Sample processing module

Abstract

A sample processing module disclosed by the present invention comprises a centrifugal adapter, a centrifugal device, a buffer device, a transfer mechanism and a controller, the transfer mechanism comprises a manipulator, and the controller is configured to control the manipulator to execute a guide action after the centrifugal device completes centrifugation. The control device is used for controlling the manipulator to grab the centrifugal adapter so as to enable the centrifugal adapter in the centrifugal device to rotate to a first position around a first horizontal direction, and controlling the manipulator to grab the centrifugal adapter so as to transfer the centrifugal adapter from the centrifugal device to the buffer device after the centrifugal adapter is located at the first position; when the manipulator executes the guide action, the manipulator comprises a moving component in a second horizontal direction perpendicular to the first horizontal direction; the guide action is executed through the manipulator after the centrifugal device finishes centrifugation, so that the manipulator can conveniently take out the centrifugal adapter from the centrifugal device, the failure rate can be reduced, and the centrifugal efficiency is ensured.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a sample processing module. Background Art

[0002] The centrifuge module is an important part of the laboratory automated detection assembly line, which includes a receiving component for carrying a centrifuge adapter. The centrifuge adapter is used to store a sample container containing a sample. When the centrifuge module is working, the receiving component will rotate around the vertical rotation axis with the receiving component bracket, and at the same time, the receiving component will also rotate around the horizontal rotation axis relative to the receiving component bracket, so that the receiving component is inclined relative to the horizontal plane. When the centrifugation is completed, the receiving component will be reset to a vertical state under the action of gravity. However, in actual use, the receiving component will not be able to return to the original state due to factors such as shaft wear and debris entering between the shaft and the sleeve, resulting in the robot getting stuck when removing the centrifuge adapter from the receiving component. At present, such faults need to be manually eliminated, which increases the workload of the operator and also affects the centrifugal efficiency. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a sample analysis system that can reduce the failure rate and ensure the centrifugal efficiency.

[0004] A sample analysis system according to a first embodiment of the present invention comprises:

[0005] A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample;

[0006] A centrifugal device having a vertical first rotation center, the centrifugal device is used to carry the centrifugal adapter and can drive the centrifugal adapter to rotate around the first rotation center to centrifuge the sample in the sample container;

[0007] A cache device, used for caching the centrifugal adapter;

[0008] A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching;

[0009] a controller configured to control the manipulator to perform a guiding action after the centrifugal device completes centrifugation, so that the centrifugal adapter in the centrifugal device rotates around a first horizontal direction to a first position, and after the centrifugal adapter is in the first position, control the manipulator to grab the centrifugal adapter to transfer the centrifugal adapter from the centrifugal device to the cache device;

[0010] Wherein, when the manipulator is performing the guiding action, the manipulator includes a movement component along a second horizontal direction perpendicular to the first horizontal direction;

[0011] The bearing surface of the centrifugal adapter is substantially in a horizontal state when in the first position.

[0012] The sample extraction device according to the embodiment of the present invention has at least the following beneficial effects:

[0013] The present invention uses a manipulator to perform a guiding action after the centrifugal device completes centrifugation, and drives the centrifugal adapter to rotate to a first position, so that the bearing surface of the centrifugal adapter is approximately in a horizontal state when in the first position, which facilitates the manipulator to take out the centrifugal adapter from the centrifugal device, thereby reducing the failure rate and ensuring the centrifugal efficiency.

[0014] In other embodiments of the present invention, the centrifugal adapter includes a main body and a gripping portion, the main body is used to carry the sample container, the gripping portion is connected to the main body and extends from the top of the main body, and the controller is configured to control the manipulator to act on the gripping portion when performing the guiding action to drive the centrifugal adapter to rotate to the first position.

[0015] In other embodiments of the present invention, the controller is configured to control the manipulator to act on the grasping part when performing the guiding action to drive the centrifugal adapter to rotate to the first position, including: the controller first controls the manipulator to descend until the bottom end of the manipulator is lower than the top end of the grasping part, and then controls the manipulator to move along the second horizontal direction away from the first rotation center to push the grasping part.

[0016] In other embodiments of the present invention, the manipulator has a first state for releasing the centrifugal adapter, a second state for grabbing the centrifugal adapter, and a third state between the first state and the second state for pre-grabbing and / or pre-releasing the centrifugal adapter. When the manipulator is in the third state, the manipulator can hold the centrifugal adapter, and the manipulator and the centrifugal adapter can move relative to each other.

[0017] Wherein, when the manipulator grasps the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-grasp the centrifugal adapter, perform a preset action after pre-grabbing, and switch from the third state to the second state to grasp the centrifugal adapter after performing the preset action;

[0018] Alternatively, when the manipulator releases the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-release the centrifugal adapter, perform a preset action after pre-release, and switch from the third state to the first state to release the centrifugal adapter after performing the preset action.

[0019] In other embodiments of the present invention, the cache device includes a storage slot for placing the centrifugal adapter, and when the centrifugal adapter is placed in the storage slot of the cache device, controlling the manipulator to be in the third state to pre-grab the centrifugal adapter includes: controlling the manipulator to move to the top of the storage slot of the cache device, and being in the third state to pre-grab the centrifugal adapter in the storage slot of the cache device; performing a preset action after pre-grabbing, including: moving upward a preset distance after pre-grabbing so that the centrifugal adapter at least partially leaves the storage slot of the cache device; switching from the third state to the second state to grab the centrifugal adapter after performing the preset action includes: switching from the third state to the second state to grab the centrifugal adapter after moving upward a preset distance;

[0020] Alternatively, the centrifugal device comprises a mounting component, a driving component and a containing component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the containing component comprises a storage slot for placing the centrifugal adapter, when the centrifugal adapter is placed in the storage slot of the containing component, the controlling the manipulator to be in the third state to pre-grab the centrifugal adapter comprises: controlling the manipulator to move above the storage slot of the containing component and to be in the third state to pre-grab the centrifugal adapter in the storage slot of the containing component; the performing a preset action after pre-grabbing comprises: moving upwards by a preset distance after pre-grabbing so that the centrifugal adapter at least partially detaches from the storage slot of the containing component; the switching from the third state to the second state to grab the centrifugal adapter after performing the preset action comprises: switching from the third state to the second state to grab the centrifugal adapter after moving upwards by a preset distance;

[0021] Alternatively, the cache device includes a storage slot for placing the centrifugal adapter, and when the storage slot of the cache device is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the cache device, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the cache device; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance;

[0022] Alternatively, the centrifugal device includes a mounting component, a driving component and a accommodating component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the accommodating component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the accommodating component includes a storage slot for placing the centrifugal adapter, and when the storage slot of the accommodating component is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the accommodating component, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the accommodating component; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance.

[0023] In other embodiments of the present invention, the storage slot of the cache device and / or the accommodating component includes a storage section and a guide section, the guide section is connected to the upper end of the storage section and is used to guide the centrifugal adapter, the centrifugal adapter includes a main body, and the lower end of the main body is provided with a chamfer structure;

[0024] Wherein, when the controller controls the manipulator to switch from the third state to the second state to grab the centrifugal adapter in the storage slot of the cache device and / or the accommodating component, the highest point of the chamfered structure is higher than or flush with the lowest point of the guide section;

[0025] Alternatively, when the controller controls the manipulator to switch from the third state to the first state to release the centrifugal adapter into an empty storage slot of the cache device and / or the accommodating component, the highest point of the chamfered structure is lower than or flush with the lowest point of the guide section.

[0026] In other embodiments of the present invention, the centrifugal adapter includes a main body and a gripping portion, the main body is used to carry the sample container, the gripping portion is connected to the main body and extends from the top of the main body, the gripping portion includes a first gripping section and a second gripping section arranged in sequence along the vertical direction, the second gripping section is located between the first gripping section and the main body, and the cross-sectional area of ​​the first gripping section is larger than the cross-sectional area of ​​the second gripping section, so as to form a gripping surface at the connection between the first gripping section and the second gripping section, and the manipulator includes a plurality of grippers, defining a reference plane perpendicular to the first rotation center;

[0027] Wherein, when the projection of the clamp in the reference plane partially overlaps with the projection of the grasping surface in the reference plane, and the clamp is pressed against the outer peripheral surface of the first grasping section, and / or the clamp is pressed against the outer peripheral surface of the second grasping section, the manipulator is in the second state;

[0028] Alternatively, when the projection of the clamp in the reference plane partially overlaps with the projection of the gripping surface in the reference plane, and the clamp is spaced apart from the outer circumferences of the first gripping section and the second gripping section, the manipulator is in the third state;

[0029] Alternatively, when the projection of the clamping claw in the reference plane does not overlap with the projection of the grasping surface in the reference plane, the manipulator is in the first state.

[0030] In other embodiments of the present invention, when the manipulator is in the third state, the manipulator can perform at least one of the following movements relative to the centrifugal adapter: rotation, movement, swinging, and vibration.

[0031] In other embodiments of the present invention, the sample processing module also includes an identification device, and the controller is configured to control the manipulator to perform the guiding action when the identification device identifies that the centrifuge adapter that has completed centrifugation deviates from the first position, and / or, the controller is further configured to control the manipulator to grab the centrifuge adapter when the identification device identifies that the centrifuge adapter after performing the guiding action is in the first position.

[0032] A sample processing module according to a first embodiment of the present invention includes:

[0033] a centrifuge adapter for holding a sample container containing a sample;

[0034] A centrifugal device having a vertical first rotation center, the centrifugal device is used to carry the centrifugal adapter and can drive the centrifugal adapter to rotate around the first rotation center to centrifuge the sample in the sample container;

[0035] A cache device, used for caching the centrifugal adapter;

[0036] The transfer mechanism comprises a manipulator, wherein the manipulator is used to grab the centrifugal adapter to transfer the centrifugal adapter from the buffer device to the centrifugal device for centrifugation, or to transfer the centrifugal adapter from the centrifugal device to the buffer device for caching, wherein the manipulator has a first working state and a second working state, and when the manipulator is in the first working state, it can grab the centrifugal adapter that has completed centrifugation to directly transfer the centrifugal adapter from the centrifugal device to the buffer device, and when the manipulator is in the second working state, it can perform a guiding action after the centrifugal device completes centrifugation to rotate the centrifugal adapter in the centrifugal device to the first position in the horizontal direction, and can grab the centrifugal adapter after the centrifugal adapter is in the first position to transfer the centrifugal adapter from the centrifugal device to the buffer device;

[0037] The controller is configured to select one of the first working state and the second working state, and control the manipulator to operate in the selected working state.

[0038] In other embodiments of the present invention, the controller is further configured to receive a user instruction to control the manipulator to switch between the first working state and the second working state;

[0039] Alternatively, within a preset time period after the sample processing module completes maintenance, the controller is configured to control the manipulator to operate in the first working state, and when the sample processing module completes maintenance and after the preset time period has passed, the controller is configured to control the manipulator to operate in the second working state;

[0040] Alternatively, when the total operating time of the sample processing module after the maintenance is completed is less than a preset value, the controller is configured to control the manipulator to operate in the first working state, and when the total operating time of the sample processing module after the maintenance is completed is equal to or greater than the preset value, the controller is configured to control the manipulator to operate in the second working state;

[0041] Alternatively, the sample processing module also includes an identification device, and when the identification device identifies that the centrifuge adapter that has completed centrifugation is in the first position, the controller is configured to control the manipulator to operate in the first working state, and when the identification device identifies that the centrifuge adapter that has completed centrifugation deviates from the first position, the controller is configured to control the manipulator to operate in the second working state.

[0042] In other embodiments of the present invention, the movement of the manipulator when performing the guiding action includes a movement component away from the first rotation center in a horizontal direction.

[0043] A sample processing module according to a third embodiment of the present invention includes:

[0044] a centrifuge adapter for holding a sample container containing a sample;

[0045] A centrifugal device having a vertical first rotation center, the centrifugal device is used to carry the centrifugal adapter and can drive the centrifugal adapter to rotate around the first rotation center to centrifuge the sample in the sample container;

[0046] A cache device, used for caching the centrifugal adapter;

[0047] The transfer mechanism comprises a manipulator, wherein the manipulator is used to grab the centrifugal adapter to transfer the centrifugal adapter from the buffer device to the centrifugal device for centrifugation, or to transfer the centrifugal adapter from the centrifugal device to the buffer device for caching, the manipulator having a first state for releasing the centrifugal adapter, a second state for grabbing the centrifugal adapter, and a third state between the first state and the second state for pre-grabbing and / or pre-releasing the centrifugal adapter, and when the manipulator is in the third state, the manipulator can hold the centrifugal adapter, and the manipulator and the centrifugal adapter can move relative to each other;

[0048] a controller, when the manipulator grasps the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-grasp the centrifugal adapter, to perform a preset action after pre-grasping, and to switch from the third state to the second state to grasp the centrifugal adapter after performing the preset action;

[0049] Alternatively, when the manipulator releases the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-release the centrifugal adapter, perform a preset action after pre-release, and switch from the third state to the first state to release the centrifugal adapter after performing the preset action.

[0050] In other embodiments of the present invention, the cache device includes a storage slot for placing the centrifugal adapter, and when the centrifugal adapter is placed in the storage slot of the cache device, controlling the manipulator to be in the third state to pre-grab the centrifugal adapter includes: controlling the manipulator to move to the top of the storage slot of the cache device, and being in the third state to pre-grab the centrifugal adapter in the storage slot of the cache device; performing a preset action after pre-grabbing, including: moving upward a preset distance after pre-grabbing so that the centrifugal adapter at least partially leaves the storage slot of the cache device; switching from the third state to the second state to grab the centrifugal adapter after performing the preset action includes: switching from the third state to the second state to grab the centrifugal adapter after moving upward a preset distance;

[0051] Alternatively, the centrifugal device comprises a mounting component, a driving component and a containing component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the containing component comprises a storage slot for placing the centrifugal adapter, when the centrifugal adapter is placed in the storage slot of the containing component, the controlling the manipulator to be in the third state to pre-grab the centrifugal adapter comprises: controlling the manipulator to move above the storage slot of the containing component and to be in the third state to pre-grab the centrifugal adapter in the storage slot of the containing component; the performing a preset action after pre-grabbing comprises: moving upwards by a preset distance after pre-grabbing so that the centrifugal adapter at least partially detaches from the storage slot of the containing component; the switching from the third state to the second state to grab the centrifugal adapter after performing the preset action comprises: switching from the third state to the second state to grab the centrifugal adapter after moving upwards by a preset distance;

[0052] Alternatively, the cache device includes a storage slot for placing the centrifugal adapter, and when the storage slot of the cache device is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the cache device, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the cache device; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance;

[0053] Alternatively, the centrifugal device includes a mounting component, a driving component and a accommodating component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the accommodating component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the accommodating component includes a storage slot for placing the centrifugal adapter, and when the storage slot of the accommodating component is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the accommodating component, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the accommodating component; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance.

[0054] A sample processing module according to a fourth embodiment of the present invention includes:

[0055] A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample;

[0056] A centrifuge device, comprising a mounting component, a driving component and a containing component, wherein the containing component comprises a storage slot for placing the centrifuge adapter, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, and the mounting component is connected to the driving component and can be driven by the driving component to rotate around a vertical first rotation center to centrifuge the sample in the sample container;

[0057] A cache device, used for caching the centrifugal adapter;

[0058] A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching;

[0059] Guidance mechanism;

[0060] a controller configured to control the guiding mechanism to perform a guiding action after the centrifugal device completes centrifugation, so that the centrifugal adapter in the centrifugal device rotates around the second rotation center to a first position, and after the centrifugal adapter is in the first position, control the manipulator to grab the centrifugal adapter to transfer the centrifugal adapter from the centrifugal device to the cache device;

[0061] Wherein, when the guiding mechanism performs the guiding action, the guiding mechanism includes a moving component in a horizontal direction perpendicular to the second rotation center;

[0062] The bearing surface of the centrifugal adapter is substantially in a horizontal state when in the first position.

[0063] In other embodiments of the present invention, the guiding mechanism is the manipulator;

[0064] Alternatively, the guiding mechanism includes a pushing component independent of the robot arm, and when the centrifugal device completes centrifugation, the pushing component pushes the accommodating component to drive the centrifugal adapter to rotate to the first position.

[0065] A sample processing module according to a fifth embodiment of the present invention includes:

[0066] A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample;

[0067] A centrifuge device, comprising a mounting component, a driving component and a containing component, wherein the containing component comprises a storage slot for placing the centrifuge adapter, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, and the mounting component is connected to the driving component and can be driven by the driving component to rotate around a vertical first rotation center to centrifuge the sample in the sample container;

[0068] A cache device, used for caching the centrifugal adapter;

[0069] A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching;

[0070] a guiding mechanism, comprising a magnetic component, wherein the magnetic component is used to apply a magnetic force to rotate the centrifugal adapter that has completed centrifugation in the centrifugal device around the second rotation center to a first position, and after the centrifugal adapter is in the first position, control the manipulator to grab the centrifugal adapter to transfer the centrifugal adapter from the centrifugal device to the cache device;

[0071] Wherein, the bearing surface of the centrifugal adapter is approximately in a horizontal state when in the first position.

[0072] A sample processing module according to a sixth embodiment of the present invention includes:

[0073] A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample;

[0074] A centrifuge device, comprising a mounting component, a driving component and a containing component, wherein the containing component comprises a storage slot for placing the centrifuge adapter, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, and the mounting component is connected to the driving component and can be driven by the driving component to rotate around a vertical first rotation center to centrifuge the sample in the sample container;

[0075] A cache device, used for caching the centrifugal adapter;

[0076] A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching;

[0077] a guiding mechanism independent of the manipulator, used for driving the centrifugal adapter in the centrifugal device to rotate around the second rotation center to a first position after the centrifugal device completes centrifugation, and for grabbing the centrifugal adapter after the centrifugal adapter is in the first position, so as to transfer the centrifugal adapter from the centrifugal device to the buffer device;

[0078] Wherein, the bearing surface of the centrifugal adapter is approximately in a horizontal state when in the first position.

[0079] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0081] Figure 1 is a schematic diagram of a sample processing module in an embodiment of the present invention;

[0082] Figure 2 A schematic diagram of the steps of the robot performing the guiding action in an embodiment of the present invention;

[0083] Figure 3 A schematic diagram of a manipulator in a first state according to an embodiment of the present invention;

[0084] Figure 4 is a schematic diagram of a manipulator in a third state according to an embodiment of the present invention;

[0085] Figure 5 is a schematic diagram of a manipulator in a second state according to an embodiment of the present invention;

[0086] Figure 6 A schematic diagram of a centrifugal device in an embodiment of the present invention;

[0087] Figure 7 It is a schematic diagram of the steps of placing the centrifugal adapter into the storage tank in the present invention.

[0088] Reference numerals:

[0089] Centrifugal adapter 100, bearing surface 110, placement hole 111, main body 120, chamfer structure 121, gripping portion 130, first gripping section 131, second gripping section 132, gripping surface 133;

[0090] Centrifugal device 200, accommodating component 210, storage section 211, guide section 212, mounting component 220, driving component 230;

[0091] Cache device 300;

[0092] Transfer mechanism 400, manipulator 410;

[0093] Sample container 500. DETAILED DESCRIPTION

[0094] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0095] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0096] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0097] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0098] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0099] Some samples need to be centrifuged before testing. Current sample analysis systems are usually equipped with a centrifuge module. A typical centrifuge module includes a containing component, which can carry samples. The containing component can rotate along a first horizontal direction during centrifugation, and will reset under the action of gravity after the centrifugation is completed. However, in actual use, the containing component will not reset normally due to factors such as shaft wear and entry of debris between the shaft and the sleeve, resulting in jamming when the robot removes the centrifuge adapter from the containing component. Based on this, the present invention proposes a sample processing module, which can guide the containing component after centrifugation is completed, thereby solving the problem that the centrifuge adapter cannot be smoothly removed from the containing component.

[0100] Reference Figure 1 The sample processing module of the first embodiment of the present invention includes a centrifugal adapter 100, a centrifugal device 200, a buffer device 300, a transfer mechanism 400 and a controller.

[0101] The centrifuge adapter 100 can carry sample containers 500 in batches, thereby realizing batch centrifugation of the sample containers 500. The centrifuge adapter 100 can be a rectangular structure, which has a carrying surface 110, and the carrying surface 110 has a placement hole 111. The placement hole 111 is used to place the sample container 500 containing the sample. When the sample container 500 is inserted into the placement hole 111, the upper end of the sample container 500 extends from above the placement hole 111, so as to facilitate the robot 410 to grab it.

[0102] The centrifugal device 200 has a vertical first rotation center. The centrifugal device 200 is used to carry the centrifugal adapter 100 and can drive the centrifugal adapter 100 to rotate around the first rotation center to centrifuge the sample in the sample container 500. In some specific embodiments, the centrifugal device 200 includes a receiving component 210, and the receiving component 210 has a storage slot. For the convenience of description, the storage slot of the receiving component 210 is named as a first storage slot. The shape of the first storage slot is set to a shape suitable for the centrifugal adapter 100 to be embedded, such as a rectangle. When the centrifugal adapter 100 is embedded in the first storage slot, the receiving component 210 can drive the centrifugal adapter 100 to rotate around the first rotation center, thereby realizing the centrifugation of the sample. In addition, in addition to being able to rotate around the first rotation center during the centrifugation process, the receiving component 210 can also be driven by centrifugal force to rotate around the first horizontal direction. In other words, the receiving component 210 also has a horizontal second rotation center rotation, so that the receiving component 210 and the centrifugal adapter 100 are tilted relative to the horizontal direction as a whole. After centrifugation, the receiving component 210 and the centrifugal adapter 100 will be reset under the action of gravity. If the receiving part 210 and the centrifugal adapter 100 cannot be reset normally, they will remain in Figure 2 The tilted state shown prevents the robot arm 410 from removing the centrifugal adapter 100 upward.

[0103] The buffer device 300 is used to buffer the centrifuge adapter 100. Specifically, it can be used to buffer samples to be centrifuged before entering the centrifuge device 200, and can also be used to buffer centrifuged samples before entering the track device. Figure 1 As shown in the figure, the buffer device 300 in some specific embodiments also has a storage slot. For the convenience of description, the storage slot of the buffer device 300 is named as the second storage slot. The shape of the second storage slot is set to a shape suitable for the centrifugal adapter 100 to be embedded, such as a rectangle. The buffer device 300 is arranged adjacent to the centrifugal device 200 to facilitate the transfer of the centrifugal adapter 100. Figure 1 As shown in the example, the second storage slots of the buffer device 300 are arranged around the centrifugal device 200, specifically located at the left side, right side and rear side (the rear side is the side away from the track device) of the centrifugal device 200.

[0104] The transfer mechanism 400 includes a manipulator 410, which is used to grab the centrifugal adapter 100 and transfer the centrifugal adapter 100. The manipulator 410 can transfer the centrifugal adapter 100 from the buffer device 300 to the centrifugal device 200 for centrifugation, and can also transfer the centrifugal adapter 100 from the centrifugal device 200 to the buffer device 300 for caching. Specifically, the manipulator 410 can move along the X-axis, Y-axis and Z-axis directions, and can perform opening and clamping actions. In addition, the manipulator 410 can also transfer the sample container 500, for example, move the sample container 500 into or out of the centrifugal adapter 100.

[0105] In this embodiment, in addition to being able to transfer the centrifugal adapter 100 or the sample container 500, the manipulator 410 can also drive the centrifugal adapter 100 to reset. Specifically, the controller is configured to control the manipulator 410 to perform a guiding action after the centrifugal device 200 completes centrifugation, so that the centrifugal adapter 100 in the centrifugal device 200 rotates around the first horizontal direction to the first position, and when the centrifugal adapter 100 is in the first position (for example, Figure 2 After the centrifugal adapter 100 is moved to the position shown in step (b) in step (c), the manipulator 410 is controlled to grab the centrifugal adapter 100 to transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300. The carrying surface 110 of the centrifugal adapter 100 is approximately in a horizontal state when in the first position, so that the disengagement direction of the centrifugal adapter 100 is the same as the upward movement direction of the manipulator 410, so that it can be removed smoothly. In this embodiment, when the manipulator 410 performs the guiding action, the manipulator 410 includes a moving component along a second horizontal direction perpendicular to the first horizontal direction. In some specific embodiments, the manipulator 410 can move along the second horizontal direction. In other specific embodiments, the manipulator 410 can also move along an inclined direction.

[0106] It should be noted that the term "approximately horizontal" as used in the present invention means that the bearing surface 110 can be kept strictly parallel to the horizontal plane, or can be inclined within a smaller angle range relative to the horizontal plane due to the influence of installation accuracy and manufacturing accuracy. This embodiment does not limit the specific value of the smaller angle range, and only ensures that the centrifugal adapter 100 can be smoothly taken out of the accommodating component 210.

[0107] It should also be noted that when the manipulator 410 performs the guiding action, it can push the centrifuge adapter 100 or the containing component 210 or the sample container 500. For example, for the containing component 210, the manipulator 410 can push the side wall of the containing component 210, and for the sample container 500, the manipulator 410 can push the container cover of the sample container 500.

[0108] The following combination Figure 2The steps of the correction action in the specific embodiment are described in detail. Figure 2 Step (b), at this time, the centrifugal adapter 100 and the receiving component 210 are in the second position, the carrying surface 110 is relatively inclined relative to the horizontal plane, and the manipulator 410 can move along the second horizontal direction (the direction indicated by the solid arrow in step (b)) to push the centrifugal adapter 100 and the receiving component 210 to rotate to the first position, at which time the carrying surface 110 is substantially horizontal, and the manipulator 410 can upwardly remove the centrifugal adapter 100. It can be understood that the manipulator 410 can also push the bottom of the receiving component 210 in the opposite direction in step (b) for correction.

[0109] Based on the first embodiment, the manipulator 410 in some embodiments of the present invention pushes the centrifugal adapter 100 to perform correction. Figure 2 The centrifugal adapter 100 includes a main body 120 and a gripping portion 130. The main body 120 is used to carry the sample container 500. The gripping portion 130 is connected to the main body 120 and extends from the top of the main body 120. The manipulator 410 can clamp the gripping portion 130 to transfer the centrifugal adapter 100. Specifically, the main body 120 is a rectangular structure, on which the aforementioned carrying surface 110 and placement hole 111 are provided. The gripping portion 130 is a rod-shaped structure, which can be connected to the main body 120 as an integral structure, or can be connected to the main body 120 as a separate component. The gripping portion 130 can be set at the center of the main body 120, so that the manipulator 410 is subjected to more balanced force in the process of clamping the gripping portion 130 and transferring the centrifugal adapter 100. The placement hole 111 is arranged around the gripping portion 130.

[0110] In this embodiment, the controller is configured to control the manipulator 410 to act on the gripping portion 130 when performing the guiding action, so as to drive the centrifugal adapter 100 to rotate to the first position.

[0111] When the manipulator 410 pushes the centrifugal adapter 100, in some specific embodiments, the aforementioned “the controller is configured to control the manipulator 410 to act on the gripping portion 130 when performing the guiding action to drive the centrifugal adapter 100 to rotate to the first position” specifically means: the controller first controls the manipulator 410 to descend until the bottom end of the manipulator 410 is lower than the top end of the gripping portion 130, and then controls the manipulator 410 to move in a second horizontal direction away from the first rotation center to push the gripping portion 130. In this way, the manipulator 410 will not collide with the gripping portion 130 before descending, so that the manipulator 410 can move in the horizontal plane to reach different positions.

[0112] The following combination Figure 2 The steps of the correction action in the specific embodiment are described in detail. Figure 2Step (a), at this time, the robot 410 is at a first height, and the robot 410 can move freely in the horizontal direction. Figure 2 In step (b), the robot 410 has been lowered to a second height where the bottom of the robot 410 is lower than the top of the gripping portion 130, and the robot 410 moves along the second horizontal direction to perform the guiding action. Figure 2 In step (c), after being guided by the manipulator 410, the centrifugal adapter 100 and the accommodating portion 210 have been rotated to the first position, and then the manipulator is reset upward to the first height and moved horizontally to the top of the grasping portion 130 for subsequent grasping action.

[0113] On the basis of the first embodiment, the controller in some embodiments of the present invention is configured to control the manipulator 410 to act on the receiving part 210 when performing the guiding action, so as to drive the centrifugal adapter 100 to rotate to the first position. Specifically, the manipulator 410 acts on the side wall of the receiving part 210 to perform the guiding action. Figure 2 The steps of the correction action in the specific embodiment are described in detail. Figure 2 In step (a), when the robot 410 is at the first height, the robot 410 can move freely in the horizontal direction. Figure 2 In step (b), when the robot 410 descends to a second height where the bottom end of the robot 410 is lower than the top end of the receiving component 210, the robot 410 can move along the second horizontal direction to perform the guiding action. Figure 2 In step (c), after being guided by the manipulator 410, the centrifugal adapter 100 and the accommodating portion 210 have been rotated to the first position, and then the manipulator is reset upward to the first height and moved horizontally to the top of the grasping portion 130 for subsequent grasping action.

[0114] On the basis of the first embodiment, the controller in some embodiments of the present invention is configured to control the manipulator 410 to act on the sample container 500 when performing the guiding action, so as to drive the centrifugal adapter 100 to rotate to the first position. Specifically, the sample container includes a tube body and a tube cap connected to the tube body, and the manipulator 410 acts on the tube cap to perform the guiding action. Figure 2 The steps of the correction action in the specific embodiment are described in detail. Figure 2 In step (a), when the robot 410 is at the first height, the robot 410 can move freely in the horizontal direction. Figure 2 In step (b), when the robot 410 descends to a second height where the bottom of the robot 410 is lower than the top of the sample container 500 (eg, the top of the container cover), the robot 410 can move along the second horizontal direction to perform the guiding action. Figure 2In step (c), after being guided by the manipulator 410, the centrifugal adapter 100 and the accommodating portion 210 have been rotated to the first position, and then the manipulator is reset upward to the first height and moved horizontally to the top of the grasping portion 130 for subsequent grasping action.

[0115] It should be noted that, in the above-mentioned embodiment, when the manipulator 410 acts on the grasping portion 130 of the centrifugal adapter 100, the tube cap of the sample container 500 or the top of the side wall of the containing part 210, the descending distance of the manipulator 410 can be reduced. In addition, the distance between the force application point and the second rotation center, that is, the length of the force arm, can be increased, so that the manipulator 410 can drive the centrifugal adapter 100 and the containing part 210 to reset with a relatively small force.

[0116] When the manipulator 410 grasps the centrifugal adapter 100, there is also a situation where the centrifugal adapter 100 is in an abnormal posture due to abnormal grasping, or the force applied by the manipulator 410 to the centrifugal adapter 100, in addition to the upward force, there are also forces in other directions, resulting in the centrifugal adapter 100 being stuck when being placed in the first storage slot and the second storage slot or taken out of the first storage slot and the second storage slot. For example, when the centrifugal adapter 100 is in a normal posture, the bearing surface 110 is approximately in a horizontal state, and the central axis of the centrifugal adapter 100 is approximately coincident with the central axis of the manipulator 410, and the side surfaces of the centrifugal adapter 100 are all facing the set direction. If there is a grasping abnormality, the centrifugal adapter 100 is tilted relative to the horizontal plane as a whole, or the centrifugal adapter 100 is twisted around the vertical axis as a whole, resulting in The side surfaces of the centrifugal adapter 100 deviate from the set direction, or the centrifugal adapter 100 is offset in the horizontal direction as a whole, so that the central axis of the centrifugal adapter 100 no longer coincides with the central axis of the manipulator 410. When the manipulator 410 moves to the release position, the centrifugal adapter 100 in an abnormal posture cannot be aligned with the notch of the first storage slot or the second storage slot, resulting in jamming when being placed. For another example, when the centrifugal adapter 100 needs to be taken out from the first storage slot or the second storage slot, if a grasping abnormality occurs, although the centrifugal adapter 100 is restricted by the slot wall of the storage slot and does not undergo an obvious posture change, the manipulator 410 will apply a force other than the upward force to the centrifugal adapter 100, causing the centrifugal adapter 100 to abut against the slot wall and increase the friction, thereby causing jamming when being taken out.

[0117] Based on the above, on the basis of the first embodiment, the manipulator 410 in some embodiments of the present invention performs pre-grabbing or pre-releasing before grasping or releasing the centrifugal adapter 100, thereby reducing the restrictions on the centrifugal adapter 100 during the placement or removal stage, so that the centrifugal adapter 100 can be smoothly placed in or removed.

[0118] Specifically, the robot 410 has a first state (eg, Figure 3 ), a second state for grabbing the centrifugal adapter 100 (as shown in Figure 4 ) and a third state (as shown) between the first state and the second state for pre-grasping and / or pre-releasing the centrifugal adapter 100 Figure 5 As shown), when the manipulator 410 is in the third state, the manipulator 410 can hold the centrifugal adapter 100, so that the manipulator 410 can actively drive the centrifugal adapter 100 to move upward or downward, and at the same time, the manipulator 410 and the centrifugal adapter 100 can move relative to each other.

[0119] When the manipulator 410 is required to grab the centrifugal adapter 100 in the storage tank, the controller is configured to control the manipulator 410 to be in the third state to pre-grab the centrifugal adapter 100. Since the manipulator 410 and the centrifugal adapter 100 can move relative to each other in the third state, the manipulator 410 can perform a preset action after pre-grabbing to adjust the grasping state of the manipulator 410 so that the centrifugal adapter 100 is in a normal posture. After performing the preset action, the manipulator 410 switches from the third state to the second state to grab the centrifugal adapter 100, so as to facilitate taking the centrifugal adapter 100 out of the storage tank.

[0120] When the manipulator 410 is required to place the centrifugal adapter 100 into the storage tank, the controller is configured to control the manipulator 410 to be in the third state to pre-release the centrifugal adapter 100. Since the manipulator 410 and the centrifugal adapter 100 can move relative to each other in the third state, the manipulator 410 can perform a preset action after the pre-release to adjust the grasping state of the manipulator 410 so that the centrifugal adapter 100 is in a normal posture. After performing the pre-release action, the manipulator 410 switches from the third state to the first state to grasp the centrifugal adapter 100, so as to facilitate the placement of the centrifugal adapter 100 into the storage tank.

[0121] It should be noted that the preset action of the manipulator 410 can be the movement of the manipulator 410 in the vertical direction, the movement in the horizontal direction, or the rotation around the vertical axis, or the vibration in the vertical direction, in the horizontal direction, or around the vertical axis. It can be understood that when described as movement or rotation, the movement amplitude of the manipulator 410 is relatively large and the frequency is relatively low; when described as vibration, the movement amplitude of the manipulator 410 is relatively small and the frequency is relatively high.

[0122] The following reference Figures 3 to 5 , and describes the steps of removing the centrifugal adapter 100 from the storage tank in combination with a specific scenario.

[0123] In some scenarios, the cache device 300 includes a second storage slot for placing the centrifugal adapter 100. When the centrifugal adapter 100 is placed in the second storage slot, the controller controls the manipulator 410 to move to the top of the second storage slot, and is in the third state to pre-grab the centrifugal adapter 100 in the second storage slot, and moves upward by a preset distance after pre-grabbing to make the centrifugal adapter 100 at least partially detach from the second storage slot, and switches from the third state to the second state after moving upward by the preset distance to grab the centrifugal adapter 100. In this way, the centrifugal adapter 100 has at least partially detached from the second storage slot before the manipulator 410 is fully clamped, which can reduce the contact area between the centrifugal adapter 100 and the slot wall and reduce friction. At the same time, the upward movement is used as a preset action after pre-grabbing. The manipulator 410 can directly drive the centrifugal adapter 100 upward to leave the second storage slot after being fully clamped. The stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0124] In some scenarios, the cache device 300 includes a second storage slot for placing the centrifugal adapter 100. When the centrifugal adapter 100 needs to be placed in the second storage slot, the controller controls the manipulator 410 in the second state and holding the centrifugal adapter 100 to move to the top of the second storage slot, and switches from the second state to the third state to pre-release the centrifugal adapter 100, moves downward by a preset distance after the pre-release so that the centrifugal adapter 100 at least partially enters the second storage slot, and switches from the third state to the first state after moving downward by the preset distance to release the centrifugal adapter 100. In this way, since the centrifugal adapter 100 enters the second storage slot when the manipulator 410 is in the third state, even if the centrifugal adapter 100 is in an abnormal posture before the placement process, the second storage slot can also guide the centrifugal adapter 100 so that the centrifugal adapter 100 can smoothly enter the second storage slot. At the same time, the downward movement is used as a preset action after pre-grabbing, and the manipulator 410 can directly release the centrifugal adapter 100 after moving downward, and the stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0125] In other scenarios, refer to Figure 6The centrifugal device 200 includes a mounting component 220, a driving component 230 and a receiving component 210. The mounting component 220 is connected to the driving component 230 and can be driven by the driving component 230 to rotate around a first rotation center. The receiving component 210 is connected to the mounting component 220 and can rotate relative to the mounting component 220 around a horizontal second rotation center. The receiving component 210 includes a first storage slot for placing the centrifugal adapter 100. Specifically, the driving component 230 is connected to the base of the centrifugal device 200, and the driving component 230 can be a motor. The mounting component 220 is connected to the driving part of the driving component 230 and can be driven by the driving component 230 to rotate around a first vertical axis. The mounting component 220 can be a centrifugal support. The receiving component 210 is rotatably connected to the mounting component 220 through a rotating shaft. The axis of the rotating shaft of the receiving component 210 is the aforementioned second rotation center. The receiving component 210 can be a centrifugal hanging basket.

[0126] When the centrifugal adapter 100 is placed in the first storage tank, the controller controls the manipulator 410 to move to the top of the first storage tank, and is in the third state to pre-grab the centrifugal adapter 100 in the first storage tank, and after pre-grabbing, moves upward by a preset distance to make the centrifugal adapter 100 at least partially out of the first storage tank, and after moving upward by the preset distance, switches from the third state to the second state to grab the centrifugal adapter 100. In this way, the centrifugal adapter 100 has at least partially separated from the first storage tank before the manipulator 410 is fully clamped, which can reduce the contact area between the centrifugal adapter 100 and the tank wall and reduce friction. At the same time, the upward movement is used as the preset action after pre-grabbing. The manipulator 410 can directly drive the centrifugal adapter 100 upward to leave the first storage tank after being fully clamped. The stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0127] In other scenarios, the centrifugal device 200 includes a mounting component 220, a driving component 230, and a containing component 210, and the mounting component 220, the driving component 230, and the containing component 210 are understood with reference to the above. When the centrifugal adapter 100 needs to be placed in the first storage tank, the controller controls the manipulator 410 in the second state and holding the centrifugal adapter 100 to move to the top of the first storage tank, and switches from the second state to the third state to pre-release the centrifugal adapter 100, moves downward by a preset distance after the pre-release so that the centrifugal adapter 100 at least partially enters the first storage tank, and switches from the third state to the first state after moving downward by a preset distance to release the centrifugal adapter 100. In this way, since the centrifugal adapter 100 enters the first storage slot when the manipulator 410 is in the third state, even if the centrifugal adapter 100 is in an abnormal posture before the placement process, the first storage slot can also guide the centrifugal adapter 100 so that the centrifugal adapter 100 can smoothly enter the first storage slot. At the same time, the downward movement is used as a preset action after pre-grabbing. The manipulator 410 can directly release the centrifugal adapter 100 after moving downward, and the stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0128] Based on the first embodiment, the storage slot of the cache device 300 and / or the accommodating component 210 in some embodiments of the present invention includes a storage section and a guide section. Figure 7 Taking the receiving component 210 as an example, the first storage groove of the receiving component 210 includes a storage section 211 and a guide section 212. The guide section 212 is connected to the upper end of the storage section 211, and its cross-sectional area decreases along the downward direction, which is used to guide the centrifugal adapter 100. Specifically, the inner wall surface of the first storage groove in the guide section 212 is set as an inclined surface or an arc surface. Correspondingly, the centrifugal adapter 100 includes a main body 120, and the lower end of the main body 120 is provided with a chamfered structure 121, and the cross-sectional area of ​​the part of the main body 120 with the chamfered structure gradually decreases along the downward direction.

[0129] Based on the above structure, Figure 7In the order of steps (a) to (c), when the controller controls the manipulator 410 to switch from the third state to the second state to grab the centrifugal adapter 100 in the first storage tank, that is, when switching from the pre-grabbing state to the fully clamped state, the highest point of the chamfer structure 121 is higher than or flush with the lowest point of the guide section 212. In other words, when the vertical wall of the centrifugal adapter 100 and the vertical wall of the first storage tank still have overlapping areas in the vertical direction, in order to avoid interference caused by the abutment between the two, the manipulator 410 is always kept in the third state, so that the centrifugal adapter 100 and the manipulator 410 can be adaptively adjusted; after the vertical wall of the centrifugal adapter 100 and the vertical wall of the first storage tank do not have overlapping areas in the vertical direction, when the centrifugal adapter 100 continues to move upward to completely leave the first storage tank, the distance between the centrifugal adapter 100 and the tank wall of the first storage tank will gradually increase, and the probability of abutment will be significantly reduced, so the manipulator 410 can be switched to the second state. It should be noted that the highest point of the chamfered structure 121 is higher than the lowest point of the guide section 212 including the situation that the centrifugal adapter 100 is completely separated from the first storage tank.

[0130] In other scenarios, Figure 7 In the order of step (c) to step (a), when the controller controls the manipulator 410 to switch from the third state to the first state to release the centrifugal adapter 100 into the first storage tank, the highest point of the chamfered structure 121 is lower than or flush with the lowest point of the guide section. In other words, after the vertical wall surface of the centrifugal adapter 100 and the vertical wall surface of the first storage tank have an overlapping area in the vertical direction, the vertical wall surface of the first storage tank can play a role in guiding the centrifugal adapter 100 to continue to move downward and correct the centrifugal adapter 100, so the manipulator 410 can switch to the first state to completely release the centrifugal adapter 100. It should be noted that the highest point of the chamfered structure 121 is higher than the lowest point of the guide section 212, including the situation where the centrifugal adapter 100 completely enters the first storage tank, that is, the manipulator 410 holds the centrifugal adapter 100 in the pre-release state until it completely enters the first storage tank, so as to prevent the centrifugal adapter 100 from falling under the action of gravity and colliding with the containing component 210.

[0131] Based on the first embodiment, refer to Figure 2 In some embodiments of the present invention, the centrifugal adapter 100 includes a main body 120 and a gripping portion 130. The main body 120 is used to carry the sample container 500. The gripping portion 130 is connected to the main body 120 and extends from the top of the main body 120. Figure 5The gripping portion 130 includes a first gripping section 131 and a second gripping section 132 which are arranged in sequence along the vertical direction, the second gripping section 132 is located between the first gripping section 131 and the main body 120, and the cross-sectional area of ​​the first gripping section 131 is larger than the cross-sectional area of ​​the second gripping section 132, so as to form a gripping surface 133 at the connection between the first gripping section 131 and the second gripping section 132. The manipulator 410 includes a plurality of gripping jaws, specifically, the manipulator 410 includes two sets of gripping jaws which are arranged opposite to each other, and the two sets of gripping jaws can move toward or in opposite directions to achieve clamping or releasing.

[0132] Define a plane perpendicular to the first rotation center, refer to Figure 3 When the projection of the clamping claw in the reference plane does not overlap with the projection of the gripping surface 133 in the reference plane, the manipulator 410 is in the first state, and the manipulator 410 can be separated from the gripping portion 130 in the vertical direction. Figure 3 As shown, at this time, the distance between the two groups of grippers of the robot 410 is the largest.

[0133] Reference Figure 4 When the projection of the clamping jaws in the reference plane partially overlaps with the projection of the gripping surface 133 in the reference plane, and the clamping jaws are spaced apart from the outer circumferences of the first gripping section 131 and the second gripping section 132, the manipulator 410 is in the third state, and the manipulator 410 can support the gripping surface 133, but the gripping portion 130 is not completely restricted, so that the centrifugal adapter 100 and the manipulator 410 can move relative to each other. Figure 4 As shown, at this time, the distance between the two groups of grippers of the robot 410 is reduced compared to the first state.

[0134] Reference Figure 5 When the projection of the clamp in the reference plane partially overlaps with the projection of the gripping surface 133 in the reference plane, and the clamp abuts against the outer circumference of the first gripping section 131, and / or the clamp abuts against the outer circumference of the second gripping section 132, the manipulator 410 is in the second state. On the one hand, the manipulator 410 can support the gripping surface 133, and on the other hand, the gripping portion 130 can be completely restricted by the abutment between the clamp and the outer circumference of the first gripping section 131 and / or the clamp and the outer circumference of the second gripping section 132. Figure 5 As shown, at this time, the distance between the two groups of grippers of the robot 410 is the smallest.

[0135] On the basis of the first embodiment, in some embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can rotate relative to the centrifugal adapter 100. Specifically, the manipulator 410 can rotate around the vertical axis relative to the centrifugal adapter 100, thereby cooperating with the aforementioned preset action to correct the deflection of the centrifugal adapter 100 around the vertical axis.

[0136] In other embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can move relative to the centrifugal adapter 100. Specifically, the manipulator 410 can move relative to the centrifugal adapter 100 along the first horizontal direction and / or the second horizontal direction, thereby cooperating with the aforementioned preset action to correct the horizontal offset of the centrifugal adapter 100.

[0137] In other embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can swing relative to the centrifugal adapter 100. Specifically, the manipulator 410 can swing around the horizontal axis relative to the centrifugal adapter 100, thereby cooperating with the aforementioned preset action to correct the inclination of the centrifugal adapter 100 relative to the horizontal direction.

[0138] In other embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can vibrate relative to the centrifugal adapter 100. Specifically, the manipulator 410 can vibrate relative to the centrifugal adapter 100 around the vertical axis, around the horizontal axis, along the first horizontal direction or the second horizontal direction.

[0139] It is understandable that when the robot 410 is in Figure 4 In the third state shown, the aforementioned rotation, movement, swing and vibration can occur between the robot 410 and the centrifugal adapter 100 .

[0140] On the basis of the first embodiment, in some embodiments of the present invention, the sample processing module further includes an identification device, and the controller is configured to control the manipulator 410 to perform a guiding action when the identification device identifies that the centrifugal adapter 100 that has completed centrifugation deviates from the first position, thereby achieving automatic correction. Specifically, the identification device can be a visual mechanism, and the controller determines whether the centrifugal adapter 100 deviates from the first position through the image captured by the visual mechanism. The identification device can also be an in-place sensor. If the centrifugal adapter 100 that has completed centrifugation is in the first position, the in-place sensor is triggered. If the centrifugal adapter 100 that has completed centrifugation fails to trigger the in-place sensor, the controller determines that the centrifugal adapter 100 has not been reset to the first position.

[0141] On the basis of the first embodiment, in other embodiments of the present invention, the controller is further configured to control the manipulator 410 to grab the centrifugal adapter 100 when the recognition device recognizes that the centrifugal adapter 100 after performing the guiding action is in the first position, thereby realizing automatic grabbing.

[0142] It should be noted that the above embodiments may be combined, that is, the manipulator 410 performs a correction action when the centrifugal adapter 100 deviates and a grasping action after the correction based on the recognition result of the recognition device, so as to further realize automation.

[0143] On the basis of the first embodiment, in some embodiments of the present invention, when it is necessary to take out the centrifugal adapter 100 that has completed centrifugation in the centrifugal device 200, the controller is configured to first control the manipulator 410 to perform the aforementioned guiding action, and then control the manipulator 410 to be in the third state to pre-grab the centrifugal adapter 100, and then perform a preset action after pre-grabbing to adjust the grasping state of the manipulator 410, and then switch from the third state to the second state after performing the preset action to grasp the centrifugal adapter 100. In this way, it is possible to eliminate the obstacles to the removal of the centrifugal adapter 100 caused by the tilt of the accommodating component 210 and the obstacles to the removal caused by the abnormal posture of the centrifugal adapter 100 itself, so that the centrifugal adapter 100 can be taken out more smoothly from the first storage tank.

[0144] The second embodiment of the present invention provides a sample processing module, including a centrifugal adapter 100, a centrifugal device 200, a buffer device 300, a transfer mechanism 400 and a controller.

[0145] The centrifugal adapter 100 can carry sample containers 500 in batches, thereby realizing batch centrifugation of the sample containers 500. The centrifugal device 200 has a vertical first rotation center, and the centrifugal device 200 is used to carry the centrifugal adapter 100, and can drive the centrifugal adapter 100 to rotate around the first rotation center to centrifuge the sample in the sample container 500. The buffer device 300 is used to buffer the centrifugal adapter 100. Specifically, it can be used for caching the sample to be centrifuged before entering the centrifugal device 200, and can also be used for caching the centrifuged sample before entering the track device. The transport mechanism 400 includes a manipulator 410, and the manipulator 410 is used to grab the centrifugal adapter 100 and transfer the centrifugal adapter 100. It can transfer the centrifugal adapter 100 from the buffer device 300 to the centrifugal device 200 for centrifugation, and can also transfer the centrifugal adapter 100 from the centrifugal device 200 to the buffer device 300 for caching. The centrifugal adapter 100, the centrifugal device 200, the buffer device 300, and the transport mechanism 400 can all be understood with reference to the first embodiment.

[0146] In this embodiment, the manipulator 410 has a first working state and a second working state. When the manipulator 410 operates in the first working state, it can grab the centrifugal adapter 100 that has completed centrifugation to directly transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300. When the manipulator 410 operates in the second working state, it can perform a guiding action after the centrifugal device 200 completes centrifugation to rotate the centrifugal adapter 100 in the centrifugal device 200 to the first position in the horizontal direction, and can grab the centrifugal adapter 100 after the centrifugal adapter 100 is in the first position to transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300. The guiding action of this embodiment can be understood with reference to the first embodiment.

[0147] In this embodiment, the controller is configured to select one of the first working state and the second working state, and control the manipulator 410 to operate in the selected working state, so that the sample processing module can adapt to sample processing in different scenarios. For example, the probability that the centrifugal adapter 100 cannot be normally reset to the first position after centrifugation increases with the increase in the operating time of the device. Therefore, in a time period with a low probability of failure, the manipulator 410 can operate in the first state to improve the transfer efficiency of the manipulator 410. In a time period with a high probability of failure, the manipulator 410 can operate in the second state to ensure that the manipulator can stably transfer the centrifugal adapter 100.

[0148] On the basis of the second embodiment, in some embodiments of the present invention, the controller is also configured to receive user instructions to control the manipulator 410 to switch between a first working state and a second working state, that is, when the user determines that the manipulator 410 is prone to failure, the user inputs instructions to the controller, and the controller controls the manipulator 410 to select a working state based on the instructions input by the user.

[0149] The controller can also automatically control the manipulator 410 to select a working state. In other embodiments of the present invention, the completion of maintenance of the sample processing module is used as a time node, and the time after the completion of maintenance is used as a basis for judgment. Specifically, within a preset time period after the completion of maintenance of the sample processing module, the system failure rate is low, and the controller controls the manipulator 410 to operate in a first working state; when the sample processing module completes maintenance and after the aforementioned preset time period, the system failure rate increases, and the controller controls the manipulator 410 to operate in a second working state.

[0150] In some other embodiments of the present invention, the completion of maintenance of the sample processing module is also used as a time node, and the running time of the sample processing module is used as a basis for judgment. Specifically, when the total running time of the sample processing module after the maintenance is completed is less than a preset value, the controller controls the manipulator 410 to operate in the first working state; when the total running time of the sample processing module after the maintenance is completed is equal to or greater than the preset value, the controller controls the manipulator 410 to operate in the second working state.

[0151] In other embodiments of the present invention, the sample processing module also includes an identification device. When the identification device identifies that the centrifuge adapter 100 that has completed centrifugation is in a first position, the controller controls the manipulator 410 to operate in a first working state. When the identification device identifies that the centrifuge adapter 100 that has completed centrifugation deviates from the first position, the controller controls the manipulator 410 to operate in a second working state.

[0152] On the basis of the second embodiment, in some embodiments of the present invention, the movement of the manipulator 410 when performing the guiding action includes a movement component away from the first rotation center in the horizontal direction.

[0153] As mentioned above, when the manipulator 410 grasps the centrifugal adapter 100, there is a situation where the centrifugal adapter 100 is in an abnormal posture due to abnormal grasping, or the force applied by the manipulator 410 to the centrifugal adapter 100 includes forces in other directions in addition to the upward force, resulting in the centrifugal adapter 100 being stuck when being placed into the first storage slot and the second storage slot or taken out from the first storage slot and the second storage slot. Based on this, the third embodiment of the present invention proposes a sample processing module, including a centrifugal adapter 100, a centrifugal device 200, a cache device 300, a transfer mechanism 400 and a controller.

[0154] The centrifugal adapter 100 can carry sample containers 500 in batches, thereby realizing batch centrifugation of the sample containers 500. The centrifugal device 200 has a vertical first rotation center, and the centrifugal device 200 is used to carry the centrifugal adapter 100, and can drive the centrifugal adapter 100 to rotate around the first rotation center to centrifuge the sample in the sample container 500. The buffer device 300 is used to buffer the centrifugal adapter 100. Specifically, it can be used for caching the sample to be centrifuged before entering the centrifugal device 200, and can also be used for caching the centrifuged sample before entering the track device. The transport mechanism 400 includes a manipulator 410, and the manipulator 410 is used to grab the centrifugal adapter 100 and transfer the centrifugal adapter 100. It can transfer the centrifugal adapter 100 from the buffer device 300 to the centrifugal device 200 for centrifugation, and can also transfer the centrifugal adapter 100 from the centrifugal device 200 to the buffer device 300 for caching. The centrifugal adapter 100, the centrifugal device 200, the buffer device 300, and the transport mechanism 400 can all be understood with reference to the first embodiment.

[0155] The manipulator 410 of this embodiment performs pre-grabbing or pre-releasing before grasping or releasing the centrifugal adapter 100, thereby reducing the restrictions on the centrifugal adapter 100 during the insertion or removal stage, so that the centrifugal adapter 100 can be smoothly inserted or removed.

[0156] Specifically, the robot 410 has a first state (eg, Figure 3 ), a second state for grabbing the centrifugal adapter 100 (as shown in Figure 4 ) and a third state (as shown) between the first state and the second state for pre-grasping and / or pre-releasing the centrifugal adapter 100 Figure 5As shown), when the manipulator 410 is in the third state, the manipulator 410 can hold the centrifugal adapter 100, so that the manipulator 410 can actively drive the centrifugal adapter 100 to move upward or downward, and at the same time, the manipulator 410 and the centrifugal adapter 100 can move relative to each other.

[0157] When the manipulator 410 is required to grab the centrifugal adapter 100 in the storage tank, the controller is configured to control the manipulator 410 to be in the third state to pre-grab the centrifugal adapter 100. Since the manipulator 410 and the centrifugal adapter 100 can move relative to each other in the third state, the manipulator 410 can perform a preset action after pre-grabbing to adjust the grasping state of the manipulator 410 so that the centrifugal adapter 100 is in a normal posture. After performing the preset action, the manipulator 410 switches from the third state to the second state to grab the centrifugal adapter 100, so as to facilitate taking the centrifugal adapter 100 out of the storage tank.

[0158] When the manipulator 410 is required to place the centrifugal adapter 100 into the storage tank, the controller is configured to control the manipulator 410 to be in the third state to pre-release the centrifugal adapter 100. Since the manipulator 410 and the centrifugal adapter 100 can move relative to each other in the third state, the manipulator 410 can perform a preset action after the pre-release to adjust the grasping state of the manipulator 410 so that the centrifugal adapter 100 is in a normal posture. After performing the pre-release action, the manipulator 410 switches from the third state to the first state to grasp the centrifugal adapter 100, so as to facilitate the placement of the centrifugal adapter 100 into the storage tank.

[0159] It should be noted that the preset action of the manipulator 410 can be the movement of the manipulator 410 in the vertical direction, the movement in the horizontal direction, or the rotation around the vertical axis, or the vibration in the vertical direction, in the horizontal direction, or around the vertical axis. It can be understood that when described as movement or rotation, the movement amplitude of the manipulator 410 is relatively large and the frequency is relatively low; when described as vibration, the movement amplitude of the manipulator 410 is relatively small and the frequency is relatively high.

[0160] The following reference Figures 3 to 5 , and describes the steps of removing the centrifugal adapter 100 from the storage tank in combination with a specific scenario.

[0161] In some scenarios, the cache device 300 includes a second storage slot for placing the centrifugal adapter 100. When the centrifugal adapter 100 is placed in the second storage slot, the controller controls the manipulator 410 to move to the top of the second storage slot, and is in the third state to pre-grab the centrifugal adapter 100 in the second storage slot, and moves upward by a preset distance after pre-grabbing to make the centrifugal adapter 100 at least partially detach from the second storage slot, and switches from the third state to the second state after moving upward by the preset distance to grab the centrifugal adapter 100. In this way, the centrifugal adapter 100 has at least partially detached from the second storage slot before the manipulator 410 is fully clamped, which can reduce the contact area between the centrifugal adapter 100 and the slot wall and reduce friction. At the same time, the upward movement is used as a preset action after pre-grabbing. The manipulator 410 can directly drive the centrifugal adapter 100 upward to leave the second storage slot after being fully clamped. The stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0162] In some scenarios, the cache device 300 includes a second storage slot for placing the centrifugal adapter 100. When the centrifugal adapter 100 needs to be placed in the second storage slot, the controller controls the manipulator 410 in the second state and holding the centrifugal adapter 100 to move to the top of the second storage slot, and switches from the second state to the third state to pre-release the centrifugal adapter 100, moves downward by a preset distance after the pre-release so that the centrifugal adapter 100 at least partially enters the second storage slot, and switches from the third state to the first state after moving downward by the preset distance to release the centrifugal adapter 100. In this way, since the centrifugal adapter 100 enters the second storage slot when the manipulator 410 is in the third state, even if the centrifugal adapter 100 is in an abnormal posture before the placement process, the second storage slot can also guide the centrifugal adapter 100 so that the centrifugal adapter 100 can smoothly enter the second storage slot. At the same time, the downward movement is used as a preset action after pre-grabbing, and the manipulator 410 can directly release the centrifugal adapter 100 after moving downward, and the stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0163] In other scenarios, refer to Figure 6The centrifugal device 200 includes a mounting component 220, a driving component 230 and a receiving component 210. The mounting component 220 is connected to the driving component 230 and can be driven by the driving component 230 to rotate around a first rotation center. The receiving component 210 is connected to the mounting component 220 and can rotate relative to the mounting component 220 around a horizontal second rotation center. The receiving component 210 includes a first storage slot for placing the centrifugal adapter 100. Specifically, the driving component 230 is connected to the base of the centrifugal device 200, and the driving component 230 can be a motor. The mounting component 220 is connected to the driving part of the driving component 230 and can be driven by the driving component 230 to rotate around a first vertical axis. The mounting component 220 can be a centrifugal support. The receiving component 210 is rotatably connected to the mounting component 220 through a rotating shaft. The axis of the rotating shaft of the receiving component 210 is the aforementioned second rotation center. The receiving component 210 can be a centrifugal hanging basket.

[0164] When the centrifugal adapter 100 is placed in the first storage tank, the controller controls the manipulator 410 to move to the top of the first storage tank, and is in the third state to pre-grab the centrifugal adapter 100 in the first storage tank, and after pre-grabbing, moves upward by a preset distance to make the centrifugal adapter 100 at least partially out of the first storage tank, and after moving upward by the preset distance, switches from the third state to the second state to grab the centrifugal adapter 100. In this way, the centrifugal adapter 100 has at least partially separated from the first storage tank before the manipulator 410 is fully clamped, which can reduce the contact area between the centrifugal adapter 100 and the tank wall and reduce friction. At the same time, the upward movement is used as the preset action after pre-grabbing. The manipulator 410 can directly drive the centrifugal adapter 100 upward to leave the first storage tank after being fully clamped. The stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0165] In other scenarios, the centrifugal device 200 includes a mounting component 220, a driving component 230, and a containing component 210, and the mounting component 220, the driving component 230, and the containing component 210 are understood with reference to the above. When the centrifugal adapter 100 needs to be placed in the first storage tank, the controller controls the manipulator 410 in the second state and holding the centrifugal adapter 100 to move to the top of the first storage tank, and switches from the second state to the third state to pre-release the centrifugal adapter 100, moves downward by a preset distance after the pre-release so that the centrifugal adapter 100 at least partially enters the first storage tank, and switches from the third state to the first state after moving downward by a preset distance to release the centrifugal adapter 100. In this way, since the centrifugal adapter 100 enters the first storage slot when the manipulator 410 is in the third state, even if the centrifugal adapter 100 is in an abnormal posture before the placement process, the first storage slot can also guide the centrifugal adapter 100 so that the centrifugal adapter 100 can smoothly enter the first storage slot. At the same time, the downward movement is used as a preset action after pre-grabbing. The manipulator 410 can directly release the centrifugal adapter 100 after moving downward, and the stroke of the manipulator 410 is the shortest, which helps to improve the transfer efficiency of the manipulator 410.

[0166] Based on the third embodiment, the storage slot of the cache device 300 and / or the accommodating component 210 in some embodiments of the present invention includes a storage section and a guide section. Figure 7 Taking the receiving component 210 as an example, the first storage groove of the receiving component 210 includes a storage section 211 and a guide section 212. The guide section 212 is connected to the upper end of the storage section 211, and its cross-sectional area decreases along the downward direction, which is used to guide the centrifugal adapter 100. Specifically, the inner wall surface of the first storage groove in the guide section 212 is set as an inclined surface or an arc surface. Correspondingly, the centrifugal adapter 100 includes a main body 120, and the lower end of the main body 120 is provided with a chamfered structure 121, and the cross-sectional area of ​​the part of the main body 120 with the chamfered structure gradually decreases along the downward direction.

[0167] Based on the above structure, Figure 7In the order of steps (a) to (c), when the controller controls the manipulator 410 to switch from the third state to the second state to grab the centrifugal adapter 100 in the first storage tank, that is, when switching from the pre-grabbing state to the fully clamped state, the highest point of the chamfer structure 121 is higher than or flush with the lowest point of the guide section 212. In other words, when the vertical wall of the centrifugal adapter 100 and the vertical wall of the first storage tank still have overlapping areas in the vertical direction, in order to avoid interference caused by the abutment between the two, the manipulator 410 is always kept in the third state, so that the centrifugal adapter 100 and the manipulator 410 can be adaptively adjusted; after the vertical wall of the centrifugal adapter 100 and the vertical wall of the first storage tank do not have overlapping areas in the vertical direction, when the centrifugal adapter 100 continues to move upward to completely leave the first storage tank, the distance between the centrifugal adapter 100 and the tank wall of the first storage tank will gradually increase, and the probability of abutment will be significantly reduced, so the manipulator 410 can be switched to the second state. It should be noted that the highest point of the chamfered structure 121 is higher than the lowest point of the guide section 212 including the situation that the centrifugal adapter 100 is completely separated from the first storage tank.

[0168] In other scenarios, Figure 7 In the order of step (c) to step (a), when the controller controls the manipulator 410 to switch from the third state to the first state to release the centrifugal adapter 100 into the first storage tank, the highest point of the chamfered structure 121 is lower than or flush with the lowest point of the guide section. In other words, after the vertical wall surface of the centrifugal adapter 100 and the vertical wall surface of the first storage tank have an overlapping area in the vertical direction, the vertical wall surface of the first storage tank can play a role in guiding the centrifugal adapter 100 to continue to move downward and correct the centrifugal adapter 100, so the manipulator 410 can switch to the first state to completely release the centrifugal adapter 100. It should be noted that the highest point of the chamfered structure 121 is higher than the lowest point of the guide section 212, including the situation where the centrifugal adapter 100 completely enters the first storage tank, that is, the manipulator 410 holds the centrifugal adapter 100 in the pre-release state until it completely enters the first storage tank, so as to prevent the centrifugal adapter 100 from falling under the action of gravity and colliding with the containing component 210.

[0169] Based on the third embodiment, refer to Figure 2 In some embodiments of the present invention, the centrifugal adapter 100 includes a main body 120 and a gripping portion 130. The main body 120 is used to carry the sample container 500. The gripping portion 130 is connected to the main body 120 and extends from the top of the main body 120. Figure 5The gripping portion 130 includes a first gripping section 131 and a second gripping section 132 which are arranged in sequence along the vertical direction, the second gripping section 132 is located between the first gripping section 131 and the main body 120, and the cross-sectional area of ​​the first gripping section 131 is larger than the cross-sectional area of ​​the second gripping section 132, so as to form a gripping surface 133 at the connection between the first gripping section 131 and the second gripping section 132. The manipulator 410 includes a plurality of gripping jaws, specifically, the manipulator 410 includes two sets of gripping jaws which are arranged opposite to each other, and the two sets of gripping jaws can move toward or in opposite directions to achieve clamping or releasing.

[0170] Define a plane perpendicular to the first rotation center, refer to Figure 3 When the projection of the clamping claw in the reference plane does not overlap with the projection of the gripping surface 133 in the reference plane, the manipulator 410 is in the first state, and the manipulator 410 can be separated from the gripping portion 130 in the vertical direction. Figure 3 As shown, at this time, the distance between the two groups of grippers of the robot 410 is the largest.

[0171] Reference Figure 4 When the projection of the clamping jaws in the reference plane partially overlaps with the projection of the gripping surface 133 in the reference plane, and the clamping jaws are spaced apart from the outer circumferences of the first gripping section 131 and the second gripping section 132, the manipulator 410 is in the third state, and the manipulator 410 can support the gripping surface 133, but the gripping portion 130 is not completely restricted, so that the centrifugal adapter 100 and the manipulator 410 can move relative to each other. Figure 4 As shown, at this time, the distance between the two groups of grippers of the robot 410 is reduced compared to the first state.

[0172] Reference Figure 5 When the projection of the clamp in the reference plane partially overlaps with the projection of the gripping surface 133 in the reference plane, and the clamp abuts against the outer circumference of the first gripping section 131, and / or the clamp abuts against the outer circumference of the second gripping section 132, the manipulator 410 is in the second state. On the one hand, the manipulator 410 can support the gripping surface 133, and on the other hand, the gripping portion 130 can be completely restricted by the abutment between the clamp and the outer circumference of the first gripping section 131 and / or the clamp and the outer circumference of the second gripping section 132. Figure 5 As shown, at this time, the distance between the two groups of grippers of the robot 410 is the smallest.

[0173] On the basis of the third embodiment, in some embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can rotate relative to the centrifugal adapter 100. Specifically, the manipulator 410 can rotate around the vertical axis relative to the centrifugal adapter 100, thereby cooperating with the aforementioned preset action to correct the deflection of the centrifugal adapter 100 around the vertical axis.

[0174] In other embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can move relative to the centrifugal adapter 100. Specifically, the manipulator 410 can move relative to the centrifugal adapter 100 along the first horizontal direction and / or the second horizontal direction, thereby cooperating with the aforementioned preset action to correct the horizontal offset of the centrifugal adapter 100.

[0175] In other embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can swing relative to the centrifugal adapter 100. Specifically, the manipulator 410 can swing around the horizontal axis relative to the centrifugal adapter 100, thereby cooperating with the aforementioned preset action to correct the inclination of the centrifugal adapter 100 relative to the horizontal direction.

[0176] In other embodiments of the present invention, when the manipulator 410 is in the third state, the manipulator 410 can vibrate relative to the centrifugal adapter 100. Specifically, the manipulator 410 can vibrate relative to the centrifugal adapter 100 around the vertical axis, around the horizontal axis, along the first horizontal direction or the second horizontal direction.

[0177] It is understandable that when the robot 410 is in Figure 4 In the third state shown, the aforementioned rotation, movement, swing and vibration can occur between the robot 410 and the centrifugal adapter 100 .

[0178] The fourth embodiment of the present invention provides a sample processing system, including a centrifugal adapter 100, a centrifugal device 200, a buffer device 300, a transfer mechanism 400, a guiding mechanism and a controller.

[0179] The centrifugal adapter 100 can carry sample containers 500 in batches, thereby realizing batch centrifugation of the sample containers 500. The centrifugal device 200 has a vertical first rotation center. The centrifugal device 200 includes a mounting component 220, a driving component 230 and a containing component 210, which are used to carry the centrifugal adapter 100 and can drive the centrifugal adapter 100 to rotate around the first rotation center to centrifuge the sample in the sample container 500. The cache device 300 is used to cache the centrifugal adapter 100. Specifically, it can be used for caching samples to be centrifuged before entering the centrifugal device 200, and can also be used for caching centrifuged samples before entering the track device. The transport mechanism 400 includes a manipulator 410, which is used to grab the centrifugal adapter 100 and transfer the centrifugal adapter 100. It can transfer the centrifugal adapter 100 from the cache device 300 to the centrifugal device 200 for centrifugation, and can also transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300 for caching. The centrifugal adapter 100 , the centrifugal device 200 , the buffer device 300 , and the transfer mechanism 400 can all be understood with reference to the first embodiment.

[0180] The controller is configured to control the guiding mechanism to perform a guiding action after the centrifugal device 200 completes centrifugation, so that the centrifugal adapter 100 in the centrifugal device 200 rotates around the second rotation center to the first position (eg Figure 2 After the centrifugal adapter 100 is moved to the position shown in step (b) in step (c), the manipulator 410 is controlled to grab the centrifugal adapter 100 to transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300. The carrying surface 110 of the centrifugal adapter 100 is approximately in a horizontal state when in the first position, so that the disengagement direction of the centrifugal adapter 100 is the same as the upward movement direction of the manipulator 410, so that it can be removed smoothly. In this embodiment, when the manipulator 410 performs the guiding action, the manipulator 410 includes a moving component along a second horizontal direction perpendicular to the first horizontal direction. In some specific embodiments, the manipulator 410 can move along the second horizontal direction. In other specific embodiments, the manipulator 410 can also move along an inclined direction.

[0181] It should be noted that the guiding mechanism of this embodiment can be either the robot 410 or other separate components, which will be explained in subsequent embodiments.

[0182] It should also be noted that when the manipulator 410 performs the guiding action, it can push the centrifuge adapter 100 or the containing component 210 or the sample container 500. For example, for the containing component 210, the manipulator 410 can push the side wall of the containing component 210, and for the sample container 500, the manipulator 410 can push the container cover of the sample container 500.

[0183] On the basis of the fourth embodiment, in some embodiments of the present invention, the guiding mechanism is the robot 410, and the guiding structure refers to the guiding action performed in the first embodiment.

[0184] In some other embodiments of the present invention, the guiding mechanism includes a pushing component that is independently provided from the manipulator 410. When the centrifugal device 200 completes centrifugation, the pushing component pushes the accommodating component 210 to drive the centrifugal adapter 100 to rotate to the first position. Specifically, the pushing component can be connected to the mounting component 220 to push the accommodating component 210 from the direction away from the first rotation center, or it can be connected to the base of the centrifugal device to push the accommodating component 210 from the direction toward the first rotation center. In some specific embodiments, the pushing component can be a combination of a cylinder, an electric cylinder, or a motor and a transmission component that can convert the rotation of the motor drive shaft into a linear movement. In some other embodiments, the pushing component can also be another manipulator.

[0185] The fifth embodiment of the present invention provides a sample processing system, including a centrifugal adapter 100, a centrifugal device 200, a buffer device 300, a transfer mechanism 400, a guiding mechanism and a controller.

[0186] The centrifugal adapter 100 can carry sample containers 500 in batches, thereby realizing batch centrifugation of the sample containers 500. The centrifugal device 200 has a vertical first rotation center. The centrifugal device 200 includes a mounting component 220, a driving component 230 and a containing component 210, which are used to carry the centrifugal adapter 100 and can drive the centrifugal adapter 100 to rotate around the first rotation center to centrifuge the sample in the sample container 500. The cache device 300 is used to cache the centrifugal adapter 100. Specifically, it can be used for caching samples to be centrifuged before entering the centrifugal device 200, and can also be used for caching centrifuged samples before entering the track device. The transport mechanism 400 includes a manipulator 410, which is used to grab the centrifugal adapter 100 and transfer the centrifugal adapter 100. It can transfer the centrifugal adapter 100 from the cache device 300 to the centrifugal device 200 for centrifugation, and can also transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300 for caching. The centrifugal adapter 100 , the centrifugal device 200 , the buffer device 300 , and the transfer mechanism 400 can all be understood with reference to the first embodiment.

[0187] In this embodiment, the guiding mechanism includes a magnetic component, which is used to apply magnetic force to rotate the centrifugal adapter 100 that has completed centrifugation in the centrifugal device 200 around the second rotation center to the first position, and after the centrifugal adapter 100 is in the first position, control the manipulator 410 to grab the centrifugal adapter 100 to transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300. Among them, the carrying surface 110 of the centrifugal adapter 100 is approximately in a horizontal state when in the first position, so that the disengagement direction of the centrifugal adapter 100 is the same as the upward movement direction of the manipulator 410, so that it can be removed smoothly.

[0188] The magnetic attraction component may include a first magnetic component and a second magnetic component, wherein the first magnetic component is connected to the containing component 210, and the second magnetic component is connected to the mounting component 220 or the base of the centrifugal device 200. At least one of the first magnetic component and the second magnetic component can generate magnetic force, such as a permanent magnet or an electromagnet, and the other can also generate magnetic force, or can be magnetically attracted, such as being made of ferromagnetic material.

[0189] The sixth embodiment of the present invention provides a sample processing system, including a centrifugal adapter 100, a centrifugal device 200, a buffer device 300, a transfer mechanism 400, a guiding mechanism and a controller.

[0190] The centrifugal adapter 100 can carry sample containers 500 in batches, thereby realizing batch centrifugation of the sample containers 500. The centrifugal device 200 has a vertical first rotation center. The centrifugal device 200 includes a mounting component 220, a driving component 230 and a containing component 210, which are used to carry the centrifugal adapter 100 and can drive the centrifugal adapter 100 to rotate around the first rotation center to centrifuge the sample in the sample container 500. The cache device 300 is used to cache the centrifugal adapter 100. Specifically, it can be used for caching samples to be centrifuged before entering the centrifugal device 200, and can also be used for caching centrifuged samples before entering the track device. The transport mechanism 400 includes a manipulator 410, which is used to grab the centrifugal adapter 100 and transfer the centrifugal adapter 100. It can transfer the centrifugal adapter 100 from the cache device 300 to the centrifugal device 200 for centrifugation, and can also transfer the centrifugal adapter 100 from the centrifugal device 200 to the cache device 300 for caching. The centrifugal adapter 100 , the centrifugal device 200 , the buffer device 300 , and the transfer mechanism 400 can all be understood with reference to the first embodiment.

[0191] The guiding mechanism in this embodiment is independently provided from the manipulator 410, and is used to drive the centrifugal adapter 100 in the centrifugal device 200 to rotate around the second rotation center to the first position after the centrifugal device 200 completes centrifugation, and to grab the centrifugal adapter 100 after the centrifugal adapter 100 is in the first position, so as to transfer the centrifugal adapter 100 from the centrifugal device 200 to the buffer device 300. The carrying surface 110 of the centrifugal adapter 100 is substantially in a horizontal state when in the first position, so that the disengagement direction of the centrifugal adapter 100 is the same as the upward movement direction of the manipulator 410, so that it can be removed smoothly.

[0192] On the basis of the sixth embodiment, the guiding mechanism in some embodiments includes a pushing component. When the centrifugal device 200 completes centrifugation, the pushing component pushes the accommodating component 210 to drive the centrifugal adapter 100 to rotate to the first position. Specifically, the pushing component can be connected to the mounting component 220 to push the accommodating component 210 from the direction away from the first rotation center, or it can be connected to the base of the centrifugal device to push the accommodating component 210 from the direction toward the first rotation center. In some specific embodiments, the pushing component can be a combination of a cylinder, an electric cylinder, or a motor and a transmission component that can convert the rotation of the motor drive shaft into a linear movement. In other embodiments, the pushing component can also be another manipulator.

[0193] On the basis of the sixth embodiment, the guiding mechanism in other embodiments includes a magnetic component, and the magnetic component is used to apply magnetic force to rotate the centrifugal adapter 100 that has completed centrifugation in the centrifugal device 200 to the first position around the second rotation center. Specifically, the magnetic attraction component may include a first magnetic component and a second magnetic component, the first magnetic component is connected to the accommodating component 210, and the second magnetic component is connected to the mounting component 220 or the base of the centrifugal device 200. At least one of the first magnetic component and the second magnetic component can generate magnetic force, such as a permanent magnet or an electromagnet, and the other can also generate magnetic force, or can be magnetically attracted, such as made of ferromagnetic material.

[0194] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. Sample processing module, characterized in that: include: A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample; A centrifugal device having a vertical first rotation center, the centrifugal device is used to carry the centrifugal adapter and can drive the centrifugal adapter to rotate around the first rotation center to centrifuge the sample in the sample container; A cache device, used for caching the centrifugal adapter; A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching; a controller configured to control the manipulator to perform a guiding action after the centrifugal device completes centrifugation, so that the centrifugal adapter in the centrifugal device rotates around a first horizontal direction to a first position, and after the centrifugal adapter is in the first position, control the manipulator to grab the centrifugal adapter to transfer the centrifugal adapter from the centrifugal device to the cache device; Wherein, when the manipulator is performing the guiding action, the manipulator includes a movement component along a second horizontal direction perpendicular to the first horizontal direction; The bearing surface of the centrifugal adapter is substantially in a horizontal state when in the first position.

2. The sample processing module according to claim 1, characterized in that: The centrifugal adapter includes a main body and a gripping portion, the main body is used to carry the sample container, the gripping portion is connected to the main body and extends from the top of the main body, and the controller is configured to control the manipulator to act on the gripping portion when performing the guiding action to drive the centrifugal adapter to rotate to the first position.

3. The sample processing module according to claim 2, characterized in that: The controller is configured to control the manipulator to act on the gripping portion when performing the guiding action to drive the centrifugal adapter to rotate to the first position, including: the controller first controls the manipulator to descend until the bottom end of the manipulator is lower than the top end of the gripping portion, and then controls the manipulator to move along the second horizontal direction away from the first rotation center to push the gripping portion.

4. The sample processing module according to claim 1, characterized in that: The manipulator has a first state for releasing the centrifugal adapter, a second state for grabbing the centrifugal adapter, and a third state between the first state and the second state for pre-grabbing and / or pre-releasing the centrifugal adapter. When the manipulator is in the third state, the manipulator can hold the centrifugal adapter, and the manipulator and the centrifugal adapter can move relative to each other. Wherein, when the manipulator grasps the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-grasp the centrifugal adapter, perform a preset action after pre-grabbing, and switch from the third state to the second state to grasp the centrifugal adapter after performing the preset action; Alternatively, when the manipulator releases the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-release the centrifugal adapter, perform a preset action after pre-release, and switch from the third state to the first state to release the centrifugal adapter after performing the preset action.

5. The sample processing module according to claim 4, characterized in that: The cache device comprises a storage slot for placing the centrifugal adapter. When the centrifugal adapter is placed in the storage slot of the cache device, controlling the manipulator to be in the third state to pre-grab the centrifugal adapter comprises: controlling the manipulator to move to above the storage slot of the cache device and to be in the third state to pre-grab the centrifugal adapter in the storage slot of the cache device; performing a preset action after pre-grabbing comprises: moving upwards by a preset distance after pre-grabbing so that the centrifugal adapter at least partially escapes from the storage slot of the cache device; switching from the third state to the second state to grab the centrifugal adapter after performing the preset action comprises: switching from the third state to the second state to grab the centrifugal adapter after moving upwards by a preset distance; Alternatively, the centrifugal device comprises a mounting component, a driving component and a containing component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the containing component comprises a storage slot for placing the centrifugal adapter, when the centrifugal adapter is placed in the storage slot of the containing component, the controlling the manipulator to be in the third state to pre-grab the centrifugal adapter comprises: controlling the manipulator to move above the storage slot of the containing component and to be in the third state to pre-grab the centrifugal adapter in the storage slot of the containing component; the performing a preset action after pre-grabbing comprises: moving upwards by a preset distance after pre-grabbing so that the centrifugal adapter at least partially detaches from the storage slot of the containing component; the switching from the third state to the second state to grab the centrifugal adapter after performing the preset action comprises: switching from the third state to the second state to grab the centrifugal adapter after moving upwards by a preset distance; Alternatively, the cache device includes a storage slot for placing the centrifugal adapter, and when the storage slot of the cache device is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the cache device, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the cache device; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance; Alternatively, the centrifugal device includes a mounting component, a driving component and a accommodating component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the accommodating component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the accommodating component includes a storage slot for placing the centrifugal adapter, and when the storage slot of the accommodating component is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the accommodating component, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the accommodating component; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance.

6. The sample processing module according to claim 5, characterized in that: The storage slot of the cache device and / or the accommodating component includes a storage section and a guide section, wherein the guide section is connected to the upper end of the storage section and is used to guide the centrifugal adapter, and the centrifugal adapter includes a main body, and a chamfered structure is provided at the lower end of the main body; Wherein, when the controller controls the manipulator to switch from the third state to the second state to grab the centrifugal adapter in the storage slot of the cache device and / or the accommodating component, the highest point of the chamfered structure is higher than or flush with the lowest point of the guide section; Alternatively, when the controller controls the manipulator to switch from the third state to the first state to release the centrifugal adapter into an empty storage slot of the cache device and / or the accommodating component, the highest point of the chamfered structure is lower than or flush with the lowest point of the guide section.

7. The sample processing module according to claim 4, characterized in that: The centrifugal adapter includes a main body and a gripping portion, the main body is used to carry the sample container, the gripping portion is connected to the main body and extends from the top of the main body, the gripping portion includes a first gripping section and a second gripping section arranged in sequence along the vertical direction, the second gripping section is located between the first gripping section and the main body, and the cross-sectional area of ​​the first gripping section is larger than the cross-sectional area of ​​the second gripping section, so as to form a gripping surface at the connection between the first gripping section and the second gripping section, the manipulator includes a plurality of grippers, defining a reference plane perpendicular to the first rotation center; Wherein, when the projection of the clamp in the reference plane partially overlaps with the projection of the grasping surface in the reference plane, and the clamp is pressed against the outer peripheral surface of the first grasping section, and / or the clamp is pressed against the outer peripheral surface of the second grasping section, the manipulator is in the second state; Alternatively, when the projection of the clamp in the reference plane partially overlaps with the projection of the gripping surface in the reference plane, and the clamp is spaced apart from the outer circumferences of the first gripping section and the second gripping section, the manipulator is in the third state; Alternatively, when the projection of the clamping claw in the reference plane does not overlap with the projection of the grasping surface in the reference plane, the manipulator is in the first state.

8. The sample processing module according to claim 4, characterized in that: When the manipulator is in the third state, the manipulator can perform at least one of the following movements relative to the centrifugal adapter: rotation, movement, swinging, and vibration.

9. The sample processing module according to claim 1, characterized in that: The sample processing module also includes an identification device, and the controller is configured to control the manipulator to perform the guiding action when the identification device identifies that the centrifuge adapter that has completed centrifugation deviates from the first position, and / or, the controller is also configured to control the manipulator to grab the centrifuge adapter when the identification device identifies that the centrifuge adapter after performing the guiding action is in the first position.

10. The sample processing module is characterized in that: include: a centrifuge adapter for holding a sample container containing a sample; A centrifugal device having a vertical first rotation center, the centrifugal device is used to carry the centrifugal adapter and can drive the centrifugal adapter to rotate around the first rotation center to centrifuge the sample in the sample container; A cache device, used for caching the centrifugal adapter; The transfer mechanism comprises a manipulator, wherein the manipulator is used to grab the centrifugal adapter to transfer the centrifugal adapter from the buffer device to the centrifugal device for centrifugation, or to transfer the centrifugal adapter from the centrifugal device to the buffer device for caching, wherein the manipulator has a first working state and a second working state, and when the manipulator is in the first working state, it can grab the centrifugal adapter that has completed centrifugation to directly transfer the centrifugal adapter from the centrifugal device to the buffer device, and when the manipulator is in the second working state, it can perform a guiding action after the centrifugal device completes centrifugation to rotate the centrifugal adapter in the centrifugal device to the first position in the horizontal direction, and can grab the centrifugal adapter after the centrifugal adapter is in the first position to transfer the centrifugal adapter from the centrifugal device to the buffer device; The controller is configured to select one of the first working state and the second working state, and control the manipulator to operate in the selected working state.

11. The sample processing module according to claim 10, characterized in that: The controller is further configured to receive a user instruction to control the manipulator to switch between the first working state and the second working state; Alternatively, within a preset time period after the sample processing module completes maintenance, the controller is configured to control the manipulator to operate in the first working state, and when the sample processing module completes maintenance and after the preset time period has passed, the controller is configured to control the manipulator to operate in the second working state; Alternatively, when the total operating time of the sample processing module after the maintenance is completed is less than a preset value, the controller is configured to control the manipulator to operate in the first working state, and when the total operating time of the sample processing module after the maintenance is completed is equal to or greater than the preset value, the controller is configured to control the manipulator to operate in the second working state; Alternatively, the sample processing module also includes an identification device, and when the identification device identifies that the centrifuge adapter that has completed centrifugation is in the first position, the controller is configured to control the manipulator to operate in the first working state, and when the identification device identifies that the centrifuge adapter that has completed centrifugation deviates from the first position, the controller is configured to control the manipulator to operate in the second working state.

12. The sample processing module according to claim 10, characterized in that: The movement of the manipulator when performing the guiding action includes a movement component away from the first rotation center in a horizontal direction.

13. The sample processing module is characterized in that: include: a centrifuge adapter for holding a sample container containing a sample; A centrifugal device having a vertical first rotation center, the centrifugal device is used to carry the centrifugal adapter and can drive the centrifugal adapter to rotate around the first rotation center to centrifuge the sample in the sample container; A cache device, used for caching the centrifugal adapter; The transfer mechanism comprises a manipulator, wherein the manipulator is used to grab the centrifugal adapter to transfer the centrifugal adapter from the buffer device to the centrifugal device for centrifugation, or to transfer the centrifugal adapter from the centrifugal device to the buffer device for caching, the manipulator having a first state for releasing the centrifugal adapter, a second state for grabbing the centrifugal adapter, and a third state between the first state and the second state for pre-grabbing and / or pre-releasing the centrifugal adapter, and when the manipulator is in the third state, the manipulator can hold the centrifugal adapter, and the manipulator and the centrifugal adapter can move relative to each other; a controller, when the manipulator grasps the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-grasp the centrifugal adapter, to perform a preset action after pre-grasping, and to switch from the third state to the second state to grasp the centrifugal adapter after performing the preset action; Alternatively, when the manipulator releases the centrifugal adapter, the controller is configured to control the manipulator to be in the third state to pre-release the centrifugal adapter, perform a preset action after pre-release, and switch from the third state to the first state to release the centrifugal adapter after performing the preset action.

14. The sample processing module according to claim 13, characterized in that: The cache device comprises a storage slot for placing the centrifugal adapter. When the centrifugal adapter is placed in the storage slot of the cache device, controlling the manipulator to be in the third state to pre-grab the centrifugal adapter comprises: controlling the manipulator to move to above the storage slot of the cache device and to be in the third state to pre-grab the centrifugal adapter in the storage slot of the cache device; performing a preset action after pre-grabbing comprises: moving upwards by a preset distance after pre-grabbing so that the centrifugal adapter at least partially escapes from the storage slot of the cache device; switching from the third state to the second state to grab the centrifugal adapter after performing the preset action comprises: switching from the third state to the second state to grab the centrifugal adapter after moving upwards by a preset distance; Alternatively, the centrifugal device comprises a mounting component, a driving component and a containing component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the containing component comprises a storage slot for placing the centrifugal adapter, when the centrifugal adapter is placed in the storage slot of the containing component, the controlling the manipulator to be in the third state to pre-grab the centrifugal adapter comprises: controlling the manipulator to move above the storage slot of the containing component and to be in the third state to pre-grab the centrifugal adapter in the storage slot of the containing component; the performing a preset action after pre-grabbing comprises: moving upwards by a preset distance after pre-grabbing so that the centrifugal adapter at least partially detaches from the storage slot of the containing component; the switching from the third state to the second state to grab the centrifugal adapter after performing the preset action comprises: switching from the third state to the second state to grab the centrifugal adapter after moving upwards by a preset distance; Alternatively, the cache device includes a storage slot for placing the centrifugal adapter, and when the storage slot of the cache device is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the cache device, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the cache device; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance; Alternatively, the centrifugal device includes a mounting component, a driving component and a accommodating component, the mounting component is connected to the driving component and can be driven by the driving component to rotate around the first rotation center, the accommodating component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, the accommodating component includes a storage slot for placing the centrifugal adapter, and when the storage slot of the accommodating component is empty, controlling the manipulator to be in the third state to pre-release the centrifugal adapter includes: controlling the manipulator in the second state and holding the centrifugal adapter to move to above the storage slot of the accommodating component, and switching from the second state to the third state to pre-release the centrifugal adapter; performing a preset action after pre-release includes: moving downward a preset distance after pre-release so that the centrifugal adapter at least partially enters the storage slot of the accommodating component; switching from the third state to the first state to release the centrifugal adapter after performing the preset action includes: switching from the third state to the first state to release the centrifugal adapter after moving downward a preset distance.

15. The sample processing module is characterized in that: include: A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample; A centrifuge device, comprising a mounting component, a driving component and a containing component, wherein the containing component comprises a storage slot for placing the centrifuge adapter, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, and the mounting component is connected to the driving component and can be driven by the driving component to rotate around a vertical first rotation center to centrifuge the sample in the sample container; A cache device, used for caching the centrifugal adapter; A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching; Guidance mechanism; a controller configured to control the guiding mechanism to perform a guiding action after the centrifugal device completes centrifugation, so that the centrifugal adapter in the centrifugal device rotates around the second rotation center to a first position, and after the centrifugal adapter is in the first position, control the manipulator to grab the centrifugal adapter to transfer the centrifugal adapter from the centrifugal device to the cache device; Wherein, when the guiding mechanism performs the guiding action, the guiding mechanism includes a moving component in a horizontal direction perpendicular to the second rotation center; The bearing surface of the centrifugal adapter is substantially in a horizontal state when in the first position.

16. The sample processing module according to claim 15, characterized in that: The guiding mechanism is the manipulator; Alternatively, the guiding mechanism includes a pushing component independent of the robot arm, and when the centrifugal device completes centrifugation, the pushing component pushes the accommodating component to drive the centrifugal adapter to rotate to the first position.

17. The sample processing module is characterized in that: include: A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample; A centrifuge device, comprising a mounting component, a driving component and a containing component, wherein the containing component comprises a storage slot for placing the centrifuge adapter, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, and the mounting component is connected to the driving component and can be driven by the driving component to rotate around a vertical first rotation center to centrifuge the sample in the sample container; A cache device, used for caching the centrifugal adapter; A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching; a guiding mechanism, comprising a magnetic component, wherein the magnetic component is used to apply a magnetic force to rotate the centrifugal adapter that has completed centrifugation in the centrifugal device around the second rotation center to a first position, and after the centrifugal adapter is in the first position, control the manipulator to grab the centrifugal adapter to transfer the centrifugal adapter from the centrifugal device to the cache device; Wherein, the bearing surface of the centrifugal adapter is approximately in a horizontal state when in the first position.

18. A sample processing module, characterized in that: include: A centrifugal adapter, comprising a bearing surface, wherein the bearing surface has a placement hole, and the placement hole is used to place a sample container containing a sample; A centrifuge device, comprising a mounting component, a driving component and a containing component, wherein the containing component comprises a storage slot for placing the centrifuge adapter, the containing component is connected to the mounting component and can rotate relative to the mounting component around a horizontal second rotation center, and the mounting component is connected to the driving component and can be driven by the driving component to rotate around a vertical first rotation center to centrifuge the sample in the sample container; A cache device, used for caching the centrifugal adapter; A transfer mechanism, comprising a manipulator, wherein the manipulator is used to grab the centrifuge adapter to transfer the centrifuge adapter from the cache device to the centrifuge device for centrifugation, or to transfer the centrifuge adapter from the centrifuge device to the cache device for caching; a guiding mechanism independent of the manipulator, used for driving the centrifugal adapter in the centrifugal device to rotate around the second rotation center to a first position after the centrifugal device completes centrifugation, and for grabbing the centrifugal adapter after the centrifugal adapter is in the first position, so as to transfer the centrifugal adapter from the centrifugal device to the buffer device; Wherein, the bearing surface of the centrifugal adapter is approximately in a horizontal state when in the first position.

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