Integrated multifunctional full-automatic centrifuge

Abstract

The application discloses a kind of integrated multifunctional fully automatic centrifuge, including rack, examination material taking and placing platform, mechanical arm, visual identification device, weight perception device, centrifugal store, motor, spring damping base and controller.Each component is linked by controller, and examination material taking and placing, dynamic balancing, centrifugation, secondary centrifugation and homing are automatically completed, the precision of visual identification is optimized using weight data, the storage capacity is improved by multi-layer taking and placing platform, and the noise is reduced by spring damping base.The application solves the pain points of existing centrifuge, such as single centrifugal store, dependence on manual work and low efficiency, realizes full-process automation, has strong practicality, and is suitable for clinical, laboratory and other scenes.

Description

Technical Field

[0001] This invention relates to the field of centrifuge technology, and in particular to a fully automatic centrifuge integrating multiple functions. Background Technology

[0002] Existing centrifuges are relatively simple in function and structure, possessing only the most basic centrifugation function. Their core component is merely a centrifuge chamber, lacking any automated auxiliary structures. All centrifugation-related operations require full manual intervention, presenting numerous significant problems and failing to meet the efficient, accurate, and standardized centrifugation processing needs of clinical and laboratory settings. Specifically, the operation process of existing centrifuges is cumbersome, requiring extremely high manual intervention. All steps, including sample loading, pre-centrifugation balancing, parameter monitoring during centrifugation, and sample removal and sorting after centrifugation, must be performed manually. This not only significantly increases the workload of operators but also leads to low operational efficiency, making it unsuitable for the continuous processing of large batches of samples. Furthermore, manual operation is prone to various errors. For example, sample misalignment during loading can cause uneven force during centrifugation, affecting centrifugation results; insufficient weighing and adjustment precision during manual balancing can easily lead to imbalances, resulting in equipment vibration, damage, or even sample leakage and contamination; and manual handling of samples after centrifugation can easily cause test tube breakage and sample contamination, affecting the standardization and accuracy of subsequent testing. Furthermore, existing centrifuges lack the ability to accurately identify and trace samples, cannot distinguish between different types and specifications of samples, and can only use fixed centrifugation parameters for processing. Their adaptability is extremely poor, and they cannot meet the differentiated centrifugation needs of samples of different weights and types. Moreover, there is no effective vibration buffering mechanism during centrifugation, resulting in high operating noise and insufficient equipment stability. Overall, their practicality and standardization are seriously lacking, making it difficult to meet the high standards required for modern sample processing. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automatic centrifuge that integrates multiple functions, realizes full automation of the process of sample handling, balancing, centrifugation, identification, and traceability, and improves centrifugation efficiency and accuracy.

[0004] The above-mentioned technical objective of the present invention is achieved through the following technical solution: A fully automatic centrifuge integrating multiple functions, comprising: frame; A sample handling platform mounted on the rack; A robotic arm motion platform mounted on a frame, and a robotic arm mounted on the robotic arm motion platform; A visual recognition device that works in conjunction with the robotic arm; Weight sensing device on the robotic arm; The centrifuge chamber is located at the bottom of the frame and is driven by a motor, which is mounted on a spring-dampened base. Controller; The controller is configured as follows: Receive the sample location, status and barcode scanning information output by the visual recognition device, and control the actions of the sample picking and placing platform, the robotic arm and the robotic arm motion platform; Receive the sample weight information output by the weight sensing device, control the robotic arm to put the sample into the centrifuge chamber and complete dynamic balancing; After centrifugation is completed, the robotic arm is controlled to grab the sample. The vision recognition device identifies the centrifugation status. If the centrifugation is not complete, the robotic arm is controlled to rebalance the sample with the new sample and send it back into the centrifuge chamber for a second centrifugation until centrifugation is complete. Then the sample is returned to the sample pick-up and drop-off platform.

[0005] In a preferred embodiment, the sample is a blood sample, which is contained in a test tube and placed in a test tube rack. The visual recognition device is also used to identify the direction of the test tube and the position of the test tube rack to achieve automatic correction of the test tube direction.

[0006] In a preferred embodiment, the robotic arm motion platform is a linear motion platform that can drive the robotic arm to move over a wide range on the frame, thereby realizing the horizontal position adjustment of the robotic arm and adapting to the position switching between the sample handling platform and the centrifuge chamber.

[0007] In a preferred embodiment, the controller is configured to, in the secondary centrifugation process, match the weight of the new sample with the weight information of the uncentrifuged sample to perform balancing, and then send the balancing sample group into the centrifugation chamber.

[0008] In a preferred embodiment, the sample retrieval platform is configured with two or more layers, each layer having a positioning slot adapted to the test tube rack. The positioning slot matches the shape of the test tube rack to achieve positioning of the test tube rack, and each layer of the sample retrieval platform can move independently back and forth.

[0009] In a preferred embodiment, the visual recognition device is a camera, which integrates a barcode scanning module to identify the marking information on the test tube, thereby enabling traceable management of the sample.

[0010] In a preferred embodiment, the weight sensing device is a weight sensor embedded in the robotic arm, which can collect the weight data of the sample in real time while grasping the sample and transmit it to the controller synchronously.

[0011] In a preferred embodiment, the spring damping base includes a motor mounting base and a bracket spring. The bracket spring is symmetrically arranged at the bottom of the motor mounting base, which can adapt to the motor operating status in real time, dynamically buffer the motor vibration, and reduce the operating noise of the equipment.

[0012] In a preferred embodiment, the controller is configured to: use the weight data of the sample collected by the weight sensing device as the basis for dynamically adjusting the focusing accuracy of the visual recognition device, and adjust the focusing accuracy of the visual recognition device.

[0013] In a preferred embodiment, the controller is configured to: divide the sample weight into preset weight ranges, with different weight ranges corresponding to different focusing accuracy thresholds of the visual recognition device; when the sample weight is within the preset weight range, the visual recognition device maintains the corresponding focusing accuracy threshold; when the sample weight exceeds the preset weight range, the controller adjusts the focusing accuracy threshold and simultaneously adjusts the focusing distance by combining the clarity data of the test tube opening collected by the visual recognition device.

[0014] Compared to existing technologies, this invention addresses the core pain points of current centrifuges, such as their single centrifuge chamber, reliance on manual operation, low efficiency, high error rate, and poor adaptability. By integrating multiple automated components and optimizing control logic, it achieves full automation of the centrifugation process, completely eliminating reliance on manual operation, significantly reducing the labor intensity of operators, and significantly improving the efficiency and standardization of centrifugation. Compared to existing equipment that can only perform basic centrifugation functions, this invention automatically completes all stages, including sample loading and unloading, dynamic balancing, centrifugation, centrifugation status identification, secondary centrifugation, and sample return, through controller linkage of various components. This effectively avoids problems caused by manual operation, such as sample placement misalignment, inaccurate balancing, sample contamination, and test tube breakage, ensuring the stability and consistency of centrifugation results. Meanwhile, through the coordinated operation of the weight sensing device and the visual recognition device, the recognition accuracy is optimized by fully utilizing the sample weight data, enabling precise identification and differentiated processing of samples of different weights and specifications. This solves the compatibility problem of existing equipment, which cannot distinguish sample types and can only use fixed-parameter centrifugation. The spring-loaded shock-absorbing base effectively buffers motor vibration, reduces equipment noise, improves equipment stability, and extends equipment lifespan. The multi-layer sample handling platform design significantly increases sample storage capacity, adapting to the continuous processing needs of large batches of samples. The barcode scanning module integrated into the visual recognition device enables full-process traceability of samples, further improving the standardization of sample processing. Overall, this invention has a reasonable structure and high functional integration, effectively solving all the technical pain points of existing centrifuges. It is highly practical and can be widely used in clinical testing, laboratories, and other scenarios, meeting the high standards required for modern sample processing. Attached Figure Description

[0015] Figure 1 This invention relates to a schematic diagram of the external structure of a fully automatic centrifuge integrating multiple functions.

[0016] Figure 2 This invention relates to a fully automatic centrifuge integrating multiple functions. Figure 1 This is a structural diagram after part of the outer shell has been removed.

[0017] Figure 3 This invention relates to a fully automatic centrifuge integrating multiple functions. Figure 2 This is a structural diagram showing the structure after further removing part of the outer shell.

[0018] Frame 1; Sample handling platform 2; Robotic arm motion platform 3; Robotic arm 4; Vision recognition device 5; Centrifuge chamber 6; Motor 7; Controller 8. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings.

[0020] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0021] like Figures 1 to 3As shown, the core structure of this integrated multifunctional fully automatic centrifuge includes a frame 1, a sample handling platform 2, a robotic arm motion platform 3, a robotic arm 4, a vision recognition device 5, a weight sensing device, a centrifuge chamber 6, a motor 7, a spring shock-absorbing base, and a controller 8. All components work together to achieve fully automated centrifugation processing. The frame 1 serves as the overall load-bearing foundation of the equipment, providing a stable installation benchmark for all functional components, ensuring precise positioning and no displacement during operation, and guaranteeing the overall operational stability of the equipment. The sample handling platform 2, located on the frame 1, provides dedicated storage space for samples to be processed and those already processed, ensuring orderly organization and preventing sample chaos, contamination, or damage. The robotic arm motion platform 3, also located on the frame 1, houses the robotic arm 4, which has a movable track that allows it to flexibly switch positions between the sample handling platform 2 and the centrifuge chamber 6, facilitating sample transfer. The visual recognition device 5, working in conjunction with the robotic arm 4, collects real-time sample position, status, and barcode scanning information, transmitting the image data to the controller 8. This provides precise visual support for the controller 8 to issue action commands, ensuring accurate robotic arm movements. A weight sensing device, located on the robotic arm 4, simultaneously collects weight data when grasping samples. The centrifuge chamber 6, located at the bottom of the frame 1, is driven by a motor 7 to achieve high-speed rotation and utilize centrifugal force to separate the samples. The motor 7 is mounted on a spring-dampened base to effectively buffer operational vibrations. The controller 8, as the core control unit of the equipment, receives signals from various components and issues coordinated instructions through logical operations. Specifically, it receives the sample position, status, and barcode information output by the visual recognition device 5 and controls the actions of the sample pick-up and place platform 2, the robotic arm 4, and the robotic arm motion platform 3. It also receives the sample weight information output by the weight sensing device and controls the robotic arm 4 to place the sample into the centrifuge chamber 6 and complete dynamic balancing. After centrifugation, the controller controls the robotic arm 4 to grab the sample, and the visual recognition device 5 identifies the centrifugation status. If the centrifugation is incomplete, the controller controls the robotic arm 4 to rebalance the sample with a new sample and send it back into the centrifuge chamber 6 for secondary centrifugation until centrifugation is complete, and then returns the sample to the sample pick-up and place platform 2. Through the coordinated action of various components, the entire process of sample handling, balancing, centrifugation, secondary centrifugation, and return to the original position is automated, which greatly reduces the intensity of manual labor and improves processing efficiency. At the same time, precise control avoids problems such as sample contamination and inaccurate balancing, ensuring stable and consistent centrifugation results and meeting the high standards required in clinical, scientific research, and other scenarios.

[0022] In this embodiment, the sample is blood. The blood sample is contained in test tubes and placed in a test tube rack. Blood samples have high requirements for standardized processing and safety. The test tube rack can fix and organize the test tubes, preventing them from tipping over or breaking and causing leakage, thus ensuring the integrity of the sample. In addition to collecting the position, status, and barcode information of the sample, the visual recognition device 5 is also used to identify the direction of the test tubes and the position of the test tube rack. While collecting the position information of the sample, it captures features such as the test tube opening and markings, accurately identifying the placement direction of the test tubes and the position of the test tube rack on the pick-up and drop-off platform. The directional deviation data is transmitted to the controller 8. The controller 8 adjusts the movement angle of the robotic arm 4 according to the deviation, driving the test tubes to rotate to the standard direction, realizing automatic correction of the test tube direction. This design ensures that the test tubes are placed at a consistent angle when placed in the centrifuge chamber 6, avoiding uneven centrifugation force due to directional deviation, ensuring the centrifugation effect, and providing a stable foundation for subsequent barcode scanning and weight collection, improving the accuracy and standardization of equipment operation, and adapting to the refined processing needs of blood samples.

[0023] The robotic arm motion platform 3 is a linear motion platform that allows the robotic arm 4 to move a wide range of motion on the frame 1. This platform uses a linear drive structure, ensuring smooth and precise movement. It can drive the robotic arm 4 to move back and forth horizontally along the frame 1, with a wide range of movement, flexibly adapting to the position switching between the sample handling platform 2 and the centrifuge chamber 6. Compared to a fixed-track platform, it can precisely adjust the horizontal position of the robotic arm 4 based on the sample position feedback from the vision recognition device 5, ensuring that the robotic arm 4 accurately grasps each test tube and reduces grasping errors. Simultaneously, the rapid movement capability of the linear motion platform can shorten sample transfer time, ensuring smooth transitions between various operational steps, further improving the automation efficiency and practicality of the equipment, and adapting to the continuous processing needs of large batches of samples.

[0024] In the secondary centrifugation process, controller 8 matches the weight of the new sample to the weight of the uncentrifuged sample to achieve balancing, and then sends the balancing sample group into centrifuge chamber 6. Specifically, when the visual recognition device 5 detects that the sample is not centrifuged properly, controller 8 retrieves the weight data of the sample, combines it with the balancing requirements of centrifuge chamber 6 (the weight of the sample on both sides of centrifuge chamber 6 must be balanced to avoid vibration affecting centrifugation accuracy), calculates the appropriate weight range of the new sample, and then controls the robotic arm 4 to grab the new sample that meets the weight requirements. The uncentrifuged sample and the new sample are placed symmetrically in centrifuge chamber 6, and the secondary centrifugation is started after balancing is completed. This method ensures that the weight distribution in centrifuge chamber 6 is uniform during secondary centrifugation, avoids equipment vibration, damage or poor centrifugation effect caused by balancing imbalance, and eliminates the need for manual intervention in the balancing process, realizing automation of secondary centrifugation, improving the pass rate and efficiency of sample processing, and ensuring that every sample achieves a qualified centrifugation effect.

[0025] The sample handling platform 2 is designed with two or more layers, each layer having a positioning slot adapted to the test tube rack. The positioning slot matches the shape of the test tube rack, limiting and fixing it to prevent slippage and ensuring precise positioning of the rack, thus guaranteeing accurate gripping by the robotic arm 4. Simultaneously, each layer of the sample handling platform 2 can move independently forward and backward, allowing for individual adjustment of the corresponding layer's position according to the robotic arm 4's gripping needs. This eliminates the need to move the entire platform, reducing adjustment time and energy consumption, avoiding positional deviations during multi-layer linkage adjustments, further improving the robotic arm 4's gripping efficiency and accuracy, and enhancing the equipment's operational flexibility. The multi-layer design also significantly increases sample storage capacity within the limited rack space 1, enabling the simultaneous storage of multiple batches of samples to be processed and those already processed, addressing the limitation of existing equipment in handling large volumes of samples continuously.

[0026] The visual recognition device 5 uses a camera that integrates a barcode scanning module. This camera possesses high-definition image acquisition capabilities, capturing real-time information such as the tube outline, tube opening status, and placement orientation. This provides clear visual support for the robotic arm 4 to grasp and calibrate the tubes, ensuring precise operation. The integrated barcode scanning module can recognize QR codes, barcodes, and other identification information on the test tubes. The controller 8 associates and stores this identification information with data such as sample weight, centrifugation parameters, and processing time, forming a unique traceability record for each sample. Subsequent scanning allows for quick retrieval of the entire sample processing process information, clarifying processing details and achieving full traceability from sample grasping to return to its place. This prevents sample confusion and loss, meets the standardized management requirements of clinical testing, scientific research experiments, and other scenarios, and improves the reliability of sample processing.

[0027] The weight sensing device employs a weight sensor embedded in the robotic arm 4, occupying no additional space. It collects the weight data of the sample in real time while grasping it and transmits it synchronously to the controller 8. This fast and accurate data acquisition avoids the cumbersome and inefficient process of weighing the sample separately. The collected weight data, transmitted in real time to the controller 8, serves as the core basis for centrifugal balancing and focusing adjustment by the visual recognition device 5, providing precise data support for subsequent operations. This integrated acquisition design enables real-time acquisition and efficient utilization of weight data, reduces data transmission delay, ensures rapid response in balancing and focusing operations, improves the collaborative efficiency of various components, avoids manual weighing errors, guarantees data accuracy, and provides reliable assurance for the precise operation of the equipment.

[0028] The spring-loaded vibration damping base includes a motor mounting base and support springs. The motor mounting base secures the motor 7, ensuring it does not shift during operation and guaranteeing the operational accuracy of the centrifuge chamber 6. The support springs are symmetrically arranged at the bottom of the motor mounting base, forming a uniform buffer structure. When the motor 7 vibrates, the vibration is transmitted to the springs through the base. The springs absorb the vibration energy through elastic deformation, significantly attenuating the vibration before transmitting it to the frame 1, achieving dynamic buffering. This structure can adapt to the vibration intensity of the motor 7 at different speeds in real time, maintaining good vibration damping even at high speeds. This reduces equipment operating noise, improves the operating environment, and minimizes the impact of vibration on components such as the centrifuge chamber 6 and the visual recognition device 5, preventing decreased centrifugation accuracy, component loosening and damage, extending equipment lifespan, and improving operational stability.

[0029] The controller 8 can use the weight data of the sample collected by the weight sensing device as a basis for dynamically adjusting the focusing accuracy of the visual recognition device 5. Samples of different weights (such as test tubes with different blood volumes) have different centers of gravity due to varying internal sample amounts, causing deviations between the actual position of the test tube opening and the preset focusing position of the visual recognition device 5. Fixing the focusing accuracy would result in blurred recognition and inaccurate positioning. After receiving the weight data, the controller 8 dynamically adjusts the focusing accuracy parameters based on the preset correlation between weight and focusing accuracy (pre-adjusted based on the center of gravity characteristics of samples of different weights), ensuring the camera accurately aligns with key parts such as the test tube opening. This coordinated adjustment ensures clear recognition regardless of changes in sample weight, improving the accuracy of test tube position and status recognition, providing reliable visual support for robotic arm 4's grasping and scanning operations, and reducing operational errors caused by recognition deviations.

[0030] The controller 8 can also divide the sample weight into preset weight ranges. Different weight ranges correspond to different focusing accuracy thresholds of the visual recognition device 5. When the sample weight is within the preset weight range, the visual recognition device 5 maintains the corresponding focusing accuracy threshold. When the sample weight exceeds the preset weight range, the controller 8 adjusts the focusing accuracy threshold and simultaneously combines the tube opening clarity data collected by the visual recognition device 5 to adjust the focusing focal length. Specifically, the controller 8 divides multiple preset weight ranges based on common sample weights. Each range corresponds to a set of dedicated focusing accuracy thresholds that have been repeatedly debugged to ensure the best recognition effect for samples within that range. After the weight sensor collects the weight, the controller 8 quickly determines the range to which the sample belongs and controls the camera to directly call the corresponding threshold without large-scale adjustments, thus improving focusing efficiency. If the sample weight exceeds the preset range, the controller 8 immediately adjusts the focusing accuracy threshold and simultaneously receives the tube opening clarity data collected by the camera, compares it with the preset clarity threshold, and fine-tunes the focusing focal length based on the deviation until clear recognition is achieved. This combination of interval adjustment and real-time fine-tuning ensures both focusing efficiency for samples of normal weight and adaptability to samples of abnormal weight, thus guaranteeing both accuracy and adaptability in identification.

[0031] The controller 8 can also optimize the visual recognition effect through more refined adjustment. Specifically, the weight data of the sample collected by the weight sensing device is used as the basis for dynamic adjustment of the focusing accuracy of the visual recognition device 5. First, the sample weight is divided into at least three preset weight ranges, each corresponding to the dedicated focusing accuracy threshold and initial focusing focal length of the visual recognition device 5. When the sample weight is within the corresponding preset weight range, the visual recognition device 5 first calls the corresponding dedicated focusing accuracy threshold and initial focusing focal length, and then collects the clarity data of the tube opening in real time. The clarity data is compared with the preset clarity threshold. If the preset clarity threshold is not reached, the controller 8 dynamically fine-tunes the focusing focal length according to the deviation value between the sample weight and the initial clarity, and the fine-tuning amplitude is positively correlated with the sample weight. At the same time, the controller 8 records the matching relationship between the weight data and the focusing parameters each time, forming a dynamic focusing parameter database. When grabbing samples of the same or similar weight in the future, the corresponding focusing parameters in the database are directly called without repeated adjustment. Dividing the sample into at least three weight ranges allows for more precise adaptation to the focusing needs of samples of different weights. Each range has its own dedicated focusing accuracy threshold and initial focusing focal length. Based on the sample's center of gravity characteristics and recognition requirements within that range, the system is pre-calibrated to ensure the camera quickly reaches a basic level of clarity, shortening focusing time. After the camera calls the initial parameters, it collects the tube opening clarity data in real time. If the preset standard is not met, the controller 8 combines the weight with the initial clarity deviation value and adjusts the focal length proportionally. The greater the weight, the larger the adjustment range—because for heavier samples, the center of gravity shift has a more significant impact on recognition clarity, and a larger adjustment range can quickly compensate for the deviation. Simultaneously, the controller 8 records the matching relationship between weight and focusing parameters, forming a dynamic database. When encountering samples of the same or similar weight, the parameters are directly called, significantly improving focusing efficiency. Furthermore, as the database accumulates, the focusing matching accuracy continuously improves, further optimizing the recognition effect.

[0032] The controller 8 can also dynamically adjust the exposure parameters and focus of the visual recognition device 5 by combining the sample weight data collected by the weight sensing device with the test tube outline data collected by the visual recognition device 5. When the sample weight is greater, the exposure intensity of the visual recognition device 5 is increased accordingly, and the focus is appropriately shortened to ensure the test tube opening outline is clearly discernible. Simultaneously, the controller compares the weight data with the test tube outline recognition accuracy in real time. When the recognition accuracy is lower than a preset threshold, the controller automatically fine-tunes the focus and exposure parameters. The greater the sample weight, the more sample is inside the test tube, which alters the absorption and reflection of light. Fixing the exposure parameters can easily lead to a dark outline and blurred details at the tube opening. Furthermore, heavier samples have a lower center of gravity, and the actual position of the tube opening is slightly lower than that of lighter samples, requiring a shorter focus to achieve accurate alignment. The controller 8 combines weight and test tube outline data; when the weight increases, it simultaneously increases the exposure intensity of the visual recognition device 5 to increase the amount of light and shortens the focus to align with the tube opening, ensuring a clear outline. Simultaneously, the system compares weight data with recognition accuracy in real time. When the accuracy falls below a preset threshold, it automatically fine-tunes the focus and exposure parameters until the target is met. This dual-linkage adjustment fully adapts to the recognition needs of samples with different weights, ensuring that a clear and accurate test tube outline can be obtained regardless of weight changes, providing reliable support for subsequent robotic arm grasping, barcode scanning, and other operations.

[0033] Furthermore, the controller 8 can link the sample weight data collected by the weight sensing device with the test tube label scanning data collected by the visual recognition device 5. When the scanning data fails to be recognized, it automatically retrieves the corresponding test tube label reference information based on the sample weight data and preset test tube label association rules, assisting the visual recognition device 5 to rescan the label. Simultaneously, it fine-tunes the scanning angle of the visual recognition device 5 until the scanning is successful. This solves the problem of scanning failure caused by blurry or obstructed test tube labels without manual intervention, improving the efficiency and accuracy of sample traceability. During sample processing, test tube labels may fail to scan due to wear, contamination, or obstruction, affecting sample traceability. The controller 8 pre-establishes association rules between weight ranges and test tube label types and coding rules. When scanning fails, it immediately retrieves the sample weight data and retrieves the corresponding label reference information (such as label style and coding format) based on the rules, providing recognition reference for the camera and helping to quickly locate the label area and eliminate interference. Simultaneously, the controller 8 fine-tunes the scanning angle of the visual recognition device 5, avoiding obstructions and adjusting the light reflection angle to reduce blind spots until scanning is successful. The entire process requires no manual intervention, automatically resolving scanning failures, preventing traceability interruptions, ensuring the traceability of every sample, reducing manual processing costs, improving traceability efficiency and accuracy, and perfecting the standardized management process for samples.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Unless otherwise specified, an element defined by the phrase "comprising..." or "including..." does not exclude the presence of additional elements in the process, method, article, or terminal device that includes said element. Additionally, in this document, "greater than," "less than," "exceeding," etc., are understood to exclude the stated number; "above," "below," "within," etc., are understood to include the stated number.

[0035] The above description of the embodiments is provided to facilitate understanding and use of the present invention by those skilled in the art. It is obvious to those skilled in the art that various modifications can be easily made to the embodiments, and the general principles described herein can be applied to other embodiments without creative effort. Therefore, the present invention is not limited to the above embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. A fully automatic centrifuge integrating multiple functions, characterized in that, include: frame; A sample handling platform mounted on the rack; A robotic arm motion platform mounted on a frame, and a robotic arm mounted on the robotic arm motion platform; A visual recognition device that works in conjunction with the robotic arm; Weight sensing device on the robotic arm; A centrifuge chamber is located at the bottom of the frame. The centrifuge chamber is driven by a motor, which is mounted on a spring-dampened base. Controller; The controller is configured as follows: Receive the sample location, status and barcode scanning information output by the visual recognition device, and control the actions of the sample picking and placing platform, the robotic arm and the robotic arm motion platform; Receive the sample weight information output by the weight sensing device, control the robotic arm to put the sample into the centrifuge chamber and complete dynamic balancing; After centrifugation is completed, the robotic arm is controlled to grab the sample. The vision recognition device identifies the centrifugation status. If the centrifugation is not complete, the robotic arm is controlled to rebalance the sample with the new sample and send it back into the centrifuge chamber for a second centrifugation until centrifugation is complete. Then the sample is returned to the sample pick-up and drop-off platform.

2. The fully automatic centrifuge according to claim 1, characterized in that, The sample is a blood sample, which is contained in a test tube and placed in a test tube rack. The visual recognition device is also used to identify the direction of the test tube and the position of the test tube rack, so as to realize the automatic correction of the direction of the test tube.

3. The fully automatic centrifuge according to claim 1, characterized in that, The robotic arm motion platform is a linear motion platform that can drive the robotic arm to move a wide range on the frame, realize the horizontal position adjustment of the robotic arm, and adapt to the position switching between the inspection material pick-up and drop platform and the centrifuge chamber.

4. The fully automatic centrifuge according to claim 1, characterized in that, The controller is configured to, in the secondary centrifugation process, match the weight of the new sample with the weight information of the uncentrifuged sample to balance the weight, and then send the balanced sample group into the centrifugation chamber.

5. The fully automatic centrifuge according to claim 1, characterized in that, The sample retrieval platform is configured with two or more layers, each layer having a positioning slot adapted to the test tube rack. The positioning slot matches the shape of the test tube rack to achieve the positioning of the test tube rack, and each layer of the sample retrieval platform can move independently back and forth.

6. The fully automatic centrifuge according to claim 1, characterized in that, The visual recognition device is a camera, which integrates a barcode scanning module. It can identify the marking information on the test tube and realize the traceability management of the sample.

7. The fully automatic centrifuge according to claim 1, characterized in that, The weight sensing device is a weight sensor embedded in the robotic arm, which can collect the weight data of the sample in real time while grasping the sample and transmit it to the controller synchronously.

8. The fully automatic centrifuge according to claim 1, characterized in that, The spring damping base includes a motor mounting base and a bracket spring. The bracket spring is symmetrically arranged at the bottom of the motor mounting base, which can adapt to the motor operating status in real time, dynamically buffer the motor vibration, and reduce the operating noise of the equipment.

9. The fully automatic centrifuge according to claim 1, characterized in that, The controller is configured to use the weight data of the sample collected by the weight sensing device as the basis for dynamically adjusting the focusing accuracy of the visual recognition device, thereby adjusting the focusing accuracy of the visual recognition device.

10. The fully automatic centrifuge according to claim 1, characterized in that, The controller is configured to divide the sample weight into preset weight ranges, with different weight ranges corresponding to different focusing accuracy thresholds of the visual recognition device. When the sample weight is within the preset weight range, the visual recognition device maintains the corresponding focusing accuracy threshold. When the sample weight exceeds the preset weight range, the controller adjusts the focusing accuracy threshold and simultaneously adjusts the focusing distance by combining the clarity data of the test tube opening collected by the visual recognition device.

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