A sample reagent centrifugation device

Abstract

The utility model provides a kind of sample reagent centrifugal device, belong to medical instrument field, including structural frame, structural frame is equipped with adapter storage system, blood sample of different residual standing time is stored in partition, same residual standing time sample test tube is placed on adapter, sample unloading area and sample buffer area place the adapter and sample test tube after centrifugation, satisfy the fine management of large quantities of sample test tube, single sample separation mechanism converts the sample test tube of horizontal feeding into vertical state into inclined slide and can identify the residual standing time of different sample test tube, then the sample test tube of rightmost end is lifted proper distance, three-axis truss mechanical hand can be transferred adapter to centrifuge in turn according to residual standing time and carry out centrifugation, ensure that blood and additive in vacuum blood collection tube are fully mixed before entering centrifuge, avoid the stratification of sample after centrifugation Uneven, hemolysis and other problems, ensure the stability and accuracy of test result.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, specifically a sample and reagent centrifugation device. Background Technology

[0002] In the fields of medical and laboratory testing, the accuracy of blood sample test results directly affects the reliability of clinical diagnoses and research conclusions. Specimen pretreatment, as a crucial step in the testing process, significantly impacts the quality of subsequent testing due to its standardized operation. A typical pretreatment process includes steps such as loading, centrifugation, opening the cap, separating (optional), and racking / transferring, with centrifugation being particularly important. Existing automated pretreatment equipment generally lacks precise control over the post-collection settling stage of blood samples, failing to ensure thorough mixing of blood with additives in the vacuum blood collection tube before centrifugation. This leads to uneven stratification and hemolysis of the sample after centrifugation, consequently affecting the stability and accuracy of test results. With the increasing automation of testing, the requirements for intelligent and standardized specimen pretreatment are rising. Traditional manual settling or indiscriminate processing by equipment are insufficient to meet the needs of refined management of large batches of samples, and are prone to interference from human error or improper time control. Addressing this technical challenge, the development of an automated pretreatment system with precise control over sample settling time has become a key breakthrough in improving the quality of blood sample testing and is of great significance in promoting the standardization of clinical testing. Utility Model Content

[0003] The purpose of this invention is to provide a sample and reagent centrifugation device to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a sample and reagent centrifugation device, wherein an adapter storage system is provided within the structural frame, the adapter storage system having two symmetrically arranged first, second, third, and fourth placement areas, for storing blood samples with different remaining settling times, each area holding two adapters, and sample tubes with the same remaining settling time placed on the adapters; the adapter storage system also includes a sample unloading area, a sample buffer area, and a blank adapter placement area, the sample unloading area and the sample buffer area holding the centrifuged adapters and sample tubes, the sample tubes being unloaded in an orderly manner, and the empty adapters after unloading being placed in the blank adapter placement area, thus arranging the sample tubes in a partitioned manner; Preferably, the structural frame is fixedly connected to two centrifuges symmetrically arranged front and back, and the structural frame is fixedly connected to two single sample handling manipulators symmetrically arranged front and back. Each single sample handling manipulator has a single sample separation mechanism fixedly connected to the structural frame on its front side. A three-axis truss manipulator is fixedly connected to the top of the structural frame, and the structural frame is fixedly connected to a sample conveying system located at the adapter storage system.

[0005] Preferably, each centrifuge is provided with a centrifugal feed inlet, and the structural frame is provided with two symmetrical feeding holes, which are aligned vertically with the centrifugal feed inlet.

[0006] Preferably, the single sample separation mechanism converts the horizontally fed sample tubes into a vertical state and allows them to queue in the inclined slide. It can also identify the remaining settling time of different sample tubes and raise the rightmost sample tube by an appropriate distance so that the single sample handling robot can hold the sample tube and transfer it to the corresponding settling zone according to the remaining settling time.

[0007] Preferably, the three-axis gantry robot can sequentially transfer the adapter to the centrifuge for centrifugation based on the remaining settling time, and then move the centrifuged adapter to the sample buffer area and sample unloading area, orderly unloading the sample tubes onto the sample delivery system, which then delivers them to subsequent analytical instruments. After the sample tubes are unloaded, the three-axis gantry robot places the empty adapter into the blank adapter placement area.

[0008] Preferably, the structural frame is fixedly connected to an information control system, which receives data information and performs central control to ensure the orderly loading, partitioning, centrifugation, and unloading of multiple sample tubes.

[0009] Preferably, the single sample separation mechanism includes a loading frame, a lifting and rotating device fixedly connected to the loading frame, and a barcode scanner aligned with the lifting and rotating device. The lifting and rotating device can slowly rotate the sample tube, scan the label on the sample tube with the barcode scanner to obtain the corresponding remaining settling time, and drive the internal threaded shaft to rotate to lift the rightmost sample tube a short distance, which is then transferred to the corresponding zone with the remaining settling time by the single sample handling robot.

[0010] Preferably, the single sample handling robot includes a rotatable and position-adjustable robotic arm, the robotic arm is fixedly connected to a clamping motor, the clamping motor is powered by two clamping robotic arms, and the clamping motor can drive the clamping robotic arms to clamp the sample tube.

[0011] Preferably, the three-axis truss manipulator includes two symmetrical first electric slide rails. The first electric slide rails are slidably connected to a second electric slide rail, and the second electric slide rail is slidably connected to a vertical slide rail. The vertical slide rail is poweredly connected to an adapter manipulator and a sample manipulator. The first electric slide rail drives the second electric slide rail to move back and forth, the second electric slide rail drives the vertical slide rail to move left and right, and the vertical slide rail drives the adapter manipulator and the sample manipulator to move up and down for three-axis position adjustment. The adapter manipulator uses two clamping frames to hold the adapter and transfers the adapter to the centrifuge for centrifugation. It can also transfer the adapter to the sample unloading area or the sample buffer area for unloading. During unloading, the sample manipulator moves down and clamps the sample tubes with clamping plates, allowing multiple sample tubes to be unloaded simultaneously to the sample transport system.

[0012] Preferably, the structural frame is fixedly connected to a limiting frame, which can hold a sample rack. Multiple sample tubes can be placed on the sample rack. By changing the feeding method, the single sample handling robot can grip the limiting frame on the sample rack and transfer it to the barcode scanner for scanning, and then perform subsequent zoning, centrifugation and unloading processes.

[0013] Compared with the prior art, the beneficial effects of this utility model are: This invention incorporates a single-sample separation mechanism, a single-sample handling robot, and an adapter storage system. The single-sample separation mechanism loads sample tubes and converts horizontally loaded tubes into a vertical position, arranging them in an inclined slide. A lifting and rotating device at the end of the inclined slide rotates the tubes to scan and identify the remaining settling time. The lifting and rotating device then elevates the sample tubes. The single-sample handling robot, using a robotic arm and clamping motor, adjusts the position and holds the sample tubes. Based on the remaining settling time, the tubes are moved to a first, second, third, or fourth placement area for zoned arrangement. This design satisfies the need for refined management of large batches of sample tubes and improves the intelligence and standardization of sample tube pretreatment.

[0014] This invention incorporates a three-axis gantry robot, a sample delivery system, and a centrifuge. Sample tubes with the same remaining settling time are stored together in the same adapter, which is then inserted into different compartments. An information control system records and manages the time. Based on the timeline, the three-axis gantry robot moves the adapter to the adapter that has reached its centrifugation time, clamps it, and feeds it through the feeding port into the centrifuge's inlet. The centrifuge thoroughly centrifuges the sample tubes and then clamps the centrifuged adapter in the sample unloading area and sample buffer area for orderly unloading. After the sample robot moves down, it clamps multiple sample tubes with clamping plates and moves them to the barcode scanning device. The sample delivery system then delivers the centrifuged sample tubes to subsequent pretreatment equipment / analytical instruments. The three-axis gantry robot can place empty adapters into the blank adapter placement area, ensuring that the blood and additives in the vacuum blood collection tubes are thoroughly mixed before entering the centrifuge. This avoids uneven stratification and hemolysis problems after centrifugation, ensuring the stability and accuracy of the test results. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the entire utility model; Figure 2 This is a three-dimensional schematic diagram of the centrifuge and structural frame of this utility model; Figure 3 This is a three-dimensional schematic diagram of the three-axis gantry robot of this utility model; Figure 4 for Figure 3 A magnified 3D schematic diagram of a portion of the image; Figure 5 This is a three-dimensional schematic diagram of the adapter storage system and sample delivery system of this utility model; Figure 6 This is a three-dimensional schematic diagram of the single-sample separation mechanism of this utility model; Figure 7 This is a three-dimensional schematic diagram of the single-sample handling robot of this utility model; Figure 8 This is a schematic diagram of the adapter storage system of this utility model.

[0016] In the diagram: 100, structural frame; 101, centrifuge; 102, single sample separation mechanism; 103, single sample handling robot; 104, three-axis gantry robot; 105, centrifuge inlet; 106, limiting frame; 107, sample rack; 108, feeding hole; 109, first electric slide rail; 110, vertical slide rail; 111, adapter robot; 112, sample robot; 113, clamping frame; 114, clamping plate; 115, adapter; 116, sample tube; 117, adapter. Storage system; 118. Sample conveying system; 119. First placement area; 120. Second placement area; 121. Third placement area; 122. Fourth placement area; 123. Blank adapter placement area; 124. Sample unloading area; 125. Sample buffer area; 126. Barcode scanner; 127. Lifting and rotating device; 128. Robotic arm; 129. Clamping motor; 130. Clamping robot arm; 131. Information control system; 133. Loading frame; 134. Threaded shaft; 136. Second electric slide rail. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Example 1: Please see Figures 1-8 This utility model provides a technical solution: a sample reagent centrifugation device, including a structural frame 100, within which is an adapter storage system 117. The adapter storage system 117 has two symmetrically arranged first placement areas 119, a second placement area 120, a third placement area 121, and a fourth placement area 122, for storing blood samples with different remaining settling times. Each area is fitted with two adapters 115, and sample tubes 116 with the same remaining settling time are placed on each adapter 115. System 117 also includes a sample unloading area 124, a sample buffer area 125, and a blank adapter placement area 123. The sample unloading area 124 and the sample buffer area 125 hold the centrifuged adapters 115 and sample tubes 116, allowing for the orderly unloading of the sample tubes 116. After unloading, the empty adapters 115 are placed in the blank adapter placement area 123, enabling the sample tubes 116 to be arranged in separate zones. This satisfies the need for refined management of a large number of sample tubes 116 and improves the intelligence and standardization of sample tube pretreatment.

[0019] Example 2: Please see Figures 1-8 In order to orderly feed, centrifuge and unload the sample tubes 116, a single sample separation mechanism 102, a robotic arm 128 and a sample delivery system 118 are provided. The structural frame 100 is fixedly connected to two centrifuges 101 symmetrically arranged front and back. Each centrifuge 101 is provided with a centrifugal inlet 105. The structural frame 100 is provided with two feeding holes 108 symmetrically arranged front and back, and the feeding holes 108 are aligned vertically with the centrifugal inlets 105. The structural frame 100 is fixedly connected to two single sample handling robots 103 symmetrically arranged front and back. Each single sample handling robot 103 has a single sample separation mechanism 102 fixedly connected to the structural frame 100 on its front side. The single sample separation mechanism 102 converts the horizontally fed sample tubes 116 into a vertical state so that they can queue in the inclined slide. It can also identify the remaining settling time of different sample tubes 116 and lift the rightmost sample tube 116 a suitable distance for easy clamping. The single sample handling robot 103 clamps the sample tube 116 and transfers it to the corresponding settling zone according to the remaining settling time. A three-axis truss manipulator 104 is fixedly connected to the top of the frame 100. The structural frame 100 is fixedly connected to a sample delivery system 118 located at the adapter storage system 117. The three-axis truss manipulator 104 can sequentially transfer the adapter 115 to the centrifuge 101 for centrifugation according to the remaining settling time, and move the centrifuged adapter 115 to the sample buffer area 125 and the sample unloading area 124. The sample tubes 116 are unloaded in an orderly manner onto the sample delivery system 118 and sent to subsequent analytical instruments through the sample delivery system 118. After the sample tubes 116 are unloaded, the three-axis truss manipulator 104 puts the empty adapter 115 into the blank adapter placement area 123 for recycling, thereby ensuring that the blood and the additives in the vacuum blood collection tube are fully mixed before entering the centrifuge, avoiding problems such as uneven stratification and hemolysis of the sample after centrifugation, and ensuring the stability and accuracy of the test results. The structural frame 100 is fixedly connected to an information control system 131, which receives data information and performs central control to ensure the orderly loading, partitioning, centrifugation and unloading of multiple sample tubes 116. The single sample separation mechanism 102 includes a loading frame 133, which is fixedly connected to a lifting and rotating device 127. The loading frame 133 is also fixedly connected to a barcode scanner 126 aligned with the lifting and rotating device 127. The lifting and rotating device 127 can slowly rotate the sample tube 116. The barcode scanner 126 scans the label on the sample tube 116 to obtain the corresponding remaining settling time. The lifting and rotating device 127 drives the internal threaded shaft 134 to rotate, thereby lifting the rightmost sample tube 116 a short distance. The single sample handling robot 103 then transfers the sample tube 116 to the corresponding zone with the remaining settling time. The single sample handling robot 103 includes a rotatable and position-adjustable robotic arm 128. The robotic arm 128 is fixedly connected to a clamping motor 129, which is powered by two clamping robotic arms 130. The clamping motor 129 can drive the clamping robotic arms 130 to clamp the sample tube 116, thereby realizing the transfer of a single sample tube 116 to different zones according to the remaining settling time. The three-axis truss manipulator 104 includes two symmetrically arranged first electric slide rails 109. The first electric slide rails 109 are slidably connected to a second electric slide rail 136. The second electric slide rail 136 is slidably connected to a vertical slide rail 110. The vertical slide rail 110 is poweredly connected to an adapter manipulator 111 and a sample manipulator 112. The first electric slide rails 109 drive the second electric slide rail 136 to move back and forth, the second electric slide rail 136 drives the vertical slide rail 110 to move left and right, and the vertical slide rail 110 drives the adapter manipulator 111 and the sample manipulator 112 to move up and down. The adapter robot 111 performs three-axis position adjustment and clamps the adapter 115 with two clamping frames 113 to transfer the adapter 115 to the centrifuge 101 for centrifugation. It can also be transferred to the sample unloading area 124 or the sample buffer area 125 for unloading. During unloading, the sample robot 112 moves down and clamps the sample tubes 116 with clamping plates 114. Multiple sample tubes 116 are simultaneously unloaded to the sample delivery system 118, thereby realizing the transfer of the sample tubes 116 on the adapter 115. The structural frame 100 is fixedly connected to a limiting frame 106, and a sample rack 107 can be placed inside the limiting frame 106. Multiple sample tubes 116 can be placed on the sample rack 107, thereby changing the feeding method. The single sample handling robot 103 is used to hold the limiting frame 106 on the sample rack 107 and transfer it to the barcode scanner 126 for scanning, and then perform subsequent partitioning, centrifugation and unloading processes.

[0020] Working principle: In practical applications, depending on the needs and the different centrifugation speeds required, it can include 1 or 2 centrifuges. The number of single sample separation mechanisms and single sample handling robots is also configured according to the number of centrifuges. With two centrifuges configured: the time for one centrifugation cycle in a single centrifuge 101 is 2N minutes (starting from the moment the first adapter 115 is placed into centrifuge 101 until the last adapter 115 is removed from centrifuge 101 after centrifugation is complete, which constitutes one cycle). When both centrifuges work together, they centrifuge sample tubes 116 from four adapters 115 every N minutes (each centrifuge 101 can hold four adapters 115). After obtaining relevant information about the sample tubes 116 through the single sample separation mechanism 102, the single sample handling robot 103 handles samples according to the following rules: (remaining settling time 0-N minutes, placed in the fourth placement area 122; remaining settling time N-2N minutes, placed in the third placement area 121; remaining settling time 2N-3N minutes, placed in the second placement area 120; remaining settling time...). (Place the sample tube 116 into the corresponding area adapter 115 after 3N-4N minutes in the first placement area 119). During centrifugation, the adapter robot 111 drives the clamping frame 113 to hold the adapter 115 in conjunction with the three-axis gantry robot 104. The four adapters 115 in the two fourth placement areas 122, the third placement area 121, the second placement area 120 and the first placement area 119 are placed into the centrifuge inlet 105 of the centrifuge 101 in sequence and in batches to centrifuge the sample tube 116. After the centrifuge 101 has finished centrifuging, the three-axis gantry robot 104 takes out the adapter 115 from the centrifuge 101 and puts it into the sample unloading area 124 (if there are adapters 115 in the sample unloading area 124 that have not yet unloaded blood samples, they are temporarily put into the sample buffer area 125). The three-axis gantry robot 104 then places two adapters 115 from the blank adapter placement area 123 into the corresponding two fourth placement areas 122. At this time, the single sample pick-and-place robot 103 places the new sample tube 116 into the corresponding area adapter 115 according to the rules. The three-axis gantry robot 104 begins to unload the sample tubes 116 from the centrifuged sample unloading area 124 and unloads the sample tubes 116 into the sample transport system 118. The sample transport system 118 then sends the centrifuged sample tubes 116 to the subsequent pretreatment equipment / analytical instruments. After the sample tubes 116 are unloaded, the three-axis gantry robot 104 places the empty adapter 115 into the blank adapter placement area 123.

[0021] With a single centrifuge 101 configured as follows: the centrifugation time of a single centrifuge 101 is 2N minutes (the time from the first adapter 115 being placed into the centrifuge 101 to the last adapter 115 being removed from the centrifuge 101 after centrifugation is considered one cycle). Therefore, the centrifuge 101 centrifuges the sample tubes 116 from the four adapters 115 every 2N minutes (each centrifuge 101 can accommodate four adapters 115). After obtaining relevant information about the sample tubes 116 through the single sample separation mechanism 102, the single sample handling robot 103 places the sample tubes into the fourth placement area 122 and the third placement area 121 according to the rules (if the remaining settling time is 0-2N minutes, the sample tubes are placed into the second placement area 120 and the first placement area 121); if the remaining settling time is 2N-4N minutes, the sample tubes are placed into the second placement area 120 and the first placement area 121. Placement area 119) The sample tube 116 is placed into the corresponding area adapter 115. During centrifugation, the three-axis gantry robot 104 uses the adapter robot 111 to drive the clamping frame 113 to hold the adapter 115. The four adapters 115 in the two fourth placement areas 122, the third placement area 121, the second placement area 120 and the first placement area 119 are placed into the centrifuge inlet 105 of the centrifuge 101 to centrifuge the sample tube 116. After the centrifuge 101 has finished centrifuging, the three-axis gantry robot 104 takes out the adapter 115 from the centrifuge 101 and puts it into the sample unloading area 124 (if there are adapters 115 in the sample unloading area 124 that have not yet unloaded blood samples, they are temporarily put into the sample buffer area 125). The three-axis gantry robot 104 then places four adapters 115 from the blank adapter placement area 123 into the corresponding fourth placement area 122 and third placement area 121. At this time, the single sample pick-and-place robot 103 places the sample tube 116 into the corresponding area adapter 115 according to the rules. The three-axis gantry robot 104 begins to unload the sample tube 116 in the sample unloading area 124 and unloads the sample into the sample transport system 118. The sample transport system 118 then sends the centrifuged sample tube 116 to the subsequent pretreatment equipment / analytical instrument. After the blood sample is unloaded, the three-axis gantry robot 104 places the empty adapter 115 into the blank adapter placement area 123.

[0022] Based on the remaining settling time of the sample tubes 116, they are moved to the first placement area 119, the second placement area 120, the third placement area 121, or the fourth placement area 122 for zoned placement. This allows for refined management of large batches of sample tubes 116, improves the intelligence and standardization of sample tube pretreatment, and ensures that the blood and additives in the vacuum blood collection tubes are fully mixed before entering the centrifuge. This avoids problems such as uneven stratification and hemolysis of the samples after centrifugation, and ensures the stability and accuracy of the test results.

[0023] 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 apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0024] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sample and reagent centrifugation device, comprising a structural frame (100), characterized in that: The structural frame (100) is provided with an adapter storage system (117). The adapter storage system (117) is provided with two symmetrical placement areas: a first placement area (119), a second placement area (120), a third placement area (121), and a fourth placement area (122). The blood samples with different remaining settling times are stored in the partitions. Each partition is connected to two adapters (115). Sample tubes (116) with the same remaining settling time are placed on the adapters (115). The adapter storage system (117) also includes a sample unloading area (124), a sample buffer area (125), and a blank adapter placement area (123). The sample unloading area (124) and the sample buffer area (125) are used to place the centrifuged adapters (115) and sample tubes (116). The sample tubes (116) are unloaded in an orderly manner. After unloading, the empty adapters (115) are placed in the blank adapter placement area (123) to arrange the sample tubes (116) in the partitions. The structural frame (100) is fixedly connected to two centrifuges (101) symmetrically arranged front and back. The structural frame (100) is fixedly connected to two single sample handling manipulators (103) symmetrically arranged front and back. Each single sample handling manipulator (103) is provided with a single sample separation mechanism (102) fixedly connected to the structural frame (100) on its front side. The top of the structural frame (100) is fixedly connected to a three-axis truss manipulator (104). The structural frame (100) is fixedly connected to a sample delivery system (118) located at the adapter storage system (117).

2. The sample and reagent centrifugation device according to claim 1, characterized in that: Each centrifuge (101) is provided with a centrifugal feed inlet (105), and the structural frame (100) is provided with two symmetrical feeding holes (108), which are aligned vertically with the centrifugal feed inlet (105).

3. The sample and reagent centrifugation device according to claim 1, characterized in that: The single sample separation mechanism (102) converts the horizontally fed sample tubes (116) into a vertical state and enters the inclined slide to queue up. It can identify the remaining settling time of different sample tubes (116) and then raise the rightmost sample tube (116) by an appropriate distance so that the single sample picking and placing robot (103) can hold the sample tube (116) and transfer it to the corresponding settling zone according to the remaining settling time.

4. The sample and reagent centrifugation device according to claim 1, characterized in that: The three-axis gantry manipulator (104) can sequentially transfer the adapter (115) to the centrifuge (101) for centrifugation according to the remaining settling time, and move the centrifuged adapter (115) to the sample buffer area (125) and the sample unloading area (124), and orderly unload the sample tube (116) to the sample delivery system (118), which will then be sent to the subsequent analytical instruments. After the sample tube (116) is unloaded, the three-axis gantry manipulator (104) will place the empty adapter (115) into the blank adapter placement area (123).

5. A sample and reagent centrifugation device according to claim 1, characterized in that: The structural frame (100) is fixedly connected to an information control system (131), which receives data information and performs central control to ensure the orderly loading, partitioning, centrifugation and unloading of multiple sample tubes (116).

6. A sample and reagent centrifugation device according to claim 3, characterized in that: The single sample separation mechanism (102) includes a loading frame (133), which is fixedly connected to a lifting and rotating device (127). The loading frame (133) is also fixedly connected to a barcode scanner (126) aligned with the lifting and rotating device (127). The lifting and rotating device (127) can slowly rotate the sample tube (116). The barcode scanner (126) scans the label on the sample tube (116) to obtain the corresponding remaining settling time. The lifting and rotating device (127) drives the internal threaded shaft (134) to rotate, thereby lifting the rightmost sample tube (116) a short distance. The single sample handling robot (103) then transfers the sample tube to the corresponding remaining settling time zone.

7. A sample and reagent centrifuge device according to claim 3, characterized in that: The single sample handling robot (103) includes a rotatable and position-adjustable robotic arm (128). The robotic arm (128) is fixedly connected to a clamping motor (129). The clamping motor (129) is powered to connect to two clamping robotic arms (130). The clamping motor (129) can drive the clamping robotic arms (130) to clamp the sample tube (116).

8. A sample and reagent centrifuge device according to claim 1, characterized in that: The three-axis truss manipulator (104) includes two symmetrical first electric slide rails (109). The first electric slide rails (109) are slidably connected to a second electric slide rail (136). The second electric slide rail (136) is slidably connected to a vertical slide rail (110). The vertical slide rail (110) is poweredly connected to an adapter manipulator (111) and a sample manipulator (112). The first electric slide rails (109) drive the second electric slide rail (136) to move back and forth. The second electric slide rail (136) drives the vertical slide rail (110) to move left and right. The vertical slide rail (110) drives the adapter manipulator (111) (112). 1) The sample manipulator (112) moves up and down to adjust the position of the three axes. The adapter manipulator (111) clamps the adapter (115) through two clamping frames (113) and transfers the adapter (115) to the centrifuge (101) for centrifugation. It can also be transferred to the sample unloading area (124) or the sample buffer area (125) for unloading. During unloading, the sample manipulator (112) moves down and clamps the sample tube (116) through the clamping plate (114). Multiple sample tubes (116) are simultaneously unloaded to the sample delivery system (118).

9. A sample and reagent centrifuge device according to claim 6, characterized in that: The structural frame (100) is fixedly connected to a limiting frame (106). A sample rack (107) can be placed inside the limiting frame (106). Multiple sample tubes (116) can be placed on the sample rack (107). By changing the feeding method, the single sample pick-and-place robot (103) is used to hold the limiting frame (106) on the sample rack (107) and transfer it to the barcode scanner (126) for scanning, and then perform subsequent partitioning, centrifugation and unloading processes.

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