Automatic test tube detection centrifugal equipment

Abstract

Automatic test tube detection centrifugal equipment belongs to the technical field of medical detection equipment and comprises a base and a plurality of test tubes and further comprises a frame, a connecting plate, a PLC (programmable logic controller), a start-stop button, a conveying mechanism, an identification detection prompt assembly, a taking and placing mechanism, a centrifugal mechanism and a sealing mechanism. The frame and the base jointly provide installation positions for installation of other components. The connecting plate is installed on the side wall of the frame. Automatic detection of a series of actions of code scanning recognition, visual system judgment, test tube grabbing by a manipulator, test tube liquid oscillation and assembly into a basket of a centrifugal machine, and high-speed rotation and centrifugation of the test tube liquid by the centrifugal machine can be realized, the whole process is completed at one step, all links are automatically and seamlessly connected, interruption and delay of manual operation are abandoned, and the detection efficiency is improved. The single sample detection period is greatly shortened, and the test tube centrifugal detection efficiency is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of medical detection equipment, and in particular relates to an automatic test tube detection centrifugal device. Background Art

[0002] In the field of modern medical testing, medical centrifuges are indispensable equipment and are widely used in separating components of blood, cells and other samples. During the sample processing process, test tubes, as key containers for holding samples, are frequently used in conjunction with centrifuges.

[0003] The related art (Chinese invention patent with announcement number CN106596985B) discloses a centrifugal test tube detection device for hospital detection, including a base, the upper surface of the base is sequentially provided with a test tube detection groove and a multi-detection reagent storage groove, a test tube detection instrument device is arranged in the test tube detection groove, a multi-detection reagent storage groove is provided with a multi-selection test tube reagent detection mechanism, a control device is arranged on the base, and a plurality of connection ports on the control device are electrically connected to the electrical components of the test tube detection instrument device and the multi-selection test tube reagent detection mechanism respectively. By setting up the test tube detection instrument device, the heavy workload of multiple detections of medical personnel can be reduced, and at the same time, an integrated system can be formed.

[0004] However, the current centrifuge operation process has many links that rely on manual operation. For example, in the test tube placement link, the test tubes need to be placed manually one by one inside the centrifuge, which not only consumes a lot of time and energy, but also has a relatively low operating efficiency, especially when processing batch samples. In addition, manual placement makes it difficult to ensure that the position accuracy of each test tube is completely consistent. The test tubes are easily tilted or deviated from the center position, resulting in uneven force when the centrifuge is running, affecting the separation effect. Summary of the invention

[0005] In view of the existing problems in the prior art of manually placing test tubes one by one when using a centrifuge for sample testing, the efficiency is low, and it is difficult to ensure the accuracy of the test tube position during manual placement. The test tubes are prone to tilt or deviate from the center position, resulting in unbalanced force during the operation of the centrifuge, which seriously affects the separation effect of the sample. The present invention provides an automatic test tube detection centrifuge device, which can realize automatic detection of a series of actions such as code scanning recognition, visual system judgment, robot grasping test tubes, shaking the liquid in the test tubes and assembling them into the basket of the centrifuge, and high-speed rotation of the centrifuge to centrifuge the test tube liquid. The entire process is completed in one go, and each link is automatically and seamlessly connected, eliminating the interruptions and delays of manual operation, greatly shortening the single sample detection cycle, and significantly improving the efficiency of test tube centrifugal detection. Its specific technical solution is as follows:

[0006] An automatic test tube detection and centrifugation device, comprising a base and a number of test tubes, further comprising: a frame, a connecting plate, a PLC controller, a start-stop button, a conveying mechanism, an identification, detection and prompting component, a picking and placing mechanism, a centrifugation mechanism and a sealing mechanism. The frame is fixedly installed on the base, and the frame and the base together provide an installation position for the installation of other components; the connecting plate is installed at the side wall of the frame; the PLC controller is installed on the connecting plate; the start-stop button is installed on the upper surface of the base; the conveying mechanism is arranged on the base and is arranged along the length direction of the base for conveying the test tubes to corresponding positions; the identification, detection and prompting component is arranged on the base and the frame for identifying and detecting the attributes of the test tubes and the feeding reminder of the test tubes; the picking and placing mechanism is arranged on the base for grasping or releasing the test tubes; the centrifugation mechanism is arranged on the base for centrifuging the test tubes; and the sealing mechanism is arranged outside the centrifugation mechanism.

[0007] In the above technical solution, the conveying mechanism comprises: a pedestal, a linear module, a mounting plate, a groove body, a rotary pressing cylinder, a positioning column, a test tube box and a connecting block. The pedestal is installed on the base and is arranged along the length direction of the base; the linear module is arranged on the pedestal; the mounting plate is arranged on the linear module, and the linear module drives the mounting plate to move along the length direction of the linear module. A placing groove is formed on the upper surface of the mounting plate; there are two groove bodies, and the two groove bodies are formed on the inner side walls of the placing groove on the upper surface of the mounting plate; there are two rotary pressing cylinders, and the two rotary pressing cylinders are symmetrically arranged on the lower surface of the mounting plate; the positioning column is installed at the output end of the rotary pressing cylinder; the test tube box is placed in the placing groove formed on the upper surface of the mounting plate; there are two connecting blocks, and the two connecting blocks are symmetrically installed on the side walls of the test tube box, and the connecting blocks are insertably embedded in the groove bodies; wherein, the bottom end of the positioning column is rotationally pressed on the upper surface of the connecting block, and a number of test tubes are arranged in the test tube box.

[0008] In the above technical solution, the identification, detection and prompting component comprises: a barcode scanning device, a vision system and a buzzer. The barcode scanning device is installed on the pedestal for identifying the types of the test tubes; the vision system is installed on the frame for inspecting the consistency of the liquid in the test tubes; and the buzzer is installed at the top end of the frame for the prompting function when the test tubes are fed.

[0009] In the above technical solution, the picking and placing mechanism comprises: a manipulator and a picking and placing component. The bottom end of the manipulator is fixedly installed on the base; and the picking and placing component is arranged at the output end of the manipulator.

[0010] In the above technical solution, the picking and placing component includes: a mounting seat, a fixing seat, a pin shaft, a torsion spring, a finger, a lead screw motor and a wedge block. The mounting seat is installed at the output end of the manipulator; the fixing seat is installed at the bottom end of the mounting seat. The inner cavity of the fixing seat is C-shaped, and the opening of the C-shaped inner cavity of the fixing seat faces downward; there are two pin shafts, and the two pin shafts are respectively rotatably arranged at the two free ends of the fixing seat; the torsion spring is sleeved on the pin shaft; the finger is installed on the pin shaft, and the torsion spring provides a torsional force for the rotation of the finger; the lead screw motor is installed in the inner cavity of the mounting seat; a wedge block is arranged at the output end of the wedge block, and the lead screw motor drives the wedge block to move closer to or away from the mounting seat.

[0011] In the above technical solution, the top end of the finger is provided with an inclined surface, and the contact surface between the wedge block and the finger is provided with an inclined surface. Through the vertical movement of the wedge block and the torsional force of the torsion spring, the finger is driven to swing around the pin shaft, so as to realize the clamping or releasing of the test tube.

[0012] In the above technical solution, the centrifugal mechanism includes: an assembly plate, a motor seat, a servo motor, a coupling, a main shaft, a turntable, a support, a through groove, a rotating shaft, a basket and a placement hole. The assembly plate is installed on the base; the motor seat is installed in the middle of the bottom end of the assembly plate; the servo motor is installed in the middle of the bottom end of the assembly plate through the motor seat; the coupling is installed at the output end of the servo motor; the main shaft is connected to the coupling, and the main shaft extends through and above the assembly plate; the turntable is fixedly installed at the top end of the main shaft; there are several supports, the supports are installed on the upper surface of the turntable, and the distance between adjacent two supports is the same; there are several through grooves, the through grooves are vertically opened through the turntable, and the distance between adjacent two through grooves is the same; the rotating shaft is rotatably connected to the side walls of adjacent two supports, and the rotating shaft is located above the through groove; the basket is installed on the rotating shaft; there are several placement holes, the placement holes are vertically opened in the basket, and the test tube can be inserted and removed into the placement hole; wherein, the number of the supports and the through grooves is the same, and the through grooves are opened between adjacent two supports.

[0013] In the above technical solution, the installation height of the rotating shaft relative to the basket is less than half of the height of the basket itself; the distance from the end face of the through groove close to the center of the turntable to the center of the rotating shaft is M, and the distance from the end face of the tube orifice of the test tube located in the placement hole to the center of the rotating shaft is H, where M > H.

[0014] In the above technical solution, the center of the turntable, the axis of the main shaft, the center of the coupling, and the center of the output end of the servo motor are all on the same vertical axis.

[0015] In the above technical solution, the sealing mechanism includes: a protective cover, a top cover, a motor reducer, a drive shaft, a bearing seat, a hatch, a material inlet, and a housing. The protective cover is installed on the assembly plate; the top cover is arranged at the top of the protective cover; the motor reducer is installed on the top cover; the drive shaft is connected to the output end of the motor reducer; there are two bearing seats, and the two bearing seats are symmetrically installed on the upper surface of the top cover, and the drive shaft is rotatably connected between the two bearing seats; the hatch is fixedly installed on the drive shaft, and the hatch is located between the two bearing seats; the material inlet is opened on the top cover, and the hatch is rotatably opened and closed on the top cover; the housing is installed on the top cover, and the housing is buckled above the motor reducer.

[0016] Compared with the prior art, the beneficial effects of an automatic test tube detection centrifuge of the present invention are as follows:

[0017] First, when using a centrifuge to detect samples in the prior art, the method of manually placing test tubes one by one is inefficient, and it is difficult to ensure the accuracy of the test tube position manually. It is easy to have the situation that the test tube is tilted or deviated from the center position, resulting in unbalanced force during the operation of the centrifuge and affecting the sample separation effect. In view of this problem, the present invention is provided with components such as a manipulator and finger clips that can automatically open and close, realizing the automatic grasping of the test tube and placing it in the placement hole, that is, the feeding and discharging of the test tube are both automatically completed, and the whole process does not require manual operation. Compared with the method of manually loading and unloading and detecting one by one, the efficiency is higher, and the mechanical placement is more accurate than manual placement, avoiding adverse situations such as test tube tilt caused by manual operation and affecting the centrifugation effect, and being more able to ensure the accuracy of the subsequent liquid centrifugation test results in the test tube;

[0018] Second, when using a conventional centrifuge, in addition to manually placing test tubes, opening and closing the centrifuge hatch also relies on manual operation. During this process, if the operator does not close the hatch completely or the closing force is uneven, it is easy to cause the hatch to be not tightly sealed. When the centrifuge is running at high speed, it will not only generate noise interference, but also easily cause sample contamination, affecting the accuracy of sample separation and having an adverse impact on the reliability of the test results. In view of the above problems, the present invention is provided with a hatch that can automatically and flexibly open and close. The opening and closing frequency and angle of the hatch are controlled by a motor reducer, and the hatch is automatically controlled to open and close. Compared with the manual operation method, the force is more uniform, the sealing performance at the material inlet is better, the protection of the sample is more comprehensive, and the hatch controlled by the motor reducer will not generate noise when the centrifuge is running at high speed, protecting the accuracy of the sample test results in many aspects;

[0019] 3. In addition, when using the existing centrifuge, there are significant disadvantages in manually selecting the centrifuge speed. The operator needs to set the speed based on experience and rough judgment of the sample. Different operators have different judgment standards for the speed, and it is difficult to ensure that the speed set each time can accurately match the sample characteristics. Too high a speed can easily destroy the sample components, and too low a speed cannot achieve effective separation, which seriously affects the accuracy of the test results. In response to the above problems, the present invention can scan the test tube box code through a code scanning device, thereby automatically identifying the type of liquid contained in the test tube, and transmitting the identification signal to the PLC controller. Subsequently, the PLC controller accurately controls the servo motor to output a centrifugal speed adapted to it according to the received signal. That is, the present invention uses the method of automatically identifying the sample type and accurately adjusting the corresponding centrifugal speed. Compared with the traditional centrifugal method of manually selecting the speed, it can achieve a highly accurate match between the centrifugal speed and the sample characteristics, effectively avoiding the problem that the components are destroyed due to the high sample speed, or the sample cannot be effectively separated due to the low speed, providing a more solid and reliable guarantee for ensuring the accuracy of the test results;

[0020] 4. In the present invention, after the type of test tube in the test tube box is identified by the code scanning device, the corresponding parameters are transmitted to the PLC controller. Based on the received parameters, the PLC controller can automatically match the corresponding parameters of the centrifuge to achieve accurate adaptation of the centrifuge operating parameters and the sample characteristics in the test tube. At the same time, the visual system plays its detection function. On the one hand, it checks whether the liquid in each test tube is consistent. On the other hand, it counts the number of test tubes assembled in the entire test tube box and transmits these detailed information to the PLC controller synchronously. The PLC controller combines all the above parameters to accurately determine which test tubes can be accurately grasped into the centrifuge with the help of the synergistic effect of the manipulator and the torsion spring. The number of test tubes entering the centrifuge for centrifugal operation can be reasonably controlled each time, that is, in the present invention, the automated parameter recognition and ratio can improve the accuracy of centrifuge operation, avoid parameter setting deviations caused by manual misjudgment, ensure that the samples are centrifuged under optimal conditions, and significantly improve the reliability of the test results. Secondly, the visual system's inspection of the consistency and quantity of the test tube liquid helps to promptly discover potential problems in the sample assembly process, such as sample misassembly, missing assembly, etc., effectively avoiding detection errors or resource waste caused by sample assembly problems. Furthermore, the PLC controller makes precise judgments and controls based on multi-source parameters to realize the intelligence of test tube loading and centrifugal operation.

[0021] 5. In the present invention, the manipulator briefly shakes the test tube after automatically grabbing it, and the duration of the shaking is controlled by the PLC controller. Through the shaking operation, the liquid in the test tube can be effectively mixed to achieve a uniform distribution state;

[0022] VI. In the present invention, through the cooperation of components such as the pedestal, linear module, and mounting plate, it is possible to ensure that the test tube box and test tubes are stably transported to the appropriate positions during the transportation process. Moreover, the test tube box has four positions on the linear module, namely the loading and unloading position of the test tube box, the scanning position corresponding to the scanning device, the visual photography position corresponding to the vision system, and the robot grasping position corresponding to the robot. The linear module can drive the test tube box and test tubes to reach the above four positions and stay, so as to cooperate with the correct operation of the corresponding instructions, without the need for manual repeated displacement of the test tube positions, ensuring the accurate positioning of the test tubes at each key position, thereby guaranteeing the smooth progress of operations such as scanning, detection, and grasping, and improving the reliability of the detection results;

[0023] VII. The rotation pressing cylinder and positioning column provided in the present invention, in cooperation with the groove body and connecting block, can achieve stable locking of the test tube box in multiple horizontal and vertical directions on the mounting plate, that is, ensure that the test tube box always moves stably when the mounting plate drives the test tube box to displace. Moreover, the method of rotating and pressing and positioning the connecting block by the rotation pressing cylinder creates sufficient space conditions for the connecting block and the test tube box to be arranged vertically on the mounting plate at the vertical direction, avoiding the problem of interference between the connecting block, test tube box and the pressing and positioning components when they are vertically placed on the mounting plate;

[0024] VIII. In the present invention, components such as a lead screw motor, wedge block, pin shaft, torsion spring, and finger are provided. Through the cooperation of the above components, it is possible to realize synchronous adjustment of the relative opening and closing of the two fingers, so as to quickly, effectively and accurately release or grasp the test tubes. Moreover, the two fingers are uniformly driven by the wedge block, which can effectively ensure that during the relative rotation of the two fingers, their rotation angles always maintain a high degree of consistency and synchronism, thereby ensuring that the two test tubes located at the fingers can achieve extremely consistent actions both in the grasping link and in the releasing link, improving the stability and reliability of the test tube operation;

[0025] IX. The present invention utilizes the contact between the two inclined surfaces of the wedge block and the inclined surfaces of the two fingers, in cooperation with the torsion spring, to control the opening angle of the fingers, so as to make the opening and closing angles at the bottom ends of the two fingers adapt to the clamping requirements of test tubes of different thickness specifications, improving the versatility and adaptability of the equipment during the operation of clamping test tubes;

[0026] X. By setting components such as a servo motor, main shaft, and turntable, the present invention can perform centrifugation operations on the test tubes placed in multiple baskets, and the multiple baskets are arranged at equal intervals in the circumferential direction, ensuring that the test tubes in their inner cavities are subjected to the same and equal centrifugal force;

[0027] XI. In the present invention, the installation height of the rotating shaft relative to the basket is less than half of the height of the basket to ensure that the tube openings face upward when the centrifuge is in a stopped state. In addition, the distance from the end face of the through groove close to the center of the turntable to the center of the rotating shaft is M, and the distance from the end face of the tube opening to the center of the rotating shaft is H, where M > H. Thus, after the centrifuge reaches a certain rotational speed, the basket and the tubes reach a flattened state, enabling the centrifugation operation of the liquid in the tubes;

[0028] XII. After the centrifugation of all the tubes in the entire tube box is completed, the linear module transports the tube box to the loading and unloading position of the equipment. The scanning device and the vision system identify that the liquid in the tubes is in a centrifuged state at this time, and transmit the signal to the PLC controller. The PLC controller controls the buzzer to emit a sound, prompting the operator to take away the centrifuged tube box and replace it with the tube box to be centrifuged, thereby realizing the batch and repeated centrifugation detection of the tubes;

[0029] In summary, when using this equipment, only by placing the tube box at the designated position on the mounting plate, it is possible to achieve automated detection of a series of actions including barcode scanning and identification, judgment by the vision system, grasping of the tubes by the manipulator, shaking of the liquid in the tubes, and assembly into the basket of the centrifuge. The entire process is completed in one go, with seamless automation at each link, eliminating the interruption and lag of manual operation, significantly shortening the detection cycle of a single sample, remarkably improving the efficiency of tube centrifugation detection, and precisely placing the tubes mechanically, tightly sealing the chamber door, and intelligently adapting the rotational speed, eliminating the potential hazards of sample interference from the outside and improper internal processing at the source, ensuring a stable centrifugation process, ensuring more thorough and precise separation of sample components, higher accuracy of centrifugation detection results, and reducing the differences caused by human factors in automated operation, making the sample processing process more standardized, and improving the consistency and comparability of detection results among different operators and different laboratories. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic structural diagram of the base of the present invention;

[0031] Figure 2 It is a schematic structural diagram of the frame of the present invention;

[0032] Figure 3 It is a schematic structural diagram of the linear module of the present invention;

[0033] Figure 4 It is for Figure 3 the enlarged view A of

[0034] Figure 5 It is a top view structural diagram of the mounting plate of the present invention;

[0035] Figure 6 It is a side view structural diagram of the tube box of the present invention;

[0036] Figure 7 Structural schematic diagram of the finger clip of the present invention;

[0037] Figure 8 Side view structural schematic diagram of the manipulator of the present invention;

[0038] Figure 9 Structural schematic diagram of the fixed seat of the present invention;

[0039] Figure 10 Side view structural schematic diagram of the mounting seat of the present invention;

[0040] Figure 11 is Figure 10 Cross-sectional view taken along line A-A of

[0041] Figure 12 Structural schematic diagram of the protective cover of the present invention;

[0042] Figure 13 Structural schematic diagram of the top cover of the present invention;

[0043] Figure 14 is Figure 13 Cross-sectional structural schematic diagram of

[0044] Figure 15 Structural schematic diagram of the basket of the present invention;

[0045] Figures 1 to 15 In, 1, base, 2, frame, 3, connecting plate, 4, PLC controller, 5, start-stop button, 6, code scanning device, 7, vision system, 8, buzzer, 9, pedestal, 10, linear module, 11, mounting plate, 12, groove body, 13, rotary pressing cylinder, 14, positioning column, 15, test tube box, 16, connecting block, 17, test tube, 18, manipulator, 19, mounting seat, 20, fixed seat, 21, pin shaft, 22, torsion spring, 23, finger clip, 24, screw motor, 25, wedge block, 26, assembly plate, 27, motor seat, 28, servo motor, 29, coupling, 30, main shaft, 31, turntable, 32, support, 33, through groove, 34, rotating shaft, 35, basket, 36, placement hole, 37, protective cover, 38, top cover, 39, motor reducer, 40, drive shaft, 41, bearing seat, 42, warehouse door, 43, material port, 44, cover body. Detailed implementation manners

[0046] The following further describes the present invention in conjunction with specific implementation cases and the attached Figures 1 to 15 However, the present invention is not limited to these embodiments.

[0047] An automatic test tube detection centrifuge device, including a base 1 and a number of test tubes 17. Through this centrifuge device, automatic centrifugal detection of the test tubes 17 is carried out. The centrifuge device further includes: a frame 2, a connecting plate 3, a PLC controller 4, a start-stop button 5, a conveying mechanism, an identification detection and prompting component, a picking and placing mechanism, a centrifugal mechanism, and a sealing mechanism. The frame 2 is fixedly installed on the base 1, and the frame 2 and the base 1 together provide installation positions for the installation of other components. The connecting plate 3 is installed at the side wall of the frame 2. The PLC controller 4 is installed on the connecting plate 3, and the connecting plate 3 provides an installation position for the PLC controller 4 at the frame 2. The PLC controller 4 is the commonly used PLC controller on the market. It uses a programmable memory to store instructions for performing logical operations, sequential control, timing, counting, arithmetic operations, etc. inside it, and controls various types of mechanical equipment or production processes through digital or analog inputs and outputs. Through the PLC controller 4, other components electrically connected to it can receive corresponding instructions and perform relevant processing. The PLC controller 4 adopts a general model on the market, and it can meet the usage requirements. There is no need to elaborate and limit it here. The start-stop button 5 is installed on the upper surface of the base 1. The start-stop button 5 can control the start and stop times of each component in this application, and cooperate with the PLC controller 4 to achieve the start and stop of the electrical components in this application and the action timing. It is an existing technology, and there is no need to limit the model and elaborate too much on the above existing components here. The conveying mechanism is arranged on the base 1 and is arranged along the length direction of the base 1, and is used to convey the test tubes 17 to the corresponding positions. The conveying mechanism can convey the test tubes 17 and stop at any position and achieve stable locking of the position after stopping. The identification detection and prompting component is arranged on the base 1 and the frame 2, and is used to identify and detect the attributes of the test tubes 17 and the feeding reminder of the test tubes 17. The picking and placing mechanism is arranged on the base 1 and is used for grasping or releasing the test tubes 17 to realize the feeding and discharging of the test tubes 17, that is, the feeding and discharging of the test tubes 17 are automatically completed. The whole process does not require manual operation. Compared with the method of manually loading and unloading and detecting one by one, the efficiency is higher, and the mechanical placement has higher accuracy than manual placement, avoiding adverse situations such as test tube tilting caused by manual operation and affecting the centrifugation effect, and can better ensure the accuracy of the subsequent centrifugation test results of the liquid in the test tube. The centrifugal mechanism is arranged on the base 1 and is used for centrifuging the test tubes 17. The sealing mechanism is arranged outside the centrifugal mechanism, and the centrifugal mechanism can be protected through the sealing mechanism, ensuring that the centrifugal mechanism performs centrifugation operations on the test tubes 17 in a relatively sealed state, providing more comprehensive protection for the samples.

[0048] Specifically, refer mainly to Figures 1 to 6As shown in the figure, the conveying mechanism includes: a pedestal 9, a linear module 10, a mounting plate 11, a trough 12, a rotary pressing cylinder 13, a positioning column 14, a test tube box 15 and a connecting block 16. The pedestal 9 is fixedly installed on the base 1 and arranged along the length direction of the base 1, that is, the pedestal 9 is arranged parallel to the length direction of the base 1, and is used to convey the test tube 17 along the length direction of the base 1; the linear module 10 is arranged on the pedestal 9, and the pedestal 9 provides an installation position for the installation of the linear module 10 at the base 1; the mounting plate 11 is arranged on the linear module 10, and the linear module 10 drives the mounting plate 11 to move along the length direction of the linear module 10. Specifically, the linear module 10 is a commonly used linear module in the market, which is a mechanical device that converts rotary motion into linear motion. It is usually composed of a linear guide rail, a slider, a rolling bearing and a steel structure, and can achieve precise control and positioning of the linear motion of an object. In this solution, the mounting plate 11 is fixedly installed on the slider of the linear module 10, and the movement of the slider of the linear module 10 drives the synchronous movement of the mounting plate 11. Among them, the linear module 10 can meet the function of driving the mounting plate 11 to move above the pedestal 9, and there is no need to elaborate and limit the linear module 10 here. A placement groove is opened on the upper surface of the mounting plate 11; there are two troughs 12, and the two troughs 12 are opened on the inner side walls of the placement groove on the upper surface of the mounting plate 11; there are two rotary pressing cylinders 13, and the two rotary pressing cylinders 13 are symmetrically arranged on the lower surface of the mounting plate 11. The rotary pressing cylinder 13 is also called a corner cylinder, which is a commonly used cylinder in the market, and refers to a cylinder whose piston rod can rotate 90 degrees to the right or left while stretching and retracting. In this solution, the rotary pressing cylinder 13 can meet the function of driving the positioning column 14 to stretch and retract while rotating left or right, and there is no need to overly limit its model here; the positioning column 14 is installed at the output end of the rotary pressing cylinder 13. By opening the rotary pressing cylinder 13, it can drive the positioning column 14 to perform synchronous stretching and rotating actions following the output end of the rotary pressing cylinder 13; the test tube box 15 is placed in the placement groove opened on the upper surface of the mounting plate 11. At this time, the test tube box 15 is limited by the inner wall of the placement groove on the upper surface of the mounting plate 11 and will not move relative to the width direction of the linear module 10; there are two connecting blocks 16, and the two connecting blocks 16 are symmetrically installed on the side walls of the test tube box 15, and the connecting blocks 16 are insertably embedded in the troughs 12. At this time, the test tube box 15 is limited by the connecting blocks 16 and the troughs 12 and will not move along the length direction of the linear module 10; among them, the bottom end of the positioning column 14 is rotationally pressed on the upper surface of the connecting block 16. Through the positioning column 14, it can be ensured that the connecting block 16 will not move upward at this time, that is, the full and stable positioning of the test tube box 15 in the placement groove on the upper surface of the mounting plate 11 can be realized. A number of test tubes 17 are arranged in the test tube box 15. By stably limiting the test tube box 15 on the mounting plate 11, the stable conveying of the test tubes 17 in the test tube box 15 is realized;

[0049] This solution uses a rotary pressing cylinder 13 to rotate and press-fit the connecting block 16 for positioning. Compared with the traditional method of simply setting a pressing and positioning method perpendicular to the connecting block 16, it creates sufficient space conditions for the connecting block 16 and the test tube box 15 to be placed vertically at the mounting plate 11, avoiding the problem of interference between the connecting block 16, the test tube box 15 and the pressing and positioning components when they are vertically placed at the mounting plate 11.

[0050] Mainly refer to Figure 1 and Figure 2 As shown, the identification and detection prompting component includes: a barcode scanning device 6, a vision system 7 and a buzzer 8. The barcode scanning device 6 is installed on the pedestal 9 and is used to identify the types of test tubes 17, that is, the barcode scanning device 6 can scan the test tube box code, so as to automatically identify the types of liquids contained in the test tubes, and transmit the identification signal to the PLC controller 4. Subsequently, the PLC controller 4 based on the received signal, the subsequent centrifugal speed, that is, the present invention can realize a highly accurate matching between the centrifugal speed and the sample characteristics by automatically identifying the sample type and precisely adjusting the corresponding centrifugal speed. Compared with the traditional centrifugal method of manually selecting the speed, it effectively avoids the problems of component damage caused by too high sample speed or ineffective sample separation due to too low speed, providing a more solid and reliable guarantee for ensuring the accuracy of the test results; the vision system 7 is installed on the frame 2 and is used to check the consistency of the liquids in the test tubes 17. Specifically, on the one hand, the vision system 7 can check whether the liquids in each test tube 17 are consistent, and on the other hand, it counts the number of test tubes assembled in the entire test tube box 15 and synchronizes this detailed information to the PLC controller 4. The PLC controller 4 comprehensively considers all the above parameters and accurately judges which test tubes 17 can be accurately grasped into the centrifuge, and at the same time reasonably controls the number of test tubes 17 entering the centrifuge for centrifugation each time. That is, in the present invention, the automatic parameter identification and matching can improve the accuracy of the centrifuge operation, avoid parameter setting deviations caused by manual judgment errors, ensure that the samples are centrifuged under the best conditions, and significantly improve the reliability of the test results. Secondly, the inspection of the liquid consistency and quantity of the test tubes by the vision system 7 helps to timely discover potential problems in the sample assembly process, such as wrong or missing sample installation, effectively avoiding detection errors or resource waste caused by sample assembly problems. Moreover, the precise judgment and control based on multi-source parameters by the PLC controller 4 realize the intelligentization of test tube feeding and centrifugation operations; the buzzer 8 is installed at the top of the frame 2 and is used for prompting when the test tubes 17 are unloaded. The buzzer 8 prompts the operator to take away the centrifuged test tube box 15 and replace the test tube box 15 to be centrifuged next time.

[0051] Mainly refer to Figure 1 、 Figures 7 to 11As shown in the figure, the picking and placing mechanism includes: a manipulator 18 and a picking and placing component. The bottom end of the manipulator 18 is fixedly installed on the base 1. The manipulator 18 adopts a mature multi-axis manipulator on the market, which can meet the multi-dimensional mechanical grasping and releasing requirements. The model of the manipulator 18 is not elaborated and limited here. By using the manipulator 18, it can shake briefly after automatically grasping the test tube 17. The duration of the shaking is controlled by the PLC controller 4 electrically connected to the manipulator 18. Through this shaking operation, the liquid in the test tube 17 can be effectively promoted to mix fully and reach a uniform distribution state. The picking and placing component is arranged at the output end of the manipulator 18. The manipulator 18 can drive the picking and placing component to move synchronously with the output end of the manipulator 18, so as to assist the component to reach the designated position for picking and placing the test tube 17.

[0052] Specifically, refer mainly to Figures 9 to 11As shown in the figure, the picking and placing component includes: a mounting base 19, a fixing base 20, a pin shaft 21, a torsion spring 22, a finger 23, a lead screw motor 24, and a wedge block 25. The mounting base 19 is installed at the output end of the manipulator 18, thereby realizing the connection between the manipulator 18 and the picking and placing component; the fixing base 20 is installed at the bottom end of the mounting base 19. The inner cavity of the fixing base 20 is C-shaped, and the opening of the C-shaped inner cavity of the fixing base 20 faces downward, which provides convenience for installing subsequent components at the two free ends of the fixing base 20; there are two pin shafts 21, and the two pin shafts 21 are respectively rotatably arranged at the two free ends of the fixing base 20; the torsion spring 22 is sleeved on the pin shaft 21, and one end of the torsion spring 22 is connected to the pin shaft 21, and the other end of the torsion spring 22 is connected to the PLC controller 4. The finger 23 is installed on the pin shaft 21, and the torsion spring 22 provides a torsional force for the rotation of the finger 23; when the wedge block 25 moves downward, the top end of the driving finger 23 is forced to flip away from the wedge block 25. At this time, the finger 23 rotates around the pin shaft 21, causing the bottom end of the finger 23 to move toward the test tube 17, and at this time the torsion spring 22 is forced to deform, and the bottom ends of the two fingers 23 approach the test tube 17 synchronously, that is, the clamping and grasping of the test tube 17 are realized. Conversely, when the wedge block 25 moves upward, the torsional forces of the two torsion springs 22 are used to promote the rotation of the two fingers 23 to reset. During this process, the bottom end of the finger 23 moves outward, releasing the test tube 17; the lead screw motor 24 is installed in the inner cavity of the mounting base 19. The lead screw motor 24 is a motor that can convert rotational motion into linear motion. It is a mature lead screw motor on the market, and its output end can rotate freely in the forward or reverse direction. The lead screw motor 24 includes a motor, a lead screw, and a moving block that slides along the lead screw; the output end of the wedge block 25 is provided with a wedge block 25, and the lead screw motor 24 drives the wedge block 25 to move closer to or away from the mounting base 19. In this solution, the wedge block 25 is equivalent to the moving block that moves along the lead screw. The lead screw motor 24 can drive the wedge block 25 to move in the vertical direction. The lead screw motor 24 can meet the above usage requirements, and its model will not be elaborated and limited here.

[0053] In this solution, the movement of the wedge block 25 can realize the synchronous adjustment of the opening and closing rotation of the two fingers 23, so as to quickly, effectively and accurately release or grasp the test tube 17. Moreover, the two fingers 23 are uniformly driven by the wedge block 25, which can effectively ensure that during the relative rotation of the two fingers 23, their rotation angles always maintain a high degree of consistency and synchrony, thereby ensuring that the two test tubes 17 located at the fingers 23 can achieve extremely consistent actions both in the grasping process and in the releasing process, improving the stability and reliability of the test tube operation.

[0054] Mainly refer to Figure 11As shown, the top end of the finger 23 is set as an inclined plane, and the contact surface between the wedge block 25 and the finger 23 is set as an inclined plane. Through the vertical movement of the wedge block 25 and the torsional force of the torsion spring 22, the finger 23 is driven to swing around the pin shaft 21 to realize the clamping or release of the test tube 17. In the present invention, by using the two inclined planes of the wedge block 25 to contact the inclined planes of the two fingers 23 and cooperating with the torsion spring 22, the opening angle of the fingers 23 can be controlled, so as to promote the opening and closing angles at the bottom ends of the two fingers 23 to adapt to the clamping requirements of test tubes 17 of different thickness specifications, and improve the versatility and adaptability of the equipment during the operation of clamping test tubes.

[0055] In addition, with the help of the conveying mechanism, the test tube 17 is mainly conveyed to four positions, namely the loading and unloading position of the test tube 17, the scanning position corresponding to the scanning device 6, the visual photography position corresponding to the vision system 7, and the robot grasping position corresponding to the robot 18. The linear module 10 can drive the test tube box 15 and the test tube 17 to reach the above four positions and stay to cooperate with the correct operation of the corresponding instructions, without manually repeatedly displacing the position of the test tube 17, ensuring the accurate positioning of the test tube 17 at each key position, so as to ensure the smooth progress of operations such as scanning, detection, and grasping, and improve the reliability of the detection results.

[0056] Mainly refer to Figure 14 and Figure 15As shown in the figure, the centrifugal mechanism includes: an assembly plate 26, a motor base 27, a servo motor 28, a coupling 29, a main shaft 30, a turntable 31, a support 32, a through groove 33, a rotating shaft 34, a basket 35 and a placement hole 36. The assembly plate 26 is installed on the base 1, and the assembly plate 26 provides support for the connection and assembly between the centrifugal mechanism and the base 1; the motor base 27 is installed in the middle of the bottom end of the assembly plate 26; the servo motor 28 is installed in the middle of the bottom end of the assembly plate 26 through the motor base 27, and the stable connection of the servo motor 28 below the assembly plate 26 is realized through the motor base 27. The servo motor 28 is a commonly used servo motor on the market, which can meet the driving requirements of the centrifugal speed of the centrifuge, and the PLC controller 4 can control the speed of the output end of the servo motor 28, so as to realize the adjustment of the centrifugal speed. The model of the servo motor 28 will not be elaborated and limited here; the coupling 29 is installed at the output end of the servo motor 28; the main shaft 30 is connected to the coupling 29, and the main shaft 30 extends through to the upper side of the assembly plate 26; the turntable 31 is fixedly installed at the top end of the main shaft 30. By starting the servo motor 28, the coupling 29, the main shaft 30 and the turntable 31 are driven to rotate synchronously, so as to realize the subsequent centrifugal operation; several supports 32 are provided. In this solution, six supports 32 are provided. The supports 32 are installed on the upper surface of the turntable 31, and the distance between adjacent two supports 32 is the same; several through grooves 33 are provided. In this solution, six through grooves 33 are provided. The through grooves 33 are opened through the turntable 31 from top to bottom, and the distance between adjacent two through grooves 33 is the same; the rotating shaft 34 is rotatably connected to the side walls of adjacent two supports 32, and the rotating shaft 34 is located above the through groove 33; the basket 35 is installed on the rotating shaft 34. When centrifuging, the rotating turntable 31 causes the basket 35 and the rotating shaft 34 to gradually change from a vertical state to a horizontal state, achieving the centrifugal leveling state; several placement holes 36 are provided. In this solution, four placement holes 36 are provided. The placement holes 36 are opened in the basket 35 along the vertical direction. The test tube 17 can be inserted and removed into the placement hole 36. When the basket 35 reaches the leveling state, the port of the test tube 17 in the inner cavity of the placement hole 36 faces the center of the turntable 31, and the liquid in the test tube 17 in this centrifugal state will not spill outwards; among them, the number of supports 32 and through grooves 33 is the same, both are set to six, and the through groove 33 is opened between adjacent two supports 32, so as to ensure that the basket 35 installed on the rotating shaft 34 is located at the through groove 33; specifically, the center of the turntable 31, the axis of the main shaft 30, the center of the coupling 29 and the center of the output end of the servo motor 28 are all on the same vertical axis, so as to ensure that under the driving action of the servo motor 28, the above-mentioned components can rotate coaxially, and ensure the balance of the force on the turntable 31 during centrifugation;

[0057] In addition, the installation height of the rotating shaft 34 relative to the basket 35 is less than half of the height of the basket 35 itself, so as to ensure that the mouths of the test tubes 17 face upward when the centrifuge is in a stopped state; the end face of the through groove 33 close to the center of the turntable 31 is at a distance M from the center of the rotating shaft 34, and the end face of the tube mouth of the test tube 17 located in the placement hole 36 is at a distance H from the center of the rotating shaft 34. Among them, M > H, so that after the centrifuge reaches a certain rotational speed, the basket 35 and the test tube 17 reach a balanced state, realizing the centrifugation operation of the liquid in the test tube 17.

[0058] Refer mainly to Figure 1 , Figures 12 to 14 As shown, the sealing mechanism includes: a shield 37, a top cover 38, a motor reducer 39, a drive shaft 40, a bearing seat 41, a hatch 42, a feed port 43 and a housing 44. The shield 37 is installed on the assembly plate 26; the top cover 38 is arranged at the top of the shield 37; the motor reducer 39 is installed on the top cover 38. The motor reducer 39 is a commonly used and mature component on the market. It is a combination of a motor and a reducer, which can convert the high-speed and low-torque output of the motor into a low-speed and high-torque output, and the output end of the motor reducer 39 can be self-locked after it stops operating and will not rotate under the action of external forces; the drive shaft 40 is connected to the output end of the motor reducer 39; there are two bearing seats 41, and the two bearing seats 41 are symmetrically installed on the upper surface of the top cover 38, and the drive shaft 40 is rotatably connected between the two bearing seats 41; the hatch 42 is fixedly installed on the drive shaft 40, and the hatch 42 is located between the two bearing seats 41; the feed port 43 is opened on the top cover 38, and the hatch 42 is rotatably opened and closed on the top cover 38. By opening the motor reducer 39, the drive shaft 40 is prompted to drive the hatch 42 to rotate and open around the drive shaft 40; the housing 44 is installed on the top cover 38, and the housing 44 is buckled above the motor reducer 39 to protect the motor reducer 39 from being overly exposed to the external environment and affecting its service life; since the output end of the motor reducer 39 can be self-locked after it stops operating, it is ensured that the output end of the motor reducer 39 after it stops operating keeps the drive shaft 40, the bearing seat 41 and the hatch 42 in a stable state, and the hatch 42 is closely attached to the feed port 43 to achieve the overall sealing of the shield 37. The motor reducer 39 only needs to meet the usage requirements, and the model thereof is not limited and elaborated here.

[0059] In addition, position sensors are provided at the blanking position on the pedestal 9 and above the bin door 42. Through the position sensor provided at the pedestal 9, the signal that the test tube box 15 reaches the blanking position can be transmitted to the PLC controller 4, and the PLC controller 4 controls the buzzer 8 to emit a sound to prompt the staff that the centrifugation operation is completed. Through the position sensor provided above the bin door 42, when the manipulator 18 grabs the test tube 17 and reaches the bin door 42, this signal can be transmitted to the PLC controller 4, and the PLC controller 4 controls the motor reducer 39 to start to open the bin door 42. And the above-mentioned position sensor is a commonly used component in the existing market, and various types such as photoelectric position sensors, inductive position sensors, and magnetic position sensors can be selected according to needs, as long as it meets the usage requirements of this application, and it will not be elaborated and limited here.

[0060] It should be noted that the start-stop button 5, the barcode scanning device 6, the vision system 7, the buzzer 8, and the manipulator 18 are all mature devices on the market, as long as they meet the usage requirements of their respective functions, and the PLC controller 4 and the start-stop button 5 are electrically connected to the above-mentioned components respectively, and the components can transmit electrical signals and process corresponding instructions with the PLC controller 4 and the start-stop button 5, as long as they can meet the above requirements, and it will not be elaborated and limited here. In addition, the leveling state of the centrifuge refers to the working state when using a leveling rotor for centrifugation. The leveling rotor is a core component of the centrifuge for separating samples. During centrifugation, the basket on the leveling rotor will gradually swing from the vertical position to the horizontal position as the rotor rotates, so that the samples in the centrifuge tube are scattered radially under the action of centrifugal force, thereby realizing the separation of the samples. Similarly, in this application, the rotation of the turntable 31 drives the basket 35 to rotate and gradually swing from the vertical position to the horizontal position, thereby realizing the centrifugation effect. This is the general principle of existing centrifugation equipment, as long as it can meet the usage requirements, and it will not be elaborated and limited here.

[0061] The working principle of an automatic test tube detection centrifuge in this embodiment is as follows:

[0062] During use, the test tube 17 to be detected is placed in the test tube box 15, and the test tube box 15 is placed at the mounting plate 11, so that the connecting block 16 installed on the side wall of the test tube box 15 is embedded in the inner cavity of the groove body 12. At this time, the test tube box 15 is limited in the horizontal and front-rear directions at the mounting plate 11. By opening the rotary pressing cylinder 13, the output end of the rotary pressing cylinder 13 is driven to lower and rotate the positioning column 14 until the bottom end of the positioning column 14 presses tightly on the upper surface of the connecting block 16, realizing the stable positioning of the test tube box 15 on the mounting plate 11.

[0063] It is started by the linear module 10, which drives the mounting plate 11 to move along the length direction of the linear module 10, that is, the test tube box 15 on the mounting plate 11 is moved to the position corresponding to the barcode scanning device 6 to identify the types of liquids in the test tubes 17 contained in the test tube box 15, and transmit the corresponding parameters to the PLC controller 4. Based on the received parameters, the PLC controller 4 can automatically match the corresponding parameters of the centrifuge to achieve the precise adaptation of the centrifuge operating parameters to the characteristics of the samples in the test tubes. Then, the linear module 10 transports the test tube box 15 on the mounting plate 11 to the position corresponding to the vision system 7. The vision system 7 performs its detection function. On the one hand, it checks whether the liquids in each test tube 17 are consistent. On the other hand, it counts the number of test tubes assembled in the entire test tube box 15 and synchronously transmits this detailed information to the PLC controller 4. The PLC controller 4 comprehensively considers all the above parameters and accurately determines which test tubes 17 can be precisely grasped into the centrifuge by the cooperation of the manipulator 18 and the torsion spring 22. At the same time, it reasonably controls the number of test tubes 17 entering the centrifuge for centrifugation each time and sets the rotation speed of the servo motor 28 to match the appropriate centrifugation speed and centrifugation time according to the types of test tubes 17.

[0064] The linear module 10 continues to transport the test tube box 15 to the grasping position corresponding to the manipulator 18. By starting the lead screw motor 24, the wedge block 25 is first driven to move in the direction close to the lead screw motor 24, so as to drive the wedge block 25 to move upward. At this time, under the action of the torsion spring 22, the tops of the two fingers 23 rotate towards the middle, and the bottoms rotate outwards, that is, the fingers 23 rotate outwards at the bottom end with the lead screw motor 24 as the axis to open. After the manipulator 18 moves the two opened fingers 23 to the specified position above the corresponding test tube 17, the lead screw motor 24 drives the wedge block 25 to move in the reverse direction, driving the tops of the two fingers 23 to move away from each other towards the outside, so as to realize the bottoms of the two fingers 23 moving towards the middle to clamp the top of the test tube 17. The manipulator 18 shakes the clamped test tube 17 for a few seconds to make the liquid in the test tube 17 uniform, and then transports the test tube 17 above the chamber door 42.

[0065] By activating the motor reducer 39, the drive shaft 40 is prompted to drive the chamber door 42 to rotate and open about the drive shaft 40. Additionally, according to the number of test tubes 17 in the test tube cassette 15, the robotic arm 18 can place the test tubes 17 in the corresponding placement holes 36, ensuring an even distribution of the test tubes 17 above the turntable 31 to meet the requirement of stable dynamic balance during the rotation of the centrifuge; after the test tubes 17 are evenly placed on the turntable 31, the robotic arm 18 disengages from the inner cavity of the shield 37, and the chamber door 42 is reversely latched at the material inlet 43 with the aid of the motor reducer 39 to seal the centrifugation environment; by activating the servo motor 28 to drive the coupling 29, the main shaft 30, and the turntable 31 to rotate, the test tubes 17 placed in the basket 35 are swung from the vertical position to the horizontal position, thereby achieving the centrifugation effect;

[0066] After centrifugation is completed, the robotic arm 18 grabs the test tubes 17 in the centrifuge and places them in the test tube cassette 15. With the help of the linear module 10, the mounting plate 11 and the centrifuged test tubes 17 are transported to the discharging position, and the buzzer 8 prompts the operator to remove the centrifuged test tube cassette 15, thus completing the automated detection of a series of actions including barcode scanning and identification of the test tubes 17, visual system judgment, robotic arm grasping of the test tubes, oscillation of the liquid in the test tubes, and assembly into the basket of the centrifuge;

[0067] When this device is in use, simply placing the test tube cassette 15 at the designated position on the mounting plate 11 enables the automated detection of a series of actions including barcode scanning and identification of the test tubes 17, visual system judgment, robotic arm grasping of the test tubes, oscillation of the liquid in the test tubes, and assembly into the basket of the centrifuge, and then high-speed rotation of the centrifuge to centrifuge the liquid in the test tubes. The entire process is completed in one go, with seamless automation at each link, eliminating the interruptions and delays of manual operation, significantly shortening the detection cycle for a single sample, remarkably improving the detection efficiency of test tube centrifugation, and precisely placing the test tubes mechanically, tightly sealing the chamber door, and intelligently adapting the rotation speed, fundamentally eliminating the hidden dangers of external interference and improper internal processing of the samples, ensuring a stable centrifugation process, guaranteeing more thorough and precise separation of the sample components, higher accuracy of the centrifugation test results, and reducing the differences caused by human factors through automated operation, making the sample processing process more standardized and improving the consistency and comparability of the test results among different operators and different laboratories.

[0068] In order to more comprehensively understand the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The attached drawings are for reference and illustration purposes only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, numerous details are provided to fully understand the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0069] In the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings, terms such as "first", "second", etc. are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0070] In the embodiments of the present disclosure, the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "middle", "outer", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the embodiments of the present disclosure and their implementations, and are not used to limit that the indicated devices, elements or components must have a specific orientation or be constructed and operated in a specific orientation. And, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0071] In addition, the terms "arranged", "connected", "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0072] Unless otherwise specified, the term "plurality" means two or more.

[0073] In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0074] The term "and / or" describes the association relationship of objects and indicates that three relationships can exist. For example, A and / or B means: A or B, or, A and B these three relationships.

[0075] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic test tube detection centrifuge device, comprising a base (1) and a plurality of test tubes (17), characterized in that: Also includes: A frame (2), wherein the frame (2) is fixedly mounted on the base (1), and the frame (2) and the base (1) together provide an installation position for installing other components; A connecting plate (3), wherein the connecting plate (3) is mounted on a side wall of the frame (2); A PLC controller (4), the PLC controller (4) being mounted on the connecting plate (3); A start / stop button (5), the start / stop button (5) being mounted on the upper surface of the base (1); A conveying mechanism, the conveying mechanism being arranged on the base (1) and arranged along the length direction of the base (1) and being used for conveying the test tube (17) to a corresponding position; an identification detection prompt component, the identification detection prompt component being arranged on the base (1) and the frame (2) and being used for identifying and detecting the properties of the test tube (17) and providing a reminder for unloading the test tube (17); A pick-up and release mechanism, the pick-up and release mechanism is arranged on the base (1) and is used for grabbing or releasing the test tube (17); a centrifugal mechanism, the centrifugal mechanism being arranged on the base (1) and being used for centrifuging the test tube (17); A sealing mechanism is arranged outside the centrifugal mechanism.

2. The automatic test tube detection centrifugal device according to claim 1, characterized in that: The conveying mechanism comprises: A pedestal (9), the pedestal (9) being mounted on the base (1) and arranged along the length direction of the base (1); A linear module (10), wherein the linear module (10) is arranged on the base (9); A mounting plate (11), the mounting plate (11) being arranged on the linear module (10), and the linear module (10) drives the mounting plate (11) to move along the length direction of the linear module (10), and a placement groove is provided on the upper surface of the mounting plate (11); A groove body (12), wherein two groove bodies (12) are provided, and the two groove bodies (12) are opened on the inner side wall of the placement groove on the upper surface of the mounting plate (11); A rotary pressing cylinder (13), wherein two rotary pressing cylinders (13) are provided, and the two rotary pressing cylinders (13) are symmetrically arranged on the lower surface of the mounting plate (11); A positioning column (14), wherein the positioning column (14) is installed at the output end of the rotary pressing cylinder (13); A test tube box (15), the test tube box (15) being placed in a placement groove provided on the upper surface of the mounting plate (11); A connecting block (16), wherein two connecting blocks (16) are provided, and the two connecting blocks (16) are symmetrically mounted on the side walls of the test tube box (15), and the connecting blocks (16) are pluggable and embedded in the slot body (12); The bottom end of the positioning column (14) is rotated and pressed against the upper surface of the connecting block (16), and a plurality of test tubes (17) are arranged in the test tube box (15).

3. The automatic test tube detection centrifugal device according to claim 2, characterized in that: The identification detection prompt component includes: a code scanning device (6), the code scanning device (6) being installed on the stand (9) and used for identifying the type of the test tube (17); a visual system (7), the visual system (7) being mounted on the frame (2) and used for checking the consistency of the liquid in the test tube (17); A buzzer (8) is installed at the top of the frame (2) and is used to provide a reminder when the test tube (17) is being unloaded.

4. The automatic test tube detection centrifugal device according to claim 1, characterized in that: The pick-and-place mechanism comprises: A manipulator (18), the bottom end of which is fixedly mounted on the base (1); A pick-and-place assembly is arranged at the output end of the robot (18).

5. The automatic test tube detection centrifugal device according to claim 4, characterized in that: The pick-and-place assembly comprises: A mounting seat (19), wherein the mounting seat (19) is mounted at the output end of the manipulator (18); A fixing seat (20), the fixing seat (20) being mounted on the bottom end of the mounting seat (19), the inner cavity of the fixing seat (20) being arranged in a C-shape, and the opening of the C-shaped inner cavity of the fixing seat (20) being arranged downward; A pin shaft (21), wherein two pin shafts (21) are provided, and the two pin shafts (21) are rotatably provided at two free ends of the fixing seat (20) respectively; A torsion spring (22), wherein the torsion spring (22) is sleeved on the pin shaft (21); A clamping finger (23), wherein the clamping finger (23) is mounted on the pin shaft (21), and the torsion spring (22) provides a torsional force for the rotation of the clamping finger (23); A screw motor (24), the screw motor (24) being mounted in the inner cavity of the mounting seat (19); A wedge block (25) is provided at the output end of the wedge block (25), and the screw motor (24) drives the wedge block (25) to move closer to or away from the mounting seat (19).

6. The automatic test tube detection centrifugal device according to claim 5, characterized in that: The top end of the clamping finger (23) is arranged as an inclined surface, and the contact surface between the wedge block (25) and the clamping finger (23) is arranged as an inclined surface. Through the vertical movement of the wedge block (25) and the torsion force of the torsion spring (22), the clamping finger (23) is driven to swing around the pin shaft (21) as the axis, thereby achieving the clamping or release of the test tube (17).

7. The automatic test tube detection centrifugal device according to claim 1, characterized in that: The centrifugal mechanism comprises: An assembly plate (26), the assembly plate (26) being mounted on the base (1); A motor seat (27), the motor seat (27) being mounted at the middle of the bottom end of the assembly plate (26); A servo motor (28), wherein the servo motor (28) is mounted on the middle part of the bottom end of the assembly plate (26) through the motor seat (27); A coupling (29), the coupling (29) being mounted at an output end of the servo motor (28); A main shaft (30), the main shaft (30) is connected to the coupling (29), and the main shaft (30) extends through and above the mounting plate (26); A rotating disk (31), wherein the rotating disk (31) is fixedly mounted on the top end of the main shaft (30); A support (32), wherein a plurality of supports (32) are provided, and the supports (32) are mounted on the upper surface of the rotating disk (31), and the distance between two adjacent supports (32) is the same; A plurality of through grooves (33) are provided, and the through grooves (33) are arranged on the rotating disk (31) from top to bottom, and the distance between two adjacent through grooves (33) is the same; A rotating shaft (34), the rotating shaft (34) being rotatably connected to the side walls of two adjacent supports (32), and the rotating shaft (34) being located above the through slot (33); A basket (35), wherein the basket (35) is mounted on the rotating shaft (34); A placement hole (36), wherein a plurality of the placement holes (36) are provided, and the placement holes (36) are vertically opened at the basket (35), and the test tube (17) is pluggable and embedded in the placement hole (36); The number of the supports (32) and the number of the through slots (33) are the same, and the through slot (33) is opened between two adjacent supports (32).

8. The automatic test tube detection centrifugal device according to claim 7, characterized in that: The installation height of the rotating shaft (34) relative to the basket (35) is less than half of the height of the basket (35); The end surface of the through groove (33) close to the center of the rotating disk (31) is at a distance M from the center of the rotating shaft (34), and the end surface of the tube mouth of the test tube (17) located in the placement hole (36) is at a distance H from the center of the rotating shaft (34), wherein M>H.

9. The automatic test tube detection centrifugal device according to claim 7, characterized in that: The center of the turntable (31), the axis of the main shaft (30), the center of the coupling (29) and the center of the output end of the servo motor (28) are all located on the same vertical axis.

10. The automatic test tube detection centrifugal device according to claim 7, characterized in that: The sealing mechanism comprises: A shield (37), wherein the shield (37) is mounted on the mounting plate (26); A top cover (38), the top cover (38) being arranged on the top of the protective cover (37); A motor reducer (39), wherein the motor reducer (39) is mounted on the top cover (38); A drive shaft (40), the drive shaft (40) being connected to an output end of the motor reducer (39); A bearing seat (41), wherein two bearing seats (41) are provided, the two bearing seats (41) are symmetrically mounted on the upper surface of the top cover (38), and the drive shaft (40) is rotatably connected between the two bearing seats (41); A door (42), the door (42) is fixedly mounted on the drive shaft (40), and the door (42) is located between the two bearing seats (41); A material opening (43), wherein the material opening (43) is opened on the top cover (38), and the bin door (42) is rotatably opened and closed and is arranged on the top cover (38); A cover body (44), wherein the cover body (44) is mounted on the top cover (38), and the cover body (44) is buckled above the motor reducer (39).

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