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CN-122006914-A - Six-rotor balancing device and method for centrifugal machine

CN122006914ACN 122006914 ACN122006914 ACN 122006914ACN-122006914-A

Abstract

The invention provides a six-rotor balancing device and a six-rotor balancing method of a centrifugal machine, and belongs to the technical field of centrifugal machines, wherein the six-rotor balancing device of the centrifugal machine comprises a sample tube storage area, a manipulator grabbing component, a driving component and a rotor, wherein the sample tube storage area and the rotor are arranged on a base platform; the sample tube storage area is internally provided with sample tubes with different heights, the bottom of the manipulator grabbing component is provided with a clamping jaw, the clamping jaw is provided with a high-low tube detection component used for judging the height of the sample tube when the sample tube is close to the clamping jaw, the bottom of the sample tube storage area is provided with a position detection sensor, and the technical problems that in the six-rotor balancing of an existing centrifugal machine, the balancing efficiency is low, and later adjustment steps are complicated can be solved.

Inventors

  • LI JINZHONG

Assignees

  • 青岛东举医疗科技有限公司

Dates

Publication Date
20260512
Application Date
20260320

Claims (10)

  1. 1. The six-rotor balancing device of the centrifugal machine is characterized by comprising a sample tube storage area (01), a manipulator grabbing component (02), a driving component (03) and a rotor (04), wherein the driving component (03) is used for driving the manipulator grabbing component (02) to move on a base platform, sample tubes with different heights are stored in the sample tube storage area (01), clamping jaws (021) are arranged at the bottom of the manipulator grabbing component (02), a high-low tube detection component (0211) is arranged on the clamping jaws (021) and used for judging the height of a sample tube when the sample tube is close to the clamping jaws, and a position detection sensor (011) is arranged at the bottom of the sample tube storage area (01) and used for detecting the position of the sample tube in the sample tube storage area (01).
  2. 2. The six-rotor balancing device of the centrifugal machine according to claim 1, wherein the sample tube storage area (01) and the rotor (04) are arranged on a base platform, the driving assembly (03) is arranged on the top of the base platform and connected with the driving assembly (03), a plurality of storage grooves are formed in the top of the sample tube storage area (01) and are used for placing sample tubes, the position detection sensor (011) is arranged at the bottom of the array structure and comprises a plurality of storage grooves, the plurality of storage grooves correspond to the storage grooves in sequence, the position detection sensor (011) is an optical coupler, an annular space is formed between the bottom of the storage groove and the position detection sensor (011), the side wall of the annular space is black and used for avoiding the influence of annular light, the position detection sensor (011) judges whether the sample tubes are placed in the storage grooves according to the refractive index difference of the light, and the plurality of sample tube storage grooves are arranged in the rotor (04).
  3. 3. The six-rotor balancing device of the centrifugal machine according to claim 2, wherein the sample tubes in the sample tube storage area (01) are sequentially moved into the rotor (04) through the cooperation of the position detection sensor (011), the high-low tube detection assembly (0211) and the driving assembly (03), and the manipulator grabbing assemblies (02) and the driving assemblies (03) corresponding to each manipulator grabbing assembly (02) comprise a plurality of manipulator grabbing assemblies for simultaneously moving the sample tubes, so that the efficiency is improved; The driving assembly (03) comprises a transverse driving screw (031), a longitudinal driving screw (032) and a height moving screw (033), wherein the transverse driving screw (031) and the longitudinal driving screw (032) are respectively arranged above the base platform, a moving plane formed by the transverse driving screw (031) and the longitudinal driving screw (032) is parallel to the base platform, the height moving screw (033) is connected to the longitudinal driving screw (032) in a sliding manner, the height moving screw (033) comprises a supporting frame (0331), a track (0332), a screw (0333) and a height moving motor (0334), the supporting frame (0331) is of a square structure, the inside of the supporting frame is provided with the height moving motor (0334), an output shaft of the height moving motor (0334) is connected with the screw (0333), the manipulator grabbing assembly (02) is sleeved on the screw (0333) and is connected to the track (0332) in a sliding manner, the track (0332) is used for limiting the moving direction of the manipulator grabbing assembly (02), and the manipulator grabbing assembly (0333) is driven by the rotating, and the screw (0333) is driven by the rotating along the track (0332), and the longitudinal driving assembly (0333) to move in parallel to the longitudinal direction.
  4. 4. The six-rotor balancing device of the centrifugal machine according to claim 3, wherein the high-low tube detection component (0211) is a distance sensor, the distance sensor is used for detecting the vertical distance that the manipulator grabbing component (02) moves above a sample tube in the sample tube storage area (01) to touch the sample tube, the type of the sample tube is judged through the vertical distance, and the distance sensor is laser reflection type or infrared reflection type.
  5. 5. The six-rotor balancing device of the centrifugal machine according to claim 4, wherein the sample tube storage area (01) and the rotors (04) are respectively arranged on the front side and the rear side of the base platform, the movement stroke of the longitudinal driving screw (032) is larger than or equal to the maximum value of the distance between the end part of the sample tube storage area (01) far away from the manipulator grabbing component (02) and the end part of the manipulator grabbing component (02) far away from the rotors (04), the rotors (04) comprise a plurality of rotor moving grooves, the middle area of the storage positions of the rotors is provided with centrifugal machine rotor moving grooves, a plurality of the rotors (04) are respectively arranged on the two sides of the centrifugal machine rotor moving grooves, the centrifugal machine is arranged at the bottom of the centrifugal machine rotor moving grooves, the movement stroke of the transverse driving screw (031) is larger than or equal to the maximum value of the width distance of the sample tube storage area (01) and the width distance of the rotors (04), and the movement stroke of the transverse driving screw (031) covers the sample tube storage area (01) and the plurality of the rotors (04).
  6. 6. Six-rotor balancing device for centrifuges according to claim 5, characterized in that the longitudinal drive screw (032) is fixed on top by means of a loop-shaped bracket for supporting the drive assembly (03) and avoiding obstruction to the movement of the transverse drive screw (031), the longitudinal drive screw (032).
  7. 7. A six-rotor balancing method based on the centrifugal machine of claim 6, which is characterized by comprising the following specific steps: S10, detecting the position of a sample tube in the sample tube storage area (01) by the position detection sensor (011), and driving the manipulator grabbing component (02) to move to the upper part of the sample tube by the transverse driving screw (031) and the longitudinal driving screw (032); s20, driving the manipulator grabbing assembly (02) to move downwards by the high-moving screw rod (033) to clamp a sample tube, and detecting the type of the sample tube by the high-low tube detecting assembly (0211); S30, the transverse driving screw (031) and the longitudinal driving screw (032) drive the clamped sample tubes to move to the position above the sample tube placing groove of the rotor (04), and the height moving screw (033) drives the manipulator grabbing assembly (02) to move downwards so as to place the sample tubes in the rotor (04) in a sequencing mode; s40, repeating the steps, wherein the transverse driving screw (031), the longitudinal driving screw (032) and the height moving screw (033) continuously drive the manipulator grabbing assembly (02) to move the sample tube next time; the sample tubes are ordered in the order in which the upper and lower tubes are placed in a cycle of a plurality of said rotors (04).
  8. 8. A method of balancing six rotors of a centrifuge according to claim 7, wherein said specific operating steps in the sequence of the cyclic placement of the high and low pipes on a plurality of said rotors (04) are: Selecting a plurality of rotors (04) as a group, recording as a and b, placing the sample tubes in a mode of a first and b then and so on when the sample tubes clamped by the manipulator grabbing component (02) are high tubes, placing the sample tubes sequentially from a to b and the following rotors (04) when the clamped sample tubes are low tubes, circularly placing the high tubes in the group of rotors (04), circularly placing the low tubes in the group of rotors (04), and enabling the difference between the high tubes and the low tubes among the group of rotors (04) not to exceed two tubes, thereby realizing quick balancing of six rotors of the centrifugal machine.
  9. 9. A centrifuge six-rotor balancing method according to claim 8, characterized in that the sequence of sample tubes is implemented in the mobile gripping of a single or a plurality of the robot gripping assemblies (02).
  10. 10. The six-rotor balancing method of the centrifugal machine according to claim 9, wherein the number of the rotors (04) in each group is 2-4, and the balancing efficiency is improved.

Description

Six-rotor balancing device and method for centrifugal machine Technical Field The invention belongs to the technical field of centrifuges, and particularly relates to a six-rotor balancing device and method for a centrifuge. Background In the operation of a high-speed centrifugal machine, serious vibration problems can be caused by uneven mass distribution of a rotor, when the rotor runs around a rotating shaft at a high speed, if the center of mass of the rotor is not coincident with the rotating center, huge periodic centrifugal force is generated, and the centrifugal force periodically changes in a sine law, so that not only can the severe vibration and noise of a rotor system be caused, the abrasion of a bearing be accelerated, the service life of equipment be shortened, but also safety accidents such as rotor structural damage, sample leakage or equipment overturning can be caused even in severe cases, and therefore balancing operation becomes a key link for safe and efficient operation of the centrifugal machine. Early balancing of centrifuges relies entirely on manual operation, operators need to place test tubes with samples in rotor holes according to symmetry principles according to experience, and the quality difference of each position is judged through visual estimation or hand feeling, which is not only inefficient, moreover, the manual balancing is extremely high in time cost and difficult to ensure the consistency of balancing precision for a high-throughput experimental scene or a six-rotor centrifuge requiring simultaneous processing of multiple rotors depending on the experience level of operators. With the development of automation technology, a semiautomatic balancing device based on the assistance of a mechanical arm appears, the device can finish the grabbing and placing of sample tubes by replacing manual work with the mechanical arm, but a simple sequential filling or fixed position distribution mode is still adopted on a balancing strategy, the problem of dynamic balance of mass among multiple rotors cannot be fundamentally solved, after all sample tubes are required to be placed, the later adjustment is carried out through additional weighing or calculating steps, the whole operation flow is long, and the balancing efficiency is difficult to meet the high-flux requirement of a modern laboratory or a production line. In addition, the balancing device in the prior art has obvious defects in the aspect of sample tube identification, most systems can only realize the detection of the existence of the sample tubes, and can not automatically distinguish the types of the sample tubes with different specifications (such as high and low tubes), so that a differential balancing strategy is difficult to implement in the placing process, and the problems of local unbalance caused by mixed placement of the high tubes and the low tubes or too concentrated mass distribution in the same rotor often occur. In the design of a driving system, the traditional device mostly adopts single manipulator configuration or simple linear module combination, the coordination between motion axes is poor, the planning of the moving path of the manipulator between the sample tube storage area and the rotors is not optimized enough, a large amount of idle stroke and waiting time exist, the operation range of the manipulator is not fully considered in the layout among the rotors, and therefore, the part of positions are difficult to cover or complicated mechanical structure adjustment is needed. More importantly, the prior art generally lacks the concept of "process control type balancing", and mass balance cannot be dynamically realized in the sample tube transferring process, but balancing is used as a post-processing step, which not only increases the complexity and cost of the system, but also limits further improvement of balancing efficiency. Disclosure of Invention In view of the above, the invention provides a six-rotor balancing device and a method for a centrifugal machine, which can solve the technical problems of low balancing efficiency and complicated later adjustment steps in the conventional six-rotor balancing of the centrifugal machine. The invention is realized in the following way: The six-rotor balancing device of the centrifugal machine comprises a sample tube storage area, a manipulator grabbing component, a driving component and a rotor, wherein the sample tube storage area and the rotor are arranged on a base platform, the driving component is arranged on the top of the base platform and connected with the driving component, the driving component is used for driving the manipulator grabbing component to move on the base platform, sample tubes with different heights are stored in the sample tube storage area, a clamping jaw is arranged at the bottom of the manipulator grabbing component, a height tube detection component is arranged on the clamping jaw and used for judging the height of the