目的 基于全自动医学检验流水线试管转移机构的工作要求，设计一套以机械手为主体的试管自动转移装置。方法 以基于FX2N PLC可编程控制器作为控制核心，配合其他硬件设备实现试管转移的自动运行。描述系统的机械结构设计、工作内容规划和控制系统软硬件部分的设计。结果 设计研发的试管转移装置的定位精度为11 μm，能够完成自动转移试管的工作。结论 该装置机械结构设计合理、运行稳定、工作效率高、定位精准。硬件系统与软件系统巧妙结合，充分发挥了PLC控制器和触摸屏人机交互界面的强大功能，能够在全自动医学检验流水线中代替人工，实现装载、转移试管的工作。

The work aims to design a set of test tube automatic transfer device based on manipulator according to the operating requirements of the test tube transfer mechanism in the automatic medical inspection assembly line. With the programmable controller based on FX2N PLC as the control core, the automatic operation of the test tube transfer was realized with other hardware devices. The design of mechanical structure design, the work content planning and the software and hardware design of the control system were emphatically described. With 11 μm positioning accuracy of the test tube transfer device designed and developed, the automatic transfer of the test tube could be completed. The device is featured by reasonable mechanical structure design, stable operation, high working efficiency and accurate positioning. The ingenious combination of hardware system and software system gives a full play to the powerful functions of PLC controller and touch-screen man-machine interface, which can be used in automatic medical inspection assembly line, instead of the manual loading and transfer of the test tube.