the centrifuge equipment, and the transport mechanism includes: A receiving component for receiving centrifuge plates; the receiving component includes a disc body and a plurality of baffles, the disc body having a top side and a bottom side opposite to the top side; each baffle is disposed around the top side of the disc body, and each baffle forms a storage position for storing the centrifuge plates on the top side of the disc body; each baffle has an inner side facing the storage position and an outer side away from the storage position; the inner side of each baffle gradually extends inclined towards the outer side from one end connected to the top side to the other end to form a slope; or, the inner side of each baffle bends and extends towards the outer side from one end connected to the top side to the other end to form an arc surface; the slope or the arc surface is connected to the bottom edge of the centrifuge plate to form a gap between the bottom surface of the centrifuge plate and the disc body; A first driving component is connected to the receiving component and is used to drive the receiving component to move between a preset first receiving position and a second receiving position, so that the receiving component receives the centrifugal plate at the first receiving position or the second receiving position. A gripping component is used to grip the centrifugal plate received on the receiving component from the second receiving position, or to grip the centrifugal plate from inside the centrifuge located below the table. The gripping assembly includes a clamping drive, a first movable arm, a second movable arm, a first clamping member, and a second clamping member. The first movable arm and the second movable arm are respectively connected to the clamping drive, which drives the first movable arm and the second movable arm to move relative to each other. The first clamping member is disposed on the first movable arm and is rotatable relative to the second movable arm. The second clamping member is disposed on the second movable arm and is rotatable relative to the first movable arm. The first clamping member and the second clamping member are used to clamp the centrifugal plate when the first movable arm and the second movable arm move relative to each other to a preset position. The first clamping member includes a first clamping block and at least one first protrusion. The first clamping block is rotatable. The first clamping block is mounted on the first movable arm. The side of the first clamping block opposite to the second clamping member is a first clamping side for clamping the centrifuge plate. Each of the first protrusions partially protrudes from the first clamping side towards the direction close to the second clamping member. The second clamping member includes a second clamping block and at least one second protrusion. The second clamping block is rotatably mounted on the second movable arm. The side of the second clamping block opposite to the first clamping member is a second clamping side for clamping the centrifuge plate. Each of the second protrusions partially protrudes from the second clamping side towards the direction close to the first clamping member. Each of the first protrusions and each of the second protrusions jointly support the clamped centrifuge plate and can be inserted into the gap between the centrifuge plate and the disc body. The second drive component, connected to the gripping component, is used to drive the gripping component to move relative to the table surface, so that when the gripping component moves, it can send the centrifugal plate gripped from the second receiving position into the centrifuge through the through hole provided on the table surface, or send the centrifugal plate gripped from the centrifuge back to the receiving component at the second receiving position.

2. The centrifugal plate transport mechanism as described in claim 1, characterized in that, The second drive component includes: a first drive module and a bracket; The bracket is mounted on the workbench, and the gripping component is connected to the first drive module. The first drive module is mounted on the bracket and is used to drive the gripping component to slide vertically relative to the workbench surface, so that the gripping component passes through the through hole; the orthographic projection of the gripping component on the workbench surface falls into the through hole.

3. The centrifugal plate transport mechanism as described in claim 1, characterized in that, The first movable arm includes: a first vertical section and a first horizontal section. The first horizontal section is arranged along a surface parallel to the worktable, and the first vertical section is arranged along a surface perpendicular to the worktable. One end of the first horizontal section is connected to the clamping drive member, and the other end of the first horizontal section is connected to the first vertical section. The end of the first vertical section away from the first horizontal section is connected to the first clamping member. The second movable arm includes a second vertical section and a second horizontal section. The second horizontal section is arranged along a surface parallel to the worktable, and the second vertical section is arranged along a surface perpendicular to the worktable. One end of the second horizontal section is connected to the clamping drive member, and the other end of the second horizontal section is connected to the second vertical section. The end of the second vertical section away from the second horizontal section is connected to the second clamping member.

4. A centrifuge device, characterized in that, The device includes a centrifuge plate transport mechanism as described in any one of claims 1-3, and further includes a workbench, a main control module, and a centrifuge. The workbench is provided with a through hole, and the main control module is communicatively connected to the centrifuge plate transport mechanism. The main control module controls the centrifuge plate transport mechanism to place or remove plates according to instructions.

5. A control method for a centrifuge plate transport mechanism, characterized in that, The control method is used to control the centrifugal plate transport mechanism as described in claim 1 to perform a plate-releasing action or a plate-retrieving action according to an instruction. The control method includes: When the control method is used to control the centrifuge plate transport mechanism to perform a plate-releasing action according to an instruction, the control method includes the following steps: Determine whether the receiving component of the centrifugal plate transport mechanism receives the centrifugal plate at the first receiving position of the centrifugal equipment; If the determination result is yes, then control the first drive component of the centrifugal plate transport mechanism to drive the receiving component to move toward the second receiving position of the centrifugal equipment. When the receiving component moves to the second receiving position, the second drive component of the centrifugal plate transport mechanism is controlled to drive the gripping component to move toward the second receiving position. When the gripping component reaches the second receiving position, the first and second protrusions of the gripping component are aligned with the gap between the centrifuge plate and the disc. After the first and second protrusions are inserted into the gap, the clamping drive of the gripping component is controlled to drive the first movable arm and the second movable arm to move relative to each other, so that the rotatable first clamping member and the second clamping member fit against both sides of the centrifuge plate and clamp it. When the gripping component clamps the centrifuge plate, the first driving component is controlled to drive the receiving component to move toward the first receiving position of the centrifuge. Once the receiving component reaches the first receiving position, the second drive component of the centrifuge plate transport mechanism is controlled to drive the gripping component to move toward the centrifuge; wherein, the gripping component passes through the through hole on the worktable surface when moving toward the centrifuge. Once the gripping component reaches the centrifuge, the gripping component is controlled to release the centrifuge plate, allowing the centrifuge plate to be placed inside the centrifuge. When the control method is used to control the transport mechanism of a centrifuge to perform a plate-picking action according to an instruction, the control method includes the following steps: Determine whether the receiving component of the centrifugal plate conveying mechanism is in the second receiving position blocking the through hole on the worktable surface: If the determination result is yes, then control the first drive component to drive the receiving component to move towards the first receiving position; When the receiving component moves to the first receiving position, the second driving component is controlled to drive the gripping component to move toward the centrifuge; wherein the gripping component passes through the through hole on the table surface of the workbench; Once the gripping component reaches the centrifuge, the first and second protrusions of the gripping component are controlled to support the bottom of the centrifuge plate, while the first and second clamping members are driven to fit against and clamp the sides of the centrifuge plate. When the gripping component clamps the centrifugal plate, the second driving component is controlled to drive the gripping component to move toward the second receiving position; wherein the gripping component clamps the centrifugal plate through the through hole on the table surface of the workbench; When the gripping component reaches the second receiving position, the first driving component is controlled to drive the receiving component to move toward the second receiving position. When the receiving component reaches the second receiving position, the gripping assembly is controlled to release the centrifugal plate, so that the bottom edge of the centrifugal plate fits against the inclined or arc surface of the baffle and is received by the receiving component.

6. The control method for the centrifugal plate transport mechanism as described in claim 5, characterized in that, After controlling the gripping component to release the centrifuge plate and place it into the centrifuge, the control method further includes the following steps: After the gripping component releases the centrifugal plate, the second driving component is controlled to drive the gripping component to move toward the second receiving position and return to the initial position. After controlling the gripping component to release the centrifuge plate so that the centrifuge plate is received by the receiving component, the control method further includes: After the centrifugal plate is received by the receiving component, the first driving component is controlled to drive the receiving component to move towards the first receiving position, so as to return to the first receiving position.

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