Centrifuge

Abstract

Centrifuge (1) with a rotor (4) and a rotor chamber (2) in which the rotor (4) is rotatably arranged and mounted, wherein the rotor (4) has a receiving area for receiving a reaction vessel unit, characterized in that, The centrifuge (1) is provided with a loading and unloading device, comprising a rigid sliding bar (6) for positioning a reaction vessel unit in or removing a reaction vessel unit from the rotor (4), wherein the sliding bar (6) is arranged to be horizontally displaceable so that it can move between a discharge position in which it extends into the rotor chamber (2) through the rotor (4) and a loading position in which it is extracted from at least the area of ​​the rotor chamber (2) that is occupied by the rotor (4) during one revolution, a linear drive (11) for moving the displacement bar (6) between the unloading position and the loading position and wherein the centrifuge has a detection device (13) for determining the position of the displacement bar (6) in the direction of movement as well as a pipetting unit with at least one nozzle, so that a reaction vessel unit can be arranged below the pipetting unit for filling a reaction vessel.

Description

Centrifuge The present invention relates to a centrifuge with a loading and unloading device for precisely guiding a reaction vessel unit into and out of the rotor chamber. The present invention also relates to an optical detection device as part of a centrifuge. Furthermore, the present invention relates to a centrifuge within or outside of which a reaction unit can be precisely guided by a robotic gripping arm. The automation of individual laboratory activities is almost inevitable these days. The aim is to replace as many steps as possible that previously had to be performed manually with an automated process requiring no operator intervention. However, it is not always easy to automate work steps that demand very precise handling of individual test components. In laboratory work, particularly pipetting, liquids must be transferred to the designated containers with an accuracy of tenths of a millimeter in many work steps. This presents the challenge of matching both the container and the pipette with a high degree of precision. The same applies to emptying reaction vessels by pipetting or suction, for example, to wash the internal surfaces of the reaction vessels. It is also desirable to be able to carry out several test stages, which often occur sequentially within a single experiment, ideally in a single device, to minimize or even reduce the transport routes for individual components, such as reaction vessels. Transporting components not only represents an additional source of error, for example due to contamination, but also requires additional time. Document DE 102008042971 A1 discloses a centrifuge in which a magnet device is integrated in order to retain magnetizable particles within a reaction vessel by means of magnetic force. Patent CN 102175855 A discloses a fully automatic 360° plate washer. The machine's axis of rotation runs parallel to the horizontal plane, allowing multiple plates to be washed simultaneously in a single housing, thereby increasing efficiency and significantly reducing costs. Patent US 4,953,575 relates to a tub washing device. In this device, tubs are placed in a holder on a rotor. Liquid is removed from the tubs by rotating the rotor. Document JP 2009264927 A discloses a device comprising a drum in which a microplate can be placed. The drum can be loaded with several microtiter plates, which are then rotated around a horizontal axis of rotation. The drum is loaded with the microtiter plate such that its openings are directed towards the interior of the drum. EP 937502 A2 describes a procedure for handling a microtiter plate, in which the microtiter plate can be cleaned by centrifugation. For this purpose, the microtiter plate is placed on a conveyor belt in the rotating housing, so that the openings of the microtiter plate are positioned away from the axis of rotation. Document EP 1270078 A1 discloses a centrifuge with a vertical axis of rotation. The centrifuge can be loaded and unloaded from above by means of a vertically movable device. The reaction vessels are thus placed on oscillating supports. The centrifuge is described as being particularly suitable for automated centrifugation processes. Document WO 2015 / 018878 A1 discloses another centrifuge featuring an elastic arm by which microtiter plates can be inserted into or pushed out of the centrifuge rotor. One objective of the present invention is to provide a centrifuge comprising a loading and unloading device that allows for the precise maneuvering of a reaction vessel unit into and out of the rotor chamber. Another objective of the present invention is to provide a centrifuge with which complex process steps can be carried out in a very small space. One or more of these objectives are achieved by the subject matter of the independent claim. The preferred embodiments are described in the dependent claims. According to the first aspect of the present invention, a centrifuge is provided comprising a rotor and a rotor chamber in which the rotor is rotatably arranged and mounted, wherein the rotor has a receiving area for receiving a reaction vessel unit, and the centrifuge is provided with a loading and unloading device, comprising a rigid displacement bar for placing a reaction vessel unit into or removing a reaction vessel unit from the rotor, wherein the displacement bar is arranged so that it can be moved horizontally so as to extend between an unloading position, in which it extends through the rotor into the rotor chamber, and a loading position, in which it is extracted from at least the area of ​​the rotor chamber occupied by the rotor during one revolution.and a linear drive for moving the displacement bar between the unloading position and the loading position, wherein the centrifuge has a sensing device for determining the position of the displacement bar in the direction of movement, as well as a pipetting unit with at least one nozzle, such that a reaction vessel unit for filling a reaction vessel can be arranged below the pipetting unit. A centrifuge according to the present invention makes it possible, by means of the described loading and unloading device, to carry a reaction vessel unit with high precision to a predetermined final position and also to move a reaction vessel unit with very high precision during the displacement process. The loading and unloading device comprises a sliding bar, which is rigid and transmits with high precision a movement generated by the linear drive. The scroll bar is arranged in such a way that it only moves from side to side along a horizontal axis by means of a linear drive, without allowing deviated movements in other directions during its movement. A "rigid scroll bar" within the meaning of the present invention means that the scroll bar does not bend when properly used, or the bends are in the microscopic range and therefore have no effect on the longitudinal extension of the scroll bar. Due to the rigid design of the displacement bar, it can be easily and securely sealed against the walls enclosing the rotor chamber. As a result, the risk of contamination escaping from the rotor chamber is minimized. Because the loading and unloading device described herein allows for very precise positioning of a reaction vessel unit in the direction of movement, the position of the reaction vessel unit can be precisely coordinated with a second device. This second device could be, for example, a pipetting unit, a detection unit, a robotic arm, or something similar. Absolute positioning is possible with the rigid displacement bar. Absolute positioning means that when the position of the displacement bar is known, the position of a reaction vessel unit coupled to the displacement bar is also known. Due to its rigidity, the free end of the rigid displacement bar can be precisely positioned in the rotor chamber, so that no upward, downward, or sideways deviation influences the position of the free end in the longitudinal direction of the pipetting bar. Thus, if the position of a particular point on the displacement bar is known, the position of the free end in the rotor chamber or in the receiving area opposite the rotor chamber can be inferred.Therefore, it is sufficient, for example, to monitor or detect the position of the end of the slide bar connected to the linear drive to determine the position of the reaction vessel unit. As a result, it is not necessary to provide sensors in the rotor chamber to detect the free end of the slide bar, or sensors to detect the reaction vessel unit, or a support unit for the reaction vessel unit. The pipetting unit can be either movable or fixed within the centrifuge housing. Precise maneuvering of the reaction vessel unit beneath the pipetting unit ensures that the reaction vessel is filled accurately and cleanly by means of the pipetting unit, i.e., without the risk of side pipetting or spillage.This allows reaction vessels to be filled automatically by means of a pipetting unit and, simultaneously, to automatically load and unload a centrifuge with this reaction vessel unit. For example, before loading the centrifuge, the reaction vessel unit can be filled with a solution, which is then extracted from the vessel by centrifugation around a horizontal axis, with the opening of the reaction vessel unit facing away from the axis. The loading and unloading device can then reposition the reaction vessel unit under the pipetting device to refill it and then empty it again by centrifugation. This procedure is particularly suitable when several identical steps, such as washing steps, need to be carried out. In this case, the reaction vessel unit is then filled with a washing solution and subsequently emptied by centrifugation. This process can be repeated as needed. The pipetting device is preferably connected to several fluid inlets. Preferably at least three, particularly at least five, and more preferably at least seven fluid inlets are provided. Each fluid inlet is equipped with a separate control valve that can be individually controlled by a central control device. This makes it possible to carry out complex washing processes fully automatically, in which different reagents are fed sequentially into the reaction vessel units. Since the reaction vessel unit can be controlled with very high precision by means of a loading and unloading device, as described herein, and can therefore be positioned very precisely relative to a pipetting device, the present invention is particularly suitable for experimental and testing arrangements carried out with reaction vessel units requiring reaction vessels of very small diameter. In particular, a centrifuge of the present invention is suitable for microtiter plates having, for example, 96, preferably 384, more preferably 1,536 reaction vessels or wells. In a microtiter plate with 10,536 reaction vessels, the distance between two adjacent reaction vessels is 2.25 mm. To allow for precise positioning of the reaction vessels, for example, relative to a pipetting unit, it is desirable that the linear drive move the scroll bar, and thus the reaction vessel unit, with an accuracy of at least 0.2 mm, preferably at least 0.1 mm. Therefore, the linear drive is preferably configured as a linear drive, converting rotary motion into linear motion via a gear mesh or form fit. However, the linear drive can also be a controllable linear motor with the corresponding precision. Nevertheless, such linear motors typically require additional sensors, so a mechanical linear drive with a gear mesh is generally preferred. The ability to accurately fill very small reaction vessels greatly reduces or even completely eliminates the risk of contamination, spillage, and liquid loss due to side pipetting. Furthermore, the centrifuge according to the present invention can be considered advantageous because the loading and unloading device's scroll bar is not located in the rotor chamber area during the centrifugation process, which is occupied by the rotor during one revolution. This means that, in particular, when the reaction vessel unit is emptied by centrifugation, the escaping contents cannot come into contact with the loading and unloading device, specifically with the scroll bar. As a result, the risk of contamination within the rotor chamber due to a contaminated scroll bar is minimized. The centrifuge of the present invention may have a coupling element at a free end of the displacement rod extending into the rotor chamber, wherein the coupling element is designed for the reconnectable connection of the displacement rod to a reaction vessel unit or a support unit for a reaction vessel unit. A coupling element on the slide bar, which allows repeated coupling and uncoupling with a reaction vessel unit or a carrier unit for a reaction vessel unit, enables the reaction vessel unit or the carrier unit to be "gripped" by the slide bar and then uncoupled again in the desired position. Uncoupling allows the slide bar to move out of the rotor chamber area occupied by the rotor during one revolution and is therefore not exposed at all, or only minimally, to the contamination risks described above.The coupling element of the present invention may have a locking element that can fit with a counter-locking element provided in the reaction vessel unit or in the carrier unit, wherein at least the locking element or the counter-locking element is elastically mounted. A system of this type, with a locking element and a counter-locking element, ensures a secure and stable coupling of the reaction vessel unit or the carrier unit to a reaction vessel unit. The fact that the locking element fits flush with the counter-locking element prevents the reaction vessel unit or the carrier unit from moving in any direction other than along the horizontal axis of the drive bar during loading and / or unloading. This, in turn, ensures that the reaction vessel unit can be positioned precisely and, optionally, filled accurately using a pipetting unit. Both the locking and counter-locking elements can be elastically mounted. Alternatively, only the locking element or only the counter-locking element can be elastically mounted. Elastic mounting ensures smooth engagement and disengagement, preventing the reaction vessel unit from sliding back and forth or colliding. This prevents the possibility of contents escaping from one reaction vessel and being lost or entering an adjacent reaction vessel. According to one embodiment of the present invention, the counter-locking element of the reaction vessel unit or the carrier unit is elastically mounted and coupled to a locking bracket, such that the locking bracket can pivot between two positions, in which an unlocked position is adopted when the locking element and the counter-locking element are locked together and a locked position is adopted when the locking element and the counter-locking element are separated from each other, wherein the locking bracket has a locking element which, in a locked position, can engage with a corresponding counter-locking element of a rotor. Due to the elastic housing of the counter-locking element, the coupling and uncoupling process can be carried out smoothly, i.e., without abrupt movements, as previously described, thus avoiding strong shaking of the reaction vessel unit or the supporting unit. The coupling of the elastically mounted counter-locking element with a locking bracket also ensures that, after the displacement bar of the reaction vessel unit or the carrier unit has been detached, it can no longer be moved within the rotor. By engaging the locking bracket with a corresponding counter-locking element on a rotor unit, the reaction vessel unit or the carrier unit is connected to the centrifuge rotor unit in such a way that removal, displacement, sliding, or similar action is not possible without releasing the lock. Therefore, the reaction vessel unit or the carrier unit is fixed to the rotor unit at least at this point by engaging the locking element with a corresponding counter-locking element after its locking element has been disengaged from the counter-locking element on the displacement bar. The scroll bar preferably has a smooth surface. A smooth surface allows the scroll bar to be cleaned easily and thoroughly. With a smooth surface, there is little risk of unwanted contaminants becoming permanently deposited. Furthermore, a smooth surface can be reliably sealed with a sealing device from areas outside the rotor chamber. This can at least partially prevent deposits on the scroll bar from being carried outside the rotor chamber. The displacement bar of the present invention may be hollow and open at the rear end facing the opposite side of the rotor chamber. A threaded rod provided coaxially to the displacement bar may mesh with a thread connected to the displacement bar, such that a relative rotational movement of the threaded rod with respect to the displacement bar causes a translational movement of the displacement bar, wherein the threaded rod may be inserted into the displacement bar at the rear end. The sliding bar is preferably guided in a fixed rotational position, so that the relative rotational movement is generated by the rotation of the threaded rod. In principle, it is also possible to rotate the sliding bar, in which case the threaded rod can be stationary. If a rotating sliding bar is provided, it is advisable to include a coupling element that can operate independently of the rotational position. Such a coupling element could be, for example, a rotationally symmetrical locking element or a coupling magnet. Because the displacement bar moves by means of a rotational movement of the threaded rod, it is possible to precisely position the reaction vessel unit or the support unit coupled to the displacement bar and, therefore, in particular, to accurately control its position relative to a pipetting unit. This system allows a rotational movement to be converted into a translational movement, making it possible to move the displacement bar, the reaction vessel unit, or the support unit coupled to it a predefined distance or to a predefined position. For a particularly high level of accuracy, a ball screw can be used, which is enclosed in a nut in which the balls rotate in a closed system. Since the threaded rod can be inserted into the displacement bar at the rear end, the size of the loading and unloading device can be kept small. When retracted, the threaded rod can be accommodated almost entirely within the displacement bar. The maximum length of the displacement bar, including the threaded rod, is achieved when the displacement bar is fully extended, that is, when it extends through the rotor chamber. This occurs, for example, when a reaction vessel unit or support unit is coupled to or uncoupled from the displacement bar outside the rotor chamber. In this case, the threaded rod is unscrewed as far as possible from the displacement bar. The centrifuge's rotor chamber is preferably enclosed by a housing. The drive bar is guided through an opening in a housing wall, where a sealing element is provided in the area of ​​the opening, sealing the drive bar against the housing wall. The drive bar thus extends into the rotor chamber and the drive unit. The rotor chamber is separated from the drive unit by a sealing element. This prevents the contents of the rotor chamber, particularly those extracted from the reaction vessels by centrifugation, from escaping into the drive unit. This greatly reduces or completely eliminates the risk of contamination from the reaction vessel contents outside the rotor chamber. The sealing element ensures that, during the movement of the displacement bar, any liquid present on the bar is removed and thus not transferred from the rotor chamber to the drive area. In particular, an embodiment of this type where the displacement bar has a smooth surface is advantageous, as this allows the sealing element to enclose the bar flush with it. This enables the effective removal of materials from the displacement bar. During the centrifugation process itself, the displacement bar is inserted as fully as possible into the opening in the housing wall. This is intended to prevent the contents extracted from the reaction vessels during centrifugation from coming into contact with the displacement bar as much as possible. If this does occur, however, it can be removed using the airtight sealing element. The centrifuge of the present invention further features a detection device to determine the position of the displacement bar in the direction of movement. A corresponding detection device ensures that the position of the scroll bar in the direction of movement can be accurately determined at any time and that the reaction vessel unit or the carrier unit can be precisely moved to the desired position. In a preferred embodiment of the present invention, the centrifuge comprises a horizontal axis of rotation around which the rotor rotates when the centrifuge is in operation. A horizontal rotation axis means that the rotation axis runs parallel to a lower wall of the rotor chamber housing, so that the rotation axis is horizontal when the centrifuge is deliberately placed on a horizontal base. In such a centrifuge with a horizontal rotation axis, reaction vessel units, such as microtiter plates, can be inserted into the rotor horizontally, with the reaction vessel(s) facing upwards. This allows the reaction vessel units to be loaded and unloaded, with the reaction vessels containing liquid and open. As a result, the centrifuge can be easily coupled to existing automated systems, particularly robotic or laboratory systems, and integrated into an automatically running process. Another aspect of the present invention relates to the integration of a device for the optical detection of tests, in particular homogeneous tests. A variety of experiments are evaluated and analyzed by detecting optical signals. Optical detection procedures can be carried out in different ways. Optical signals can be detected by generating fluorescence, using light, or similar methods. Some reactions used to generate optical signals are very fast, so direct measurement after the addition of the appropriate reagents may be desirable. Preferably, for optical detection, a detection device is provided comprising at least one optical sensor (= a camera) and, preferably, a light source. The optical sensor may be configured as a linear sensor or as an area sensor. Preferably, the optical detection device is directed with its line of sight approximately vertically downwards, so that the contents of reaction vessels open at the top can be detected. The line of sight can be aligned exactly vertically or slightly inclined with respect to a vertical. The optical detection device is preferably shaped and arranged so that it can scan the cell reaction vessel unit next to the rotor chamber in the movement zone thereof, wherein a scan line is aligned approximately perpendicular to the direction of movement of the reaction vessel unit or the carrier unit. The optical detection unit may have one or more light sources. If multiple light sources are available, they should preferably be individually controllable. The light sources preferably use light-emitting diodes as the illumination medium. Such a light source may be provided on the same side as the optical sensor with respect to the motion path of a reaction vessel unit to create brightfield and / or darkfield illumination. Such a light source may also be provided for the transillumination of reaction vessels on the opposite side of the motion path of a reaction vessel unit. The optical detection device may feature a color sensor or a color camera, which can detect the color of the contents of the reaction vessels in the reaction vessel unit. The optical detection device is preferably configured to detect the fill level of individual reaction vessels. The fill level can be scanned, for example, by means of an optical triangulation procedure, in particular a laser triangulation procedure. Other procedures for optical 3D scanning, such as stereoscopy, deflectometry, or white light interferometry, may also be provided. Procedures for 3D scanning are known, for example, from documents WO 2011 / 060769 A1, DE 102009040081 A1, DE 102008036275 A1, DE 19721 688 A1, DE 10309544 A1, DE 4301 538 A1, DE 19532767 C2, or DE 4439307 C2. These and other optical 3D scanning procedures can be used to simultaneously scan the fill level of one or more reaction vessels. Therefore, reference is made to the full contents of these documents. When using a color camera, optical scanning can also be used to analyze the color of the reaction vessel filling. This represents a spectral analysis of the sample. The optical detection device is preferably arranged parallel to and adjacent to a row of pipetting nozzles of a pipetting device, so that the individual reaction vessels into which a solution is fed via the pipetting nozzles can be optically scanned during or immediately after pipetting. As a result, the filling level of the individual reaction vessels can be accurately recorded and taken into account during subsequent treatment and processing. For example, the concentration of certain compositions may depend on the amount of solvent pipetted; different concentrations are permissible in principle, but these must be known. By detecting the fill level, conclusions can be drawn about the concentration, and these can be considered in the subsequent evaluation.This is particularly useful for very small reaction vessels, where a slightly different fill amount can cause a significant difference in the fill level and, consequently, in the concentration. Furthermore, such an optical sensing device can be configured to detect the position of a reaction vessel unit or a carrier unit. The position of the reaction vessel or carrier unit determined by the optical sensing device can then be used in a closed control loop to control a drive for moving the carrier unit or reaction vessel unit. This also allows the use of external drive mechanisms, such as a robotic arm, whose control is coupled to the centrifuge's optical sensing device. The detection of the reaction vessel unit's position also enables automatic control of liquid pipetting into individual reaction vessels, where the position of the reaction vessels relative to the pipetting nozzles is detected and aligned. For example, it is possible to successively fill several rows of reaction vessels with liquid. The type of reaction vessel unit (e.g., 96, 384, or 1536 reaction vessels) can also be automatically recognized by the optical detection device. Consequently, pipetting can be controlled. The centrifuge may feature an evaluation device that automatically evaluates the signals obtained with the optical detection device according to the following parameters: - color of the contents of at least one reaction vessel of the reaction vessel unit, - fill level of at least one reaction vessel of the reaction vessel unit, - position of the reaction vessel unit, -type of reaction vessel unit. The values ​​of these parameters, recorded in this way, can be used to automatically control processes for processing samples contained in the reaction vessels of the reaction vessel units. In this way, the following steps can be automatically controlled in any order and repeated one or more times: - pipetting - spectral analysis - cleaning Another aspect of this disclosure is a centrifuge like the one described above, which is loaded and unloaded by means of a robotic arm instead of the loading and unloading mechanism described. For this purpose, the robotic arm features a coupling element, allowing a reaction vessel unit or a carrier unit for a reaction vessel unit to be attached to the robotic gripper arm. After attaching the reaction vessel unit or carrier unit, the robotic gripper arm can remove it from or load it into the rotor chamber. The reaction vessel unit or carrier unit for a reaction vessel unit can be moved to a predefined position using appropriate control and measuring devices. This also makes it possible to position the reaction vessel unit or carrier unit relative to a pipetting device. The reaction vessel unit or the robotic gripper arm carrier unit can be positioned so that the reaction vessel is first filled by means of the pipetting device before it is moved to the centrifuge rotor chamber by means of the robotic gripper arm. If the reaction vessel unit is a microtiter plate, a row or column of wells can be filled sequentially by precisely positioning the reaction vessel unit with the robotic gripper arm before the fully filled plate is pushed into the rotor chamber with the same arm. Once the centrifugation process is complete, the plate is removed from the rotor chamber by the gripper arm and, optionally, can be refilled row by row or column by column, or further transported as needed. The control and measuring device is preferably configured to detect the position of the reaction vessel unit or the carrier unit and control the movement of the robotic gripper arm by means of a closed control loop, such that the reaction vessel unit or the carrier unit is placed in the desired position. For this purpose, the control and measuring device preferably comprises an optical detection device, as previously described. By using a linear drive, in particular a linear drive, which converts a rotational motion into a linear motion through a form-fit or gear fit, the linear drive can be controlled by the control device in such a way that it adjusts the position of the rigid scroll bar so precisely that it is not necessary to measure the position of a reaction vessel unit connected to it, but rather the position of the scroll bar determines it so precisely that other components, such as the pipetting device or the robotic arm, can act on the reaction vessel unit without its position being measured separately (absolute positioning). This significantly simplifies the centrifuge's structure, as there is no need to provide sensors or control elements in the rotor chamber, balcony, or loading / unloading areas to detect the reaction vessel unit or its corresponding supports. Furthermore, this also simplifies coupling the centrifuge to other devices to automate the workflow for processing substances contained in a reaction vessel unit. For example, the centrifuge can be coupled to a robotic arm such that the centrifuge's control device transfers the position specified by the linear drive to a control device on the robotic arm when the reaction vessel unit is transferred from the centrifuge to the robotic arm. The robotic arm can then hold the reaction vessel unit in this position. To exchange a reaction vessel unit between the centrifuge and a transport device for such reaction vessel units, such as a robotic arm, the centrifuge control device may be configured so that the displacement bar for said exchange process is always located in exactly the same position known to the transport device, so that the reaction vessel unit can be positioned accordingly by the transport device for coupling to the displacement bar or can be received accordingly in this position. Another advantage of the rigid displacement bar is that its free end is positioned with much greater precision in terms of height and lateral deviation compared to conventional flexible elements. This allows for easy automatic coupling to a load-bearing unit or reaction vessel. With a flexible displacement element, there is a risk that the free end will be positioned at a different height depending on the deviation, often making automatic coupling to a load-bearing unit or reaction vessel impossible. By using a rigid displacement bar, any load-bearing unit or support can be positioned at a predetermined angle and coupled to the displacement bar.The corresponding coupling element on the carrier unit, support, or other reaction vessel unit simply needs to be positioned at a predetermined height to interact with a corresponding coupling element at the free end of the scroll bar. This enables the automatic coupling of different supports, carrier units, or reaction vessel units to the scroll bar in an automated system. This can be easily accomplished using a suitable gripping element, such as a robotic arm, which simply replaces the support, carrier unit, or reaction vessel unit. As a result, different formats of reaction vessel units can be automatically interchanged within an automated system.In this case, it is not necessary to provide a separate sensor, for example an optical sensor, which detects the position of the free end and thus controls the coupling with another support or carrying unit or another reaction vessel unit. By automatically exchanging different carriers or mounting units, it is also possible to use reaction vessel units or microtiter plates that correspond to a special format. Most microtiter plates correspond to the so-called SBS format. However, for special applications, there are also special formats that have a different arrangement of the reaction vessels. Special formats may also have a different footprint or height. Such deviations from a standard format, particularly the SBS format, can be compensated for, for example, by using appropriate carriers or mounting units. To be able to use microtiter plates of different heights, mounting units of different heights can be used, for example. In the case of small reaction vessels, these can be filled with a solution and placed with their opening facing downwards without the solution escaping. The solution is contained within the reaction vessels by capillary forces. This applies particularly to microtiter plates with 1536 reaction vessels. However, this can also be the case for microtiter plates with 96 or 384 reaction vessels. This depends on the shape of the individual reaction vessels and their surface design. Therefore, a centrifuge preferably has a rotor that can accommodate a reaction vessel unit, such that the reaction vessels can be positioned with their openings facing either downwards or upwards when inserted into the centrifuge. This allows the reaction vessel unit to be inserted into the rotor so that the openings of the reaction vessels face either the axis of rotation or are directed away from the rotor's axis of rotation. The centrifuge can thus be used to centrifuge solutions in the reaction vessels (openings facing the reaction axis) and to empty the reaction vessels (openings facing away from the axis of rotation).Therefore, the receiving area of ​​the rotor can be shaped so that a reaction vessel unit can be pushed into the rotor with a form fit in both orientations, in which the openings are oriented towards the axis of rotation or are directed away from the axis of rotation. The centrifuge is preferably combined with a device that can rotate the reaction vessel units so that they can be inserted into the centrifuge with the openings facing downwards or upwards. Such a device could be, for example, a robotic arm, which is correspondingly controlled by a control device. The different aspects described above can also be applied in combination. The invention is explained in more detail below by way of example with reference to the accompanying drawings. The drawings are shown in: Figure 1 is a perspective view of a casingless centrifuge at an angle from above. Figure 2 is a perspective view of a scroll bar with an associated drive, Figure 3 shows a cross-section through a coupling element, located at the end of a sliding bar, and through a counter-locking element with a supporting unit, Figure 4 shows a supporting unit for a reaction vessel unit with a counter-locking element in a perspective view, Figure 5 shows the coupling element of Figure 3 coupled to a counter-locking element according to Figure 4, Figure 6 shows a displacement unit according to Figure 2 with a coupled supporting unit in a perspective view, Figure 7 shows the displacement unit of Figure 6 in cross-section, Figure 8 shows a cross-section through a coupling element, which fits with its locking element with a counter-locking element in a supporting unit, Figure 9 shows a cross-section through a supporting unit and the corresponding counter-locking element, into which the locking element of the sliding bar coupling element fits. Figure 10 shows a cross-section of the centrifuge with a supporting unit and a displacement bar, whose coupling element does not fit into the counter-locking element of the supporting unit. Figure 11 shows a cross-section of the centrifuge with a supporting unit and a displacement bar, the coupling element of which has been released after fitting into the counter-locking element and the supporting unit is attached to the rotor by means of a locking bracket, Figure 12 shows a displacement unit according to Figure 6 in longitudinal section, Figure 13 shows a section of a scroll bar, in which the coupling element has a hook that fits into a corresponding counterpart on a supporting unit, Figure 14 shows a hook of a coupling element of a scroll bar, which has been rotated 90° to fit into a corresponding counterpart of a carrier unit, Figure 15 shows a cross-section through a coupling element of a sliding bar, wherein the locking element of the coupling element is shaped like a large pin and fitted into a counter-locking element of a supporting unit. An example of an embodiment of a centrifuge 1 according to the invention is explained in more detail below. This centrifuge 1 comprises a rotor chamber 2 in which the rotor 4 is located, a drive unit 3 in which a linear drive 11 and a displacement bar 6 are arranged. By means of the displacement bar 6, a reaction vessel unit or a support unit 5 for a reaction vessel unit can be introduced into the rotor chamber 2 or taken out of the rotor chamber onto a platform 8 (Figure 1). Rotor 4, which can be loaded with at least one reaction vessel unit and can rotate around a rotation axis, is located in rotor chamber 2. Rotor 4 preferably rotates around a horizontal rotation axis. The rotor chamber 2 is spatially separated from the external environment by a housing and from the drive unit 3 by a partition wall 7. A base frame 15 is located in the drive unit 3. This base frame 15 extends over the area outside the rotor chamber 2 in which the scroll bar 6 can be housed. The base frame 15 serves to support the elements provided for the linear drive of the displacement bar 6. The base frame 15 comprises a guide rail 28 extending from the partition wall 7 to the drive unit area 3, its length roughly corresponding to the length of the scroll bar 6. The guide rail 28 is arranged parallel to the scroll bar 6. At the end of the guide bar 28 furthest from the partition wall 7, a clamping element 29 is provided, to which a threaded rod 9 is rotatably but axially fixed. The threaded rod 9 extends from the clamping element 29 towards the scroll bar 6, which is hollow and open at its rear end, i.e., the end facing the threaded rod 9. The free front end of the threaded rod 9 is located on the scroll bar 6. Therefore, the threaded rod 9 and the scroll bar 6 are aligned with each other. In the present embodiment, the rear end of the scroll bar 6 is coupled to a carriage 30 that is guided by the guide rail 28. The carriage 30 holds the scroll bar 6 in a fixed, rotational position on the drive unit 3. The carriage 30 has a nut 31 into which the threaded rod fits. A bracket 32 ​​is arranged on the carriage 30 and moves with it, interacting with a sensing device 13. The detection device 13 is a laser scanner that generates a laser beam 14. The laser beam 14 is directed at the stirrup 32, which is connected to the carriage 30 by means of a mirror 36. As a result, the distance from the stirrup 32 to the detection device 13, and therefore the position of the carriage 30, can be measured with high precision. Since the carriage 30 is firmly connected to the displacement bar 6, this also clearly determines the position of the displacement bar 6 in the centrifuge. The threaded rod 9 protrudes slightly backwards into the clamping element 29. A drive pinion 33 is fixed here to the threaded rod 9. The drive unit 3 has a motor 34, preferably a stepper motor, by which the drive pinion 33 of the threaded rod 9 is driven via a belt 35. Since the carriage 30, and therefore the slide bar 6, are fixedly guided in rotation on the guide rail 28, a rotation of the threaded rod 9 moves the nut 31, which engages with the threaded rod 9, in the axial direction of either the threaded rod 9 or the slide bar 6. As a result, the carriage 30 and the slide bar 6 move correspondingly in the axial direction. This unit of base frame 15, threaded rod 9, carriage 30, and slide bar 6 thus represents the linear drive 11, by which a rotational motion is converted into a linear motion. Other linear drives are also possible within the scope of the invention, consisting, for example, of a rack and a gear, which meshes with the rack and thus converts a rotational motion of the gear into a linear motion.Linear drives are therefore primarily devices that transform rotary motion into linear motion through a form-fitting mesh (nut-threaded rod or gear-rack) or by gearing. Unlike a friction connection, the risk of the interacting components shifting relative to each other is significantly lower. In this way, the displacement bar 6 can be extended from the drive unit 3 through the partition wall 7 into the rotor chamber 2 (Figure 2). The displacement bar 6 can also extend through the entire rotor chamber 2 and exit again on the opposite side of the partition wall 7 with one end through an opening in a housing wall 16. The displacement bar 6 then extends, starting from the drive unit 3, through the partition wall 7, through the rotor chamber 2, to the adjacent balcony 8 outside the centrifuge housing. By changing the direction of the drive, the displacement bar 6 can retract in the same direction. In doing so, it returns from outside the centrifuge housing, through the rotor chamber 2, through the opening in the housing wall 16, to an opening in the partition wall 7. Based on this, the directions of movement of the displacement bar 6 can be referred to as outside the centrifuge 1 and inside the centrifuge 1. The movement takes place along a horizontal axis. The opening in the housing wall 16 can be closed by means of a hatch or a door. The opening is large enough to allow a reaction vessel unit and / or a support unit 5 for a reaction vessel unit to be moved through it. At its free end, which can move through the rotor chamber 2, the displacement rod 6 has a coupling element 10 (Figure 3). The coupling element 10 allows for a reconnectable connection of the displacement rod 6 to a reaction vessel unit or a support unit 5 for a reaction vessel unit. The coupling element 10 comprises a locking element 17 that is either rigidly or elastically mounted. The locking element 17 can also be rigidly mounted and itself elastic. The locking element 17 is preferably a spring plate that is fixed inside the hollow displacement bar 6 and has a downward-protruding locking tab 21 at the end facing away from the displacement bar, which can be produced by deforming the spring plate (Figure 3). The carrier unit 5 for a reaction vessel unit serves to house a reaction vessel unit, which can then be moved to a predefined position by moving the carrier unit 5. The reaction vessel units can be individual tubes or multiple reaction vessels arranged in a fixed configuration. The reaction vessel unit is preferably a microtiter plate. The microtiter plate can be a 96-well, 384-well, or 1536-well microtiter plate. The microtiter plate is preferably of the SBS format. However, it can also be shaped in a special format. The supporting unit 5 can be configured as a frame or rack, in which the corresponding reaction vessel unit can be housed (Figure 4). By means of the supporting unit 5, the reaction vessel unit can be moved to the rotor chamber 2 to load the centrifuge or outside the centrifuge to the platform 8 to unload the centrifuge 1. To move the carrier unit 5, it is coupled to the scroll bar 6 via a coupling element 10 (figure 5). To attach the sliding bar 6 to the supporting unit 5, the locking element 17 fits with the locking tongue 21 with a counter-locking element 18 on the supporting unit 5. The locking element 17 or the counter-locking element 18 are preferably elastically mounted. They can also both be elastically mounted. As a result, the forces when the locking element 17 meets the counter-locking element 18 are kept low due to the elasticity of both parts, and the interlocking process is facilitated. The interlocking element 18 can be elastically mounted in several ways. For example, it can be elastically mounted on the carrier unit 5 using helical springs. Alternatively, an elastic arrangement can be achieved using a leaf spring 22 extending along the lower edge of the carrier unit 15. The locking element 18 can be coupled to a locking bracket 19. The locking bracket 19 then moves vertically with the locking element 18 when the latter moves with the locking element 17 along the sliding bar 6, which strikes the locking element 18. The locking bracket 19 serves to lock the carrier unit 5 to the rotor via a locking element 20 when it is positioned in the rotor chamber. This locking of the carrier unit 5 via a locking bracket 19 with a locking element 20 occurs when the carrier unit 5 has been positioned on the rotor 4 in the rotor chamber 2 and the locking tab 21 of the locking element 17 has been released from the locking element 18. The loading and unloading process of centrifuge 1 is as follows: The carrier unit 5 is located outside centrifuge 1 on the platform 8 in front of an opening in the housing wall 16. The sliding bar 6 is extended by the linear drive 11 towards the rotor chamber until it passes completely through it and exits the rotor chamber 2 again on the opposite side through the opening in the housing wall 16. The sliding bar 6 is now extended until the locking element 17 of the coupling element 10 of the sliding bar 6 strikes the counter-locking element 18 of the carrier unit 5. As the sliding bar 6 is extended further, the locking tab 21 of the engagement element 17 engages behind the counter-locking element 18.A frame or edge of the balcony 8 can act as a stop for the supporting unit 5 to prevent the sliding bar 6 from simply pushing the supporting unit 5 forward. In this way, the locking element 17 can be reliably locked into the counter-locking element 18. As the locking element 17 moves over the counter-locking element 18 until it reaches the final locked position, both the locking element 17 and the counter-locking element 18 separate from each other due to their elastic arrangements. This is facilitated by one sliding over the other. When the locking element 17 is fully locked into the counter-locking element 18, the counter-locking element 18, with the locking bracket 19 attached to it, is in a slightly lowered position.This downward or lower position towards the bottom of the supporting unit 5 is caused by the force of the locking element 17 exerted on the counter-locking element 18. The coupling process is now complete, and the sliding bar 6 can be repositioned in the rotor chamber 2 by means of the linear drive 11. In doing so, it pulls the coupled carrier unit 5 from the balcony 8 through the opening in the housing wall 16 into the rotor chamber 2 to a final position on the rotor 4 (Figure 6). The final position on the rotor 4 is reached when the carrier unit 5 strikes a stop element or counter-locking element 20 that is part of the rotor 4. By lowering the locking element 18 and the locking bracket 19, the locking bracket 19 can be submerged below a section of the stop element or the locking element 20. If the sliding bar 6 is then inserted further, i.e., through the dividing wall 7 adjacent to the drive device, the support unit 5 is held in position by the stop element 20, and the locking element 17 of the sliding bar 6 is pulled back on the locking element 18 until it completely loses contact (Figure 7). After the sliding bar 6 is separated from the support unit 5, the elastically mounted components of the support unit 5 (locking element 18 and locking bracket 19) are lifted back to their initial position.The locking stirrup 19, which has been submerged under the counter-locking element 20, now fits with the counter-locking element 20. This ensures that the supporting unit 5 is connected to the rotor 4 via the counter-locking element 20 (Figure 8). Once the centrifugation process is complete, the sliding bar 6 extends from its retracted position outside the partition wall 7 back towards the rotor chamber until it engages again with the carrier unit via the locking element 17 and the counter-locking element 18 (Figure 9). As described above, when the locking element 17 engages with the counter-locking element 20, the locking bracket 19 is in a downward position, facing the bottom of the carrier unit. The locking bracket 19 is then unlocked by the counter-locking element 20. The carrier unit 5 can then be moved stably and precisely out of the rotor chamber 2 and onto the platform 8 by further moving the sliding bar 6 through the rotor chamber 2. This is achieved by opening the aperture in the housing wall 16. If the carrier unit 5 is now located on balcony 8, the reaction vessel unit located there can be removed and, if necessary, replaced with a new one. It is also conceivable to refill the reaction vessels, followed by an additional centrifugation step. If necessary, the reaction vessel unit can be filled during the centrifuge loading process or during centrifuge unloading by means of a pipetting device. The pipetting device can be positioned, for example, on the outside of the centrifuge housing wall 16. The pipetting device has at least one or more nozzles arranged in a parallel row, side by side, with their nozzle openings facing downwards. Each nozzle is a small tube, which may be positioned slightly inclined with respect to the vertical. As a result, a jet of liquid is introduced into the reaction vessels at an angle to the vertical. An optical detection device, as described above, for two-dimensional or three-dimensional scanning of the reaction vessel unit can also be provided next to the nozzles of the pipetting device. The supporting unit 5, comprising the reaction vessel unit, moves beneath the pipetting device, in which the reaction vessels located within the reaction vessel unit can be filled with a liquid. The movement of the supporting unit 5 or the reaction vessel unit is preferably stopped for pipetting. A reaction vessel unit, such as a microtiter plate, which has reaction vessels arranged in a two-dimensional grid, is pipetted in stages and partially. The process of loading and unloading the centrifuge or filling and emptying the reaction vessels can be repeated fully automatically several times. Scroll bar 6 preferably has a smooth surface. In one embodiment, the displacement bar 6 is hollow and open at the end opposite the coupling element, i.e., the end opposite the rotor chamber. A threaded rod 9 can be inserted into this opening coaxially with the displacement bar 6 by means of a rotational movement of the threaded rod 21. This is possible because the threaded rod 9 is engaged with a thread connected to the displacement bar 6, such that a rotational movement of the threaded rod 9 causes a translational movement of the displacement bar 6 (Figures 10 to 12). The displacement bar 6 extends through an opening in a partition wall 7 between the drive unit 3 and the rotor chamber 2 (Figures 10 to 12). A sealing element 12 is arranged in the area of ​​the opening in the partition wall 7 and seals the displacement bar 6 against the partition wall 7. The sealing element 12 can be a packing gasket. Preferably, the sealing element 12 rests very close to the displacement bar 6 to achieve the best possible seal. The high frictional forces arising from the close contact of the sealing element 12 with the displacement bar 6 during the movement of the displacement bar 6 can be overcome by the linear drive described by means of a threaded rod 9. Alternatively, the coupling element 10 may have a rotating hook 23 or a pin 26 (Figures 13 to 15) or, as an additional alternative, a magnetic coupling. If the coupling element 10 comprises a rotating hook 23 for coupling a reaction vessel unit or a carrier unit 5 for a reaction unit, the hook is guided through a hook receiving opening 24 located in a hook receiving section 25. The hook receiving section 25 is part of the reaction vessel unit or the carrier unit 5. The hook 23 is located at the front end of the sliding bar 6, so that it can be guided with precise adjustment through the hook receiving opening 24 provided for this purpose by the above-described sliding movement of the sliding bar 6 in the linear direction. The hook receiving opening 24 is designed such that when the hook 23 rotates, it engages with the hook receiving section 25 so that the displacement bar engages with the reaction vessel unit or the carrier unit 5. Alternatively to the procedure described above, this allows the reaction vessel unit or the carrier unit 5 to be precisely positioned by means of the displacement bar 6 through engagement by means of the hook 23 along the linear displacement axis of the displacement bar 6. In order for hook 23 to fit behind the hook receiving section 25, hook 23 must first be inserted into the hook receiving opening 24. The fit is then made by rotating the hook approximately 90 to 270° to change the position of the hook so that it can no longer be pulled out of the hook receiving opening 24. The uncoupling can be achieved by the fact that hook 23 is rotated back to the original position as when the hook was inserted into the hook receiving opening 24 and, therefore, it is possible to remove it from the hook receiving opening 24. Another embodiment may be a coupling element 10 having a pin 26. This embodiment is similar to the embodiment described above with a locking element 17 and a counter-locking element 18. The difference is that, instead of the locking element 17 and the counter-locking element 18, a pin 26 or a pin-receiving element 27 is used to couple the sliding bar 6 with the supporting unit 5. Here, the pin 26 pushes into an elastically mounted opening of the pin-receiving element 27. The opening is enlarged by the insertion of the pin 26 due to its elasticity until the pin has been fully pushed in and engages with the pin-receiving element in its final position. During this coupling process, the locking process with the locking bracket 19 and the counter-locking element 20, as described above, also takes place.The rotation axis of the rotor 4 is preferably horizontal and therefore parallel to the horizontal movement direction of the scroll bar 6. The object of the present invention is particularly suitable for the centrifugation of reaction vessel units, and especially for the centrifugation of reaction vessel units in which the openings of the reaction vessels are oriented in the opposite direction to the axis of rotation. This means that, in particular, the washing or emptying of the reaction vessels can be advantageously carried out by means of the centrifuge described herein. In combination with automatic filling by means of a pipetting device, the test steps involving the filling and emptying of reaction vessels can be performed repeatedly and fully automatically one after the other with the present invention.The precise positioning of the reaction vessel units or the support unit for a reaction vessel unit allows for the accurate filling of individual reaction vessels. During centrifugation, with the reaction vessel openings oriented away from the axis of rotation, complete emptying of the reaction vessels occurs without contact. In general, the filling and emptying process of a reaction vessel unit can be carried out more precisely and fully automatically. Particularly advantageous is the object of the invention described herein for reaction vessel units such as microtiter plates, which may contain up to 1536 individual reaction vessels. In particular, the present invention is suitable for integration into a fully automated testing procedure. The centrifuge described herein is also suitable for experiments using magnetic beads that require washing during the experiment. Magnetic beads can optionally be held in the reaction vessel manually by means of a magnet while the vessel is agitated, for example, to remove the washing solution. This washing step can be carried out fully automatically using the centrifuge described herein. By establishing magnetic interactions during the centrifugation step, the magnetic beads can be prevented from leaving the reaction vessel. If the openings of the reaction vessels are oriented away from the axis of rotation during centrifugation, the liquid in the reaction vessel may be removed while the magnetic beads remain in the vessel.This allows for a complete, touchless wash without having to worry about losing the magnetic beads. The centrifuge's rotor chamber is surrounded by a housing (not shown). The housing may be equipped with a spray device for spraying a decontamination agent into the rotor chamber. The spray device has one or more spray nozzles, which preferably distribute the decontamination agent in fine droplets within the rotor chamber. Such a decontamination agent can be bleach, a strong oxidizing agent, or an alcohol-based agent. By providing such a spray device, the rotor chamber can be decontaminated or sterilized at any time. When the decontamination agent is sprayed, the rotor preferably rotates only slowly to ensure that the agent is evenly distributed within the rotor chamber. The rotor housing is formed, for example, by two half-shells.The spray nozzles are then preferably arranged at the interface between the two half-shells. The rotor housing can be fitted with a window to allow observation of the rotor chamber from the outside. This allows, for example, the detection of foaming or other effects within the rotor chamber. This is particularly useful when testing new centrifuge procedures. The centrifuge preferably includes a control device that controls the linear drive for moving the displacement bar. This control device preferably includes a control signal that describes the position of the displacement bar and, consequently, also the position of a reaction vessel unit coupled to the displacement bar. This position signal preferably has an accuracy of at least 0.2 mm and, in particular, at least 0.1 mm. The positioning of the displacement bar can be repeated as many times as desired with the desired accuracy, where "as many times as desired" means at least 1000 movements of the displacement bar and, preferably, at least 10,000 movements of the displacement bar. By using a linear drive that can precisely position the drive bar, there is no need to provide appropriate sensors in the rotor chamber area or on the balcony area, which detect the location of the reaction vessel unit, a support unit for the reaction vessel unit, or the drive bar. These sensors can be omitted. This makes the centrifuge structure very simple in the section where the reaction vessel unit moves. Therefore, such a centrifuge can also be easily coupled to other laboratory equipment that supplies or receives the centrifuge, for example, a robotic arm. List of references: 1 Centrifuge 2 Rotor chamber 3 Drive unit 4 Rotor 5 Carrier unit 6 Scroll bar 7 Dividing wall 8 Balcony 9 Threaded bar 10 Coupling element 11 Linear drive 12 Sealing element 13 Detection device 14 Laser beam 15 Base frame Shell wall Enervation element Counterlocking element Locking stirrup Counter-locking element / stop element Locking tongue Leaf spring Hook Hook receiving opening Hook receiving section Plug Plug receiving element Guide rail Fastening element Car Nut Stirrup Drive pinion Engine Belt Mirror

Claims

1. A centrifuge (1) with a rotor (4) and a rotor chamber (2) in which the rotor (4) is rotatably arranged and mounted, wherein the rotor (4) has a receiving area for receiving a reaction vessel unit, characterized in that the centrifuge (1) is provided with a loading and unloading device comprising a rigid sliding bar (6) for placing a reaction vessel unit into or removing a reaction vessel unit from the rotor (4), wherein the sliding bar (6) is arranged to be horizontally displaceable so that it can move between an unloading position in which it extends into the rotor chamber (2) through the rotor (4) and a loading position in which it is extracted from at least the area of ​​the rotor chamber (2) that is occupied by the rotor (4) during one revolution.A linear drive (11) for moving the displacement bar (6) between the discharge position and the loading position, wherein the centrifuge has a sensing device (13) for determining the position of the displacement bar (6) in the direction of movement, and a pipetting unit with at least one nozzle, so that a reaction vessel unit can be arranged below the pipetting unit for filling a reaction vessel.

2. Centrifuge (1) according to claim 1, characterized in that a coupling element (10) is arranged at a free end of the displacement bar (6) located in the rotor chamber (2), wherein the coupling element (10) is configured to reconnect the displacement bar (6) to a reaction vessel unit or a support unit (5) for a reaction vessel unit.

3. Centrifuge (1) according to claim 2,characterized in that the coupling element (10) has a locking element (17) that can fit with a counter-locking element (18) provided in the reaction vessel unit or in the supporting unit (5), wherein at least the locking element (17) or the counter-locking element (18) is elastically mounted.

4. Centrifuge (1) according to claim 3, characterized in that the counter-locking element (18) of the reaction vessel unit or the carrier unit (5) is elastically mounted and coupled to a locking bracket (19), such that the locking bracket (19) can pivot between two positions, in which an unlocked position is adopted when the locking element (17) and the counter-locking element (18) are locked together, and a locked position is adopted when the locking element (17) and the counter-locking element (18) are separated from each other,wherein the locking bracket (19) has a locking element which, in a locked position, can engage with a corresponding counter-locking element (20).

5. Centrifuge (1) according to any one of claims 2 to 4, characterized in that the displacement bar (6) has a smooth surface.

6. Centrifuge (1) according to any one of claims 1 to 5, characterized in that the displacement bar (6) is hollow and shaped open at the rear end facing away from the rotor chamber (2), and a threaded rod (9) is provided coaxially with the displacement bar (6), and the threaded rod (9) is meshed with a thread connected to the displacement bar (6), such that a rotational movement of the threaded rod (9) causes a translational movement of the displacement bar (6).wherein the threaded rod (9) can be inserted into the displacement rod (6) at the rear end.

7. Centrifuge (1) according to any one of claims 1 to 6, characterized in that the rotor chamber (2) is enclosed by a housing and the displacement rod (6) is guided through an opening in a housing wall (16), wherein a sealing element (12) is provided in the area of ​​the opening, sealing the displacement rod (6) with respect to the housing wall.

8. Centrifuge (1) according to any one of claims 1 to 7, characterized in that the centrifuge (1) is configured with a horizontal axis of rotation around which the rotor rotates when the centrifuge is in operation.

9. Centrifuge (1) according to any one of claims 1 to 8, characterized in that the pipetting unit has several pipetting nozzles.

10. Centrifuge (1) according to any one of claims 1 to 9, characterized by,An optical detection unit, wherein the optical detection unit is preferably shaped and arranged so that it can scan the reaction vessel unit adjacent to the rotor chamber (2) in the movement zone thereof.

11. A centrifuge (1) according to claim 10, characterized in that the detection unit comprises a linear camera for scanning the reaction vessel unit linearly, wherein a scan line is oriented approximately perpendicular to the direction of movement of the reaction vessel unit.

12. A centrifuge (1) according to claim 10 or 11, characterized in that the detection unit has a color camera for spectrally scanning a reaction vessel unit.

13. A centrifuge (1) according to any one of claims 10 to 12, characterized in that,The optical detection unit is configured to 3D scan a reaction vessel unit.

14. Centrifuge (1) according to any one of claims 10 to 13, characterized in that the centrifuge (1) has an evaluation device with which the signals obtained with the optical detection device are automatically evaluated according to the following parameters: - color of the contents of at least one reaction vessel of the reaction vessel unit, - fill level of at least one reaction vessel of the reaction vessel unit, - position of the reaction vessel unit, - type of reaction vessel unit.

15. Centrifuge (1) according to any one of claims 1 to 14, characterized in that the linear drive (11) converts a rotary motion into a linear motion by means of a form-fit or gear mesh.

16. Centrifuge (1) according to any one of claims 1 to 15,characterized in that the centrifuge (1) has a housing enclosing the rotor chamber (2), wherein the housing is provided with a spraying device for spraying a decontamination solution inside.

17. Centrifuge (1) according to any one of claims 1 to 16, characterized in that the centrifuge (1) has a housing enclosing the rotor chamber (2), wherein the housing is provided with a window.

18. Centrifuge (1) according to any one of claims 1 to 17, characterized in that the centrifuge (1) has a control device that controls the linear drive (11), wherein a control signal is present in the control device describing the position of the scroll bar (6), and the control device has an interface through which the position of the scroll bar (6) can be transmitted to another device, such as a robot, or to another component of the centrifuge (1),such as a pipetting unit, so that the other device or component can receive the position of the slide bar (6) and, therefore, the position of a reaction vessel unit.

19. Centrifuge (1) according to claim 18, characterized in that the control signal describes the position of the slide bar (6) with an accuracy of at least 0.2 mm and preferably at least 0.1 mm.

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