Centrifuge rotor inclination measurement device and measurement method therefor

Abstract

A centrifuge rotor inclination measurement device and a measurement method therefor, relating to the technical field of centrifuges. The centrifuge rotor inclination measurement device comprises: a centrifugal rotor body, and at least three sensor sensing components distributed at intervals; a sensor assembly, which comprises a sensor support and at least three sensor probes, the sensor probes being distributed at intervals in the circumferential direction of the sensor support, and the sensor probes operating in cooperation with the sensor sensing components; an electric-motor rotor, which comprises a connecting shaft and an electric-motor rotating shaft, one end of the connecting shaft passing through the sensor support to be connected to a centrifugal rotor, and the other end of the connecting shaft being connected to the electric-motor rotating shaft; and a control device, the sensor sensing components, the sensor probes and the electric-motor rotor all being connected to the control device. The device can measure the inclination angle of the rotor in real time and predetermine the change trend of the inclination angle thereof, thereby improving the overall safety of a centrifuge, and effectively preventing the centrifuge from being damaged.

Description

Centrifuge rotor tilt detection device and detection method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 12, 2023, with application number 202311701387.9 and invention name “A centrifuge rotor tilt detection device and detection method thereof”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of centrifuge technology, and more specifically, to a centrifuge rotor tilt detection device and a detection method applied to the centrifuge rotor tilt detection device. Background Art

[0003] The current state of centrifuge rotor tilt detection in the related art uses a Hall effect sensor for rotor identification. This tilt detection generates a switch signal through the contact between a flexible shaft and a toggle spring. When the centrifuge rotor tilts, the flexible shaft connecting the motor rotor and the centrifuge rotor tilts. When the maximum allowable tilt angle is reached, the flexible shaft contacts the toggle spring, triggering a protective switch signal. However, this method suffers from the inability to detect the rotor's tilt angle in real time, making it impossible to predict the changing trend of the tilt angle and thus develop a more reasonable tilt protection strategy.

[0004] In summary, how to detect the inclination angle of the rotor in real time and predict the changing trend of the inclination angle is an urgent problem to be solved by those skilled in the art.

[0005] Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a centrifuge rotor tilt detection device that can detect the rotor tilt angle in real time and predict the changing trend of its tilt angle to improve the overall safety of the centrifuge and effectively avoid damage to the centrifuge.

[0007] Another object of the present invention is to provide a detection method applied to the above-mentioned centrifuge rotor tilt detection device.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A centrifuge rotor tilt detection device, comprising:

[0010] A centrifugal rotor comprising a centrifugal rotor body and at least three sensor sensing components spaced apart along the circumference of the centrifugal rotor body;

[0011] A sensor assembly comprising a sensor bracket arranged parallel to and directly below the centrifugal rotor and at least three sensor probes, wherein the sensor probes are spaced apart along the circumference of the sensor bracket and cooperate with the sensor sensing component;

[0012] a motor rotor comprising a connecting shaft and a motor shaft, wherein one end of the connecting shaft passes through the sensor bracket and is connected to the centrifugal rotor, and the other end of the connecting shaft is connected to the motor shaft;

[0013] The control device is connected to the sensor sensing component, the sensor probe and the motor rotor.

[0014] In one embodiment, bearings are respectively provided at both ends of the motor shaft.

[0015] In one embodiment, the number of the sensor sensing components is greater than the number of the sensor probes;

[0016] Or the number of the sensor sensing components is equal to the number of the sensor probes, and the sensor sensing components and the sensor probes are distributed in a one-to-one correspondence.

[0017] In one embodiment, the connecting shaft and the motor shaft are connected by a tapered hole.

[0018] In one embodiment, the connecting shaft comprises a flexible shaft.

[0019] In one embodiment, the centrifuge rotor comprises an angle rotor, a horizontal rotor, a continuous flow rotor, or a vertical rotor.

[0020] A detection method, applied to any of the above-mentioned centrifuge rotor tilt detection devices, comprising:

[0021] Obtaining the position information of each point and the size information of each side of the first plane A1B1C1 formed by the three sensor sensing components in the initial state;

[0022] After the motor rotor runs for a certain period of time and reaches a real-time state, the position information of each point and the size information of each side of the third plane A3B3C3 formed by the three sensor sensing components are obtained in the real-time state;

[0023] Construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1, and obtain position information of each point and size information of each side of the second plane A2B2C2;

[0024] Construct a first intersection point T of the line segment B2C2 and the extended line of the line segment B3C3, and construct a second intersection point P of the perpendicular line from the point C2 on the second plane A2B2C2 to the line segment A2T and the perpendicular line from the point C3 on the third plane A2B3C3;

[0025] According to the triangle similarity theorem, the cosine theorem, and the Pythagorean theorem, a first angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 is calculated to determine the degree of inclination of the centrifugal rotor.

[0026] In one embodiment, calculating the first angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 according to the triangle similarity theorem, the cosine theorem, and the Pythagorean theorem includes:

[0027] Get the sizes of line segments A2B2, B2C2, A2C2, A1A2, B1B3, and C1C3;

[0028] Calculate the size of line segment C3T using the triangle similarity theorem;

[0029] Calculate the second angle A2B2C2 according to the law of cosines;

[0030] Calculate the size of line segment A2T using the law of cosines;

[0031] Calculate the third angle C3A2T according to the law of cosines;

[0032] Calculate line segment C3P and line segment A2C3 according to the Pythagorean theorem;

[0033] The first angle C2PC3 is calculated according to the law of cosines.

[0034] In one embodiment, determining the degree of inclination of the centrifuge rotor includes:

[0035] Determine whether the first angle C2PC3 is greater than a preset tilt angle. If so, control the motor rotor to decelerate and issue an alarm; if not, control the motor rotor to increase speed.

[0036] When using the centrifuge rotor tilt detection device provided by the present invention, a control device controls the operation of the motor rotor so that the motor shaft drives the connecting shaft to rotate synchronously. The connecting shaft passes through the sensor assembly and connects to the centrifuge rotor, thereby driving the centrifuge rotor to rotate synchronously. During use, the sensor probe and the sensor sensing component cooperate to transmit detection signals to the control device, which then calculates the rotor tilt angle.

[0037] For example, the control device can obtain the position information and dimension information of each side of the first plane A1B1C1 formed by the three sensor components in the initial state. Furthermore, after the motor rotor has run for a certain period of time and reaches the real-time state, the control device can also obtain the position information and dimension information of each side of the third plane A3B3C3 formed by the three sensor components in the real-time state.

[0038] Next, construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1. Obtain the position information and side dimensions of each point on second plane A2B2C2. Next, construct the first intersection point T of line segment B2C2 and the extended line of line segment B3C3. Construct the second intersection point P of the line perpendicular to point C2 on the second plane A2B2C2 and line segment A2T with the line perpendicular to point C3 on the third plane A2B3C3.

[0039] Finally, based on the triangle similarity theorem, the law of cosines, and the Pythagorean theorem, the real-time first angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 is calculated. This first angle C2PC3 is the rotor tilt angle. This first angle, calculated in real time by the algorithm, can be used to predict the changing trend of the rotor tilt angle, thereby improving the overall safety of the centrifuge and effectively preventing damage to the centrifuge.

[0040] In summary, the centrifuge rotor tilt detection device provided by the present invention can detect the rotor tilt angle in real time and predict the changing trend of its tilt angle, so as to improve the overall safety of the centrifuge and effectively avoid damage to the centrifuge.

[0041] In addition, the present invention also provides a detection method applied to the above-mentioned centrifuge rotor tilt detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0043] FIG1 is a schematic structural diagram of a centrifuge rotor tilt detection device provided by the present invention;

[0044] FIG2 is a schematic diagram showing the distribution of sensor sensing components of a centrifugal rotor;

[0045] FIG3 is a schematic diagram of the distribution of sensor probes of the sensor assembly;

[0046] FIG4 is a schematic flow chart of the detection method provided by the present invention;

[0047] FIG5 is a schematic diagram of an auxiliary structure constructed when calculating the rotor tilt angle.

[0048] In Figures 1 to 5: 1 is a centrifugal rotor, 11 is a centrifugal rotor body, 12 is a sensor sensing component, 2 is a sensor assembly, 21 is a sensor probe, 22 is a sensor bracket, 3 is a motor rotor, 31 is a connecting shaft, 32 is a motor shaft, and 4 is a bearing. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] The core of this invention is to provide a centrifuge rotor tilt detection device that can detect the rotor's tilt angle in real time and predict its changing trend, thereby improving the overall safety of the centrifuge and effectively preventing damage. Another core of this invention is to provide a detection method applicable to this centrifuge rotor tilt detection device.

[0051] Please refer to Figures 1 to 5.

[0052] This specific embodiment provides a centrifuge rotor tilt detection device, comprising:

[0053] The centrifugal rotor 1 comprises a centrifugal rotor body 11 and at least three sensor sensing components 12 spaced apart along the circumference of the centrifugal rotor body 11;

[0054] The sensor assembly 2 includes a sensor bracket 22 arranged parallel to and directly below the centrifugal rotor 1 and at least three sensor probes 21. The sensor probes 21 are spaced apart along the circumference of the sensor bracket 22. The sensor probes 21 cooperate with the sensor sensing component 12 for operation.

[0055] The motor rotor 3 includes a connecting shaft 31 and a motor shaft 32. One end of the connecting shaft 31 passes through the sensor bracket 22 and is connected to the centrifugal rotor 1. The other end of the connecting shaft 31 is connected to the motor shaft 32.

[0056] The control device, the sensor sensing component 12, the sensor probe 21 and the motor rotor 3 are all connected to the control device.

[0057] When using the centrifuge rotor tilt detection device provided by the present invention, the control device controls the operation of the motor rotor 3 so that the motor shaft 32 drives the connecting shaft 31 to rotate synchronously. The connecting shaft 31 passes through the sensor assembly 2 and connects to the centrifuge rotor 1, thereby driving the centrifuge rotor 1 to rotate synchronously. During use, the sensor probe 21 and the sensor sensing component 12 cooperate to transmit detection signals to the control device, which then calculates the rotor tilt angle.

[0058] For example, the control device can obtain the position information and dimension information of each side of the first plane A1B1C1 formed by the three sensor sensing components 12 in the initial state. Furthermore, after the motor rotor 3 has run for a certain period of time and reaches the real-time state, the control device can also obtain the position information and dimension information of each side of the third plane A3B3C3 formed by the three sensor sensing components 12 in the real-time state.

[0059] Next, construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1. Obtain the position information and side dimensions of each point on second plane A2B2C2. Next, construct the first intersection point T of line segment B2C2 and the extended line of line segment B3C3. Construct the second intersection point P of the line perpendicular to point C2 on the second plane A2B2C2 and line segment A2T with the line perpendicular to point C3 on the third plane A2B3C3.

[0060] Finally, based on the triangle similarity theorem, the law of cosines, and the Pythagorean theorem, the real-time first angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 is calculated. This first angle C2PC3 is the rotor tilt angle. This first angle, calculated in real time by the algorithm, can be used to predict the changing trend of the rotor tilt angle, thereby improving the overall safety of the centrifuge and effectively preventing damage to the centrifuge.

[0061] When the device is in high-speed operation, the three sensor probes 21 on the sensor bracket 22 respectively measure the distance between themselves and the centrifuge rotor 1. The three distance signals can generate a plane. The inclination angle between this plane and the reference plane is the rotor inclination angle. The algorithm can measure the inclination angle in real time and predict the trend of the rotor inclination angle change, thereby improving the overall safety of the centrifuge and effectively avoiding damage to the centrifuge.

[0062] Based on the existing centrifuge rotor solution, the present application increases the number of sensor probes 21 on the sensor bracket 22 from one to three or more. With other structures unchanged, tilt detection can be achieved in combination with relevant algorithms.

[0063] In summary, the centrifuge rotor tilt detection device provided by the present invention can detect the rotor tilt angle in real time and predict the changing trend of its tilt angle, so as to improve the overall safety of the centrifuge and effectively avoid damage to the centrifuge.

[0064] In one embodiment, bearings 4 are respectively provided at both ends of the motor shaft 32 to improve the rotation effect of the motor shaft 32 and prevent the motor shaft 32 from being easily damaged.

[0065] In one embodiment, the number of sensor sensing components 12 is greater than the number of sensor probes 21 ; or the number of sensor sensing components 12 is equal to the number of sensor probes 21 , and the sensor sensing components 12 and the sensor probes 21 are distributed in a one-to-one correspondence.

[0066] It should be noted that if there are three sensor probes 21, the detection points of the three sensor probes 21 can form a plane. In actual applications, the number of sensor probes 21 can be more than three. Moreover, the sensor probes 21 can be evenly distributed on the same circumference. In actual applications, the sensor probes 21 may not be completely evenly distributed. However, when the sensor probes 21 are evenly distributed, the detection plane formed is larger, which is more conducive to tilt detection.

[0067] It should also be noted that the number of sensor components 12 must be at least equal to or greater than the number of sensor probes 21. If the sensor components 12 and sensor probes 21 are identical, the initial distribution angles of the sensor probes 21 and sensor components 12 must be identical to each other to simultaneously sample signal amplitudes and generate a tilt detection plane. Furthermore, the sensor assembly 2 is positioned corresponding to the mounting surface of the sensor components 12 on the centrifuge rotor 1. The mounting distance between the centrifuge rotor 1 and the sensor assembly 2 is determined by the characteristics of the sensor probes 21.

[0068] In one embodiment, the connecting shaft 31 and the motor shaft 32 are connected by a tapered hole to improve the centering connection effect of the connecting shaft 31 and the motor shaft 32 .

[0069] In one embodiment, the connecting shaft 31 comprises a flexible shaft. In high-speed and ultra-high-speed centrifuge applications, the connecting shaft 31 is usually configured as a flexible shaft to prevent the device from being easily damaged during high-speed operation.

[0070] In one embodiment, the centrifugal rotor 1 includes an angle rotor, a horizontal rotor, a continuous flow rotor, or a vertical rotor. In other words, the specific type of the centrifugal rotor 1 is not limited and can be selected according to actual conditions and needs during actual use.

[0071] In addition to the above-mentioned centrifuge rotor tilt detection device, the present invention also provides a detection method for the centrifuge rotor tilt detection device disclosed in the above-mentioned embodiment, the detection method comprising:

[0072] S1. Obtaining the position information of each point and the size information of each side of the first plane A1B1C1 formed by the three sensor sensing components in the initial state;

[0073] S2. After the motor rotor runs for a certain period of time and reaches a real-time state, the position information of each point and the size information of each side of the third plane A3B3C3 formed by the three sensor sensing components in the real-time state are obtained;

[0074] S3. Construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1, and obtain the position information of each point and the size information of each side of the second plane A2B2C2;

[0075] S4. Construct the first intersection point T of line segment B2C2 and the extended line of line segment B3C3. Construct the second intersection point P of the line perpendicular from point C2 on the second plane A2B2C2 to line segment A2T and the line perpendicular from point C3 on the third plane A2B3C3 (since points A2 and A3 coincide, plane A2B3C3 is also plane A3B3C3).

[0076] S5. Calculate a first angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 based on the triangle similarity theorem, the cosine theorem, and the Pythagorean theorem to determine the degree of inclination of the centrifugal rotor.

[0077] The explanations of each point, line segment and plane are shown in Table 1 below.

[0078] Table 1 Definitions of points, lines and planes

[0079] It should be noted that the first plane A1B1C1 is a reference plane, the second plane A2B2C2 is a constructed virtual plane parallel to the first plane A1B1C1, and the third plane A2B3C3 is the same as the third plane A3B3C3, both of which are real-time detection planes.

[0080] Based on the above detection method, a schematic diagram of the auxiliary structure constructed for calculating the rotor tilt angle can be drawn, as shown in Figure 5. The assumed reference plane in Figure 5 is the first plane A1B1C1. This plane is formed by the initial position detected by the three sensor sensing components 12 during rotor installation. Once the sensor sensing components 12 are fixed in position, the lengths of line segments A1B1, A1C1, and B1C1 are known. If, within a certain control cycle of the centrifuge system, the rotor reaches a certain modal point after rotating to a certain speed, this modal point is related to the rotor speed. If the position difference between the real-time detection plane A2B3C3 (also known as the third plane A3B3C3) formed by the positions detected by the three sensor sensing components 12 and the first plane A1B1C1 between the three sensor sensing components 12 is A1A2, B1B3, and C1C3, respectively, then the rotor will be at a certain speed.

[0081] Assuming that line segment A1A2 is the shortest (take the shortest line segment among A1A2, B1B3, and C1C3), construct a second plane A2B2C2 that passes through point A2 and is parallel to the first plane A1B1C1. The first angle between the second plane A2B2C2 and the third plane A2B3C3 is C2PC3. Ignoring the changes in the positions of A1A2, B1B3, and C1C3 perpendicular to the first plane A1B1C1 in Figure 5 after the rotor tilts, assume that A1A2, B1B3, and C1C3 always change in this perpendicular direction.

[0082] In one embodiment, the first angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 is calculated according to the triangle similarity theorem, the cosine theorem, and the Pythagorean theorem, including:

[0083] Get the sizes of line segments A2B2, B2C2, A2C2, A1A2, B1B3, and C1C3;

[0084] Calculate the size of line segment C3T using the triangle similarity theorem;

[0085] Calculate the second angle A2B2C2 according to the law of cosines;

[0086] Calculate the size of line segment A2T using the law of cosines;

[0087] Calculate the third angle C3A2T according to the law of cosines;

[0088] Calculate line segment C3P and line segment A2C3 according to the Pythagorean theorem;

[0089] Calculate the first angle C2PC3 according to the law of cosines.

[0090] In Figure 5, the known length segments are: A2B2, B2C2, A2C2, A1A2, B1B3, C1C3. The meanings of each segment are shown in Table 2 below.

[0091] Table 2 Definitions of known line segments

[0092] According to the similarity theorem of similar triangles, we can get:

[0093] According to the law of cosines, the size of ∠A2B2C2 (also known as the second angle A2B2C2) can be obtained as: ∠A2B2T=180-∠A2B2C2

[0094] According to the law of cosines, the size of A2T can be obtained as:

[0095] According to the law of cosines, the value of ∠C3A2T (also known as the third angle C3A2T) can be obtained as:

[0096] According to the Pythagorean theorem, C3P can be obtained: C3P=A2C3*sin(∠C3A2T)

[0097] Based on the length of the line segment obtained above, ∠C2PC3 (also known as the first angle C2PC3) can be obtained:

[0098] In one embodiment, determining the degree of inclination of the centrifuge rotor includes:

[0099] Determine whether the first angle C2PC3 is greater than the preset tilt angle. If so, control the motor rotor to decelerate and issue an alarm; if not, control the motor rotor to increase speed.

[0100] It should be noted that the first angle C2PC3, the second angle A2B2C2, the third angle C3A2T, the first plane A1B1C1, the second plane A2B2C2, the third plane A3B3C3, the first intersection T and the second intersection P mentioned in the present invention, where the first, second and third are only for distinguishing the different positions and there is no order of precedence.

[0101] In addition, it should be noted that the orientation or positional relationship indicated by "up and down" etc. in the present invention is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the purpose of simplifying the description and facilitating understanding, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0102] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. Any combination of all the embodiments provided by the present invention is within the scope of protection of this invention and will not be described in detail here.

[0103] The above describes in detail the centrifuge rotor tilt detection device and detection method provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above examples is intended only to facilitate understanding of the method and core concepts of the present invention. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A centrifuge rotor tilt detection device, characterized in that, Comprising: A centrifugal rotor (1), which includes a centrifugal rotor body (11) and at least three sensor induction components (12) circumferentially spaced apart along the centrifugal rotor body (11); A sensor assembly (2), which includes a sensor bracket (22) disposed parallel to the lower side of the centrifugal rotor (1) and at least three sensor probes (21), the sensor probes (21) being circumferentially spaced apart along the sensor bracket (22), and the sensor probes (21) and the sensor induction components (12) operating in cooperation; A motor rotor (3), which includes a connecting shaft (31) and a motor rotating shaft (32), one end of the connecting shaft (31) passing through the sensor bracket (22) to be connected to the centrifugal rotor (1), and the other end of the connecting shaft (31) being connected to the motor rotating shaft (32); A control device, and the sensor induction components (12), the sensor probes (21), and the motor rotor (3) are all connected to the control device.

2. The centrifuge rotor tilt detection device according to claim 1, characterized in that, Bearings (4) are respectively provided at both ends of the motor rotating shaft (32).

3. The centrifuge rotor tilt detection device according to claim 1, characterized in that, The number of the sensor induction components (12) is greater than the number of the sensor probes (21); Or the number of the sensor induction components (12) is equal to the number of the sensor probes (21), and the sensor induction components (12) and the sensor probes (21) are distributed in a one-to-one correspondence.

4. The centrifuge rotor tilt detection device according to any one of claims 1 to 3, characterized in that, A tapered hole connection is adopted between the connecting shaft (31) and the motor rotating shaft (32).

5. The centrifuge rotor tilt detection device according to any one of claims 1 to 3, characterized in that, The connecting shaft (31) includes a flexible shaft.

6. The centrifuge rotor tilt detection device according to any one of claims 1 to 3, characterized in that, The centrifugal rotor (1) includes an angle rotor, a horizontal rotor, a continuous flow rotor, or a vertical rotor.

7. A detection method, applied to the centrifuge rotor tilt detection device according to any one of claims 1 to 6, characterized in that, Comprising: Obtaining the position information of each point and the dimension information of each side of the first plane A1B1C1 formed by three sensor induction components (12) in the initial state ; After the motor rotor (3) operates for a certain time to reach the real-time state, obtaining the position information of each point and the dimension information of each side of the third plane A3B3C3 formed by the three sensor induction components (12) in the real-time state; Constructing a second plane A2B2C2 passing through point A2 and parallel to the first plane A1B1C1, and obtaining the position information of each point and the dimension information of each side of the second plane A2B2C2; Constructing a first intersection point T of the extension line of the line segment B2C2 and the line segment B3C3, and constructing a second intersection point P of the perpendicular line from point C2 on the second plane A2B2C2 to the line segment A2T and the perpendicular line from point C3 on the third plane A2B3C3; Calculating a first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 according to the similarity theorem of triangles, the cosine theorem, and the Pythagorean theorem to judge the inclination degree of the centrifugal rotor.

8. The detection method according to claim 7, characterized in that, The calculating the first included angle C2PC3 between the first plane A1B1C1 and the third plane A3B3C3 according to the similarity theorem of triangles, the cosine theorem, and the Pythagorean theorem includes: Obtaining the dimensions of the line segment A2B2, the line segment B2C2, the line segment A2C2, the line segment A1A2, the line segment B1B3, and the line segment C1C3; Calculating the dimension of the line segment C3T according to the similarity theorem of triangles; Calculate the second included angle A2B2C2 according to the cosine theorem; Calculate the dimension of the line segment A2T according to the cosine theorem; Calculate the third included angle C3A2T according to the cosine theorem; Calculate the line segments C3P and A2C3 according to the Pythagorean theorem; Calculate the first included angle C2PC3 according to the cosine theorem.

9. The detection method according to claim 7, characterized in that, The determination of the inclination degree of the centrifugal rotor (1) includes: Determine whether the first included angle C2PC3 is greater than a preset inclination angle. If so, control the motor rotor (3) to decelerate and give an alarm prompt; if not, control the motor rotor (3) to run at an increased speed.

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