Oscillating mechanism, pipetting equipment and pipetting method

Abstract

The invention provides an oscillation mechanism, pipetting equipment and a pipetting method. The oscillation mechanism comprises an objective table, a first movement assembly, a second movement assembly and a controller. The objective table is used for bearing a part to be oscillated, the first movement assembly is connected with the objective table, and the second movement assembly is connected with the first movement assembly. The controller is used for controlling the first movement assembly to drive the objective table to reciprocate in the first direction, controlling the second movement assembly to drive the first movement assembly and the objective table to reciprocate in the second direction, or simultaneously controlling the first movement assembly and the second movement assembly to drive the objective table to move along a preset track. Through cooperation of the first movement assembly and the second movement assembly, linear movement of the to-be-oscillated piece on the objective table can be achieved, and the to-be-oscillated piece can move along the preset track.

Description

Technical Field

[0001] This invention relates to the technical field of cell culture, and more specifically, to a shaking mechanism, a pipetting device, and a pipetting method. Background Technology

[0002] In cell biology research and clinical cell therapy, automated cell culture technology, with its advantages of standardization, high efficiency, and strong reproducibility, has become one of the core supporting technologies driving the development of related industries. In this complex culture system, the efficient interaction between cells and nutrients is crucial for ensuring normal cell proliferation and maintaining cell viability and functional stability. Among these steps, precisely seeding the cell suspension into a multi-well plate containing customized nutrient culture medium, and then using scientifically sound shaking techniques to achieve sufficient contact and uniform mixing between cells and nutrients, is one of the core steps determining the culture outcome.

[0003] However, current multi-well plate shaking devices can only achieve linear motion in one dimension, such as simple transverse (along the length of the multi-well plate) reciprocating motion or longitudinal (along the width of the multi-well plate) reciprocating motion. In this single-line motion mode, the liquid flow path within the multi-well plate is relatively fixed, which easily leads to cell aggregation at the bottom of the multi-well plate. This not only results in poor mixing intensity and uniformity between cells and nutrients, but also affects the cell growth rate and morphological consistency, thus adversely impacting cell research and culture. Summary of the Invention

[0004] To at least partially address the problems existing in the prior art, according to one aspect of the present invention, an oscillation mechanism is provided.

[0005] The oscillation mechanism includes a stage, a first motion component, a second motion component, and a controller. The stage carries the object to be oscillated. The first motion component is connected to the stage, and the second motion component is connected to the first motion component. The first and second motion components are electrically connected to the controller. The controller controls the first motion component to drive the stage to reciprocate along a first direction, and controls the second motion component to drive both the first motion component and the stage to reciprocate along a second direction, or simultaneously controls the first and second motion components to drive the stage to move along a preset trajectory, wherein the first and second directions are perpendicular.

[0006] The oscillation mechanism of this invention comprises a first motion component that drives the stage to reciprocate along a first direction, and a second motion component that drives both the first motion component and the stage to reciprocate along a second direction. Through the cooperation of the first and second motion components, not only can linear motion of the component to be oscillated be achieved on the stage, but also motion along a preset trajectory. When applied to cell biology research and clinical cell therapy, the oscillation mechanism can seed cell suspensions into well plates on the stage. The oscillation mechanism allows the well plates to move along a preset trajectory, ensuring thorough mixing between the cells and the nutrients in the well plates. This guarantees not only the mixing intensity and uniformity but also the consistency of cell growth rate and morphology, significantly improving the effectiveness and efficiency of cell research and culture.

[0007] For example, the first motion component includes a first actuation component and a first connecting block. The first connecting block is connected to the first actuation component and the stage, respectively. The first actuation component drives the stage to reciprocate along a first direction through the first connecting block.

[0008] For example, the first motion component further includes a first driven component, which includes a first connecting plate and a first linear transmission mechanism disposed on the first connecting plate. The first connecting plate is disposed below the stage, and the stage is movably connected to the first connecting plate through the first linear transmission mechanism. The first actuation component drives the first connecting block to reciprocate relative to the first connecting plate along the length direction of the first linear transmission mechanism.

[0009] For example, the first actuation component includes a first driving member and a first protrusion. The first driving member is connected to a first connecting plate. The output shaft of the first driving member passes through one side of the first protrusion. A first rotating member is provided on the side of the first protrusion away from the first driving member. The rotation center of the first rotating member is eccentrically set relative to the rotation center of the output shaft of the first driving member. The first rotating member passes through the first connecting block. The first driving member drives the first protrusion to rotate, so that the first rotating member located thereon drives the first connecting block to reciprocate along a first direction.

[0010] For example, the length direction of the first connecting block is parallel to the second direction, and a first groove is provided on the first connecting block along its length direction. The first rotating member passes through the first groove and applies force to the two groove walls in the first groove that are parallel to the second direction, so as to drive the platform to reciprocate along the first direction.

[0011] For example, the second motion component includes a second actuation component and a second connecting block. The second connecting block is connected to the second actuation component and the first connecting plate respectively. The second actuation component drives the first actuation component and the stage to reciprocate along the second direction through the second connecting block.

[0012] For example, the second motion component further includes a second driven component, which includes a second connecting plate and a second linear transmission mechanism disposed on the second connecting plate. The second connecting plate is disposed below the first connecting plate, and the first connecting plate is movably connected to the second connecting plate through the second linear transmission mechanism. The second actuation component drives the second connecting block to reciprocate relative to the second connecting plate along the length direction of the second linear transmission mechanism.

[0013] For example, the second actuation component includes a second driving member and a second protrusion. The second driving member is connected to the second connecting plate. The output shaft of the second driving member passes through one side of the second protrusion. A second rotating member is provided on the side of the second protrusion away from the second driving member. The rotation center of the second rotating member is eccentrically set relative to the rotation center of the output shaft of the second driving member. The second rotating member passes through the second connecting block. The second driving member drives the second protrusion to rotate, so that the second rotating member located thereon drives the second connecting block to reciprocate along the second direction.

[0014] For example, the length direction of the second connecting block is parallel to the first direction, and a second groove is provided on the second connecting block along its length direction. The second rotating member passes through the second groove and applies force to the two groove walls in the second groove that are parallel to the first direction, so as to drive the first connecting plate to reciprocate along the second direction.

[0015] For example, at least one apex of the stage is provided with a positioning component, which includes a positioning block and a movable arm. The positioning block is movably disposed on the stage, and the movable arm is movably connected to the positioning block. The positioning block has a first position and a second position relative to the stage. The movable arm drives the positioning block to move between the first position and the second position so as to limit the oscillating element of different sizes on the stage via the positioning block.

[0016] For example, a limiting stage is provided along the upper edge of the stage, and the limiting stage and the positioning block cooperate to form a space that defines the object to be vibrated.

[0017] For example, the positioning component further includes an elastic element, one end of which is connected to the stage and the other end of which is connected to the positioning block. The elastic element is used to apply a force to the positioning block in a direction that causes it to move toward the second position.

[0018] For example, the positioning block has an abutting surface on the side facing the stage, which is used to abut against the member to be vibrated, so as to apply a force to the member to be vibrated to make it abut against the limiting stage.

[0019] According to another aspect of the invention, a pipetting device may also be provided, comprising a working platform and an oscillation mechanism as described above, the oscillation mechanism being disposed on the working platform.

[0020] For example, the pipetting device also includes a tilting motion component disposed below the working platform. One end of the oscillation mechanism is rotatably connected to the working platform via a rotating shaft, and the tilting motion component is connected to the other end of the oscillation mechanism to drive one end of the oscillation mechanism to oscillate circumferentially around the rotating shaft.

[0021] For example, the tilting motion assembly includes a third driving member, a driven block, and a support arm. The driven block is connected to the output shaft of the third driving member. One end of the support arm is rotatably connected to the driven block, and the other end of the support arm is connected to the other end of the oscillation mechanism. Under the drive of the third driving member, the driven block moves toward its location to drive the support arm to apply a supporting force to the oscillation mechanism.

[0022] According to another aspect of the present invention, a pipetting method can also be provided, applied to the pipetting apparatus as described above, the pipetting apparatus further comprising a tilting motion component connected to an oscillation mechanism, the pipetting method comprising steps S101 and S102.

[0023] Step S101: Control the first motion component and the second motion component to work, so as to drive the object to be vibrated on the platform to move along the preset trajectory.

[0024] Step S102: Control the tilting motion component to tilt the stage by a preset angle, so as to perform the pipetting operation after the stage is tilted by the preset angle.

[0025] For example, step S102: control the tilting motion component to tilt the platform at a preset angle, specifically including steps S201 and S203.

[0026] Step S201: Obtain the volume information of the liquid inside the component to be vibrated.

[0027] Step S202: Determine the preset angle of the component to be vibrated based on the capacity information.

[0028] Step S203: Control the tilting motion component to move according to the preset angle.

[0029] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0030] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0031] Figure 1 A three-dimensional illustration of a pipetting device according to an exemplary embodiment of the present invention is shown. Figure 1 ;

[0032] Figure 2 A three-dimensional illustration of a pipetting device according to an exemplary embodiment of the present invention is shown. Figure 2 (Excluding stage);

[0033] Figure 3 A side view of a pipetting device according to an exemplary embodiment of the present invention is shown;

[0034] Figure 4 A partial perspective view of a pipetting device according to an exemplary embodiment of the present invention is shown;

[0035] Figure 5 A partial side view of a pipetting device according to an exemplary embodiment of the present invention is shown;

[0036] Figure 6 A three-dimensional illustration of a pipetting device according to an exemplary embodiment of the present invention is shown. Figure 3 (Including the work platform);

[0037] Figure 7 The flowchart of a pipetting method according to an exemplary embodiment of the present invention is shown. Figure 1 ;

[0038] Figure 8 The flowchart of a pipetting method according to an exemplary embodiment of the present invention is shown. Figure 2 .

[0039] The components indicated by the reference numerals in the figures are as follows:

[0040] 1. Stage; 11. Limiting stage; 12. Recessed area; 13. Cylinder; 2. First motion assembly; 21. First actuation assembly; 211. First driving member; 212. First protrusion; 213. First rotating member; 22. First connecting block; 221. First groove; 2211. First sidewall; 2212. Second sidewall; 23. First driven assembly; 231. First connecting plate; 232. First linear transmission mechanism; 3. Second motion assembly; 31. Second actuation assembly; 311. Second driving member; 312. Second protrusion; 313. Second rotating member; 32. Second connecting block; 32 1. Second tank; 3211. Third sidewall; 3212. Fourth sidewall; 33. Second driven component; 331. Second connecting plate; 332. Second linear transmission mechanism; 4. Positioning component; 41. Positioning block; 411. Abutment surface; 42. Movable arm; 5. Working platform; 6. Tilting motion component; 61. Third driving component; 62. Driven block; 63. Support arm; 631. First support arm; 632. Second support arm; 64. Base plate; 7. Rotating shaft; 8. Component to be vibrated; A1. First direction; A2. Second direction; First linear motion direction A21; Second linear motion direction A22. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of the present invention.

[0042] In the following description, numerous details are provided to enable a thorough understanding of the invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the invention, and that the invention can be practiced without one or more of these details. Furthermore, to avoid obscuring the invention, some technical features well-known in the art have not been described in detail.

[0043] To fully understand the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0044] One embodiment of the present invention provides an oscillation mechanism that can not only achieve linear motion of the component 8 to be oscillated on the platform 1, but also make the component 8 to be oscillated move along a preset trajectory. The following will describe in detail an oscillation mechanism according to an embodiment of the present invention with reference to the accompanying drawings.

[0045] like Figures 1 to 3 As shown, the oscillation mechanism includes a platform 1, a first motion component 2, a second motion component 3, and a controller (not shown in the figure). The platform 1 is used to support the component 8 to be oscillated. The first motion component 2 is connected to the platform 1, and the second motion component 3 is connected to the first motion component 2. The first motion component 2 and the second motion component 3 are electrically connected to the controller. The controller is used to control the first motion component 2 to drive the platform 1 to reciprocate along a first direction A1, and to control the second motion component 3 to drive the first motion component 2 and the platform 1 to reciprocate along a second direction A2, or to simultaneously control the first motion component 2 and the second motion component 3 to drive the platform 1 to move along a preset trajectory, wherein the first direction A1 and the second direction A2 are perpendicular.

[0046] The aforementioned platform 1 can be plate-shaped. The plate-shaped platform 1 can be used to support the oscillating component 8 and fix the oscillating component 8 on it. In this way, by driving the platform 1 to move, the oscillating component 8 can be moved synchronously.

[0047] The first direction A1 can be specifically represented as the X-axis direction in a Cartesian coordinate system, and the second direction A2 can be specifically represented as the Y-axis direction in a Cartesian coordinate system. The first motion component 2 can be activated independently to drive the stage 1 to reciprocate along the X-axis, and the second motion component 3 can be activated independently to drive both the first motion component 2 and the stage 1 to reciprocate along the Y-axis. Furthermore, by controlling the start and stop of the first motion component 2 and the second motion component 3 respectively through the controller, the stage 1 can move along a complex preset trajectory on the horizontal plane. It is understood that the aforementioned preset trajectory can be determined according to the user's actual needs.

[0048] It should be noted that the controller can be built using electronic components such as timers, comparators, registers, and digital logic circuits, or implemented using processor chips such as microcontrollers, microprocessors, programmable logic controllers (PLCs), digital signal processors (DSPs), field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and application-specific integrated circuits (ASICs) and their peripheral circuits.

[0049] The oscillation mechanism of this invention includes a first motion component 2 that drives the stage 1 to reciprocate along a first direction A1, and a second motion component 3 that drives both the first motion component 2 and the stage 1 to reciprocate along a second direction A2. Through the cooperation of the first motion component 2 and the second motion component 3, not only can the linear motion of the element 8 to be oscillated on the stage 1 be achieved, but the element 8 can also be made to move along a preset trajectory. When the oscillation mechanism is applied to cell biology research and clinical cell culture, cell suspensions can be seeded into multi-well plates on the stage 1. The oscillation mechanism allows the multi-well plate to move along a preset trajectory, ensuring thorough mixing between the cells and the nutrients in the multi-well plate. This not only guarantees the mixing intensity and uniformity but also ensures the consistency of cell growth rate and morphology, significantly improving the effectiveness and efficiency of cell research and culture.

[0050] In some embodiments, such as Figure 2 and Figure 3 As shown, the first motion component 2 includes a first actuation component 21 and a first connecting block 22. The first connecting block 22 is connected to the first actuation component 21 and the stage 1 respectively. The first actuation component 21 drives the stage 1 to reciprocate along the first direction A1 through the first connecting block 22.

[0051] One side of the first connecting block 22 can be connected to the bottom of the stage 1, and the other side of the first connecting block 22 can be connected to the drive end of the first actuation component 21. The first actuation component 21 can drive the first connecting block 22 to move, thereby driving the stage 1 to move synchronously. The shape of the first connecting block 22 can be rectangular, square, or circular, etc., and this application does not make a specific limitation in this regard.

[0052] In the above embodiment, the first actuation component 21 can drive the stage 1 to reciprocate along the first direction A1 through the first connecting block 22. In this way, while simplifying the structure of the first motion component 2, it also ensures that the driving force generated by the first actuation component 21 can be efficiently transmitted to the stage 1, effectively improving the driving efficiency of the first motion component 2.

[0053] In some embodiments, such as Figure 2 and Figure 3 As shown, the first motion component 2 also includes a first driven component 23. The first driven component 23 includes a first connecting plate 231 and a first linear transmission mechanism 232 disposed on the first connecting plate 231. The first connecting plate 231 is disposed below the platform 1. The platform 1 is movably connected to the first connecting plate 231 through the first linear transmission mechanism 232. The first actuation component 21 drives the first connecting block 22 to reciprocate relative to the first connecting plate 231 along the length direction of the first linear transmission mechanism 232.

[0054] The aforementioned first linear transmission mechanism 232 can be disposed between the platform 1 and the first connecting plate 231. The platform 1 can reciprocate relative to the first connecting plate 231 along the first direction A1 via the first linear transmission mechanism 232.

[0055] The aforementioned first linear transmission mechanism 232 can be two, and the two first linear transmission mechanisms 232 can be spaced apart on both sides of the first connecting block 22. Through the two spaced first linear transmission mechanisms 232, the weight of the component to be vibrated 8 and the platform 1 can be evenly distributed to the two first linear transmission mechanisms 232, avoiding deformation or damage to a single first linear transmission mechanism 232 due to concentrated force. This reduces wear on a single first linear transmission mechanism 232 and extends its service life. Furthermore, the spaced first linear transmission mechanisms 232 can prevent the component to be vibrated 8 on the platform 1 from tilting or swaying when the first actuation component 21 drives the platform 1 to reciprocate along the first direction A1, effectively ensuring the stable and smooth movement of the component to be vibrated 8.

[0056] The aforementioned first linear transmission mechanism 232 may specifically include a slide rail and a slider adapted to the slide rail. A slide rail may be provided on one of the first connecting plate 231 and the platform 1, and a slider may be provided on the other of the first connecting plate 231 and the platform 1. Figure 2 For example, the slide rail can be set on the first connecting plate 231 along the first direction A1, and the slider can be set on the bottom of the platform 1. It can be understood that the length direction of the first linear transmission mechanism 232 mentioned above can be parallel to the first direction A1.

[0057] In the above embodiment, the first connecting plate 231 can serve as a carrier to mount components such as the first connecting block 22 and the first linear transmission mechanism 232. When the first actuation component 21 drives the first connecting block 22 to move, the platform 1 connected to the first connecting block 22 can reciprocate along the first linear transmission mechanism 232. On the one hand, the first linear transmission mechanism 232 can have a guiding function so that the platform 1 can move along the first direction A1 under the drive. On the other hand, the first linear transmission mechanism 232 can ensure the smooth movement of the platform 1 and ensure the driving efficiency of the first actuation component 21.

[0058] In some embodiments, such as Figure 2 and Figure 3As shown, the first actuation assembly 21 includes a first driving member 211 and a first protrusion 212. The first driving member 211 is connected to the first connecting plate 231. The output shaft of the first driving member 211 passes through one side of the first protrusion 212. A first rotating member 213 is provided on the side of the first protrusion 212 away from the first driving member 211. The rotation center of the first rotating member 213 is eccentrically set relative to the rotation center of the output shaft of the first driving member 211. The first rotating member 213 passes through the first connecting block 22 (a through hole may be provided on the first connecting block 22, and the first rotating member 213 passes through the through hole, which may be the first groove 221 mentioned below). The first driving member 211 drives the first protrusion 212 to rotate, so that the first rotating member 213 located thereon drives the first connecting block 22 to reciprocate along the first direction A1.

[0059] The first protrusion 212 can be cylindrical. The cylindrical first protrusion 212 can be sleeved on the output shaft of the first driving member 211. The first rotating member 213 can be rotatably disposed on the side of the first protrusion 212 away from the first driving member 211. The first protrusion 212 can rotate circumferentially around the output shaft of the first driving member 211 under the drive of the first driving member 211.

[0060] The first rotating member 213 can be positioned eccentrically to the output shaft of the first driving member 211, allowing it to have a larger rotation range relative to the first protrusion 212. This, in turn, enables the first connecting block 22 to move over a greater range. Of course, the relative position between the first rotating member 213 and the output shaft of the first driving member 211 can be adjusted according to actual needs, thereby achieving different transmission ratios and allowing the first connecting block 22 to travel different distances.

[0061] The shape of the first rotating member 213 can be cylindrical, elongated, etc., preferably cylindrical, so as to improve the stability and smoothness of the first rotating member 213 during movement.

[0062] The first rotating member 213 and the first protrusion 212 can be detachably connected or integrally formed. The detachable connection can include plug-in connection or threaded connection, etc., and this application does not make specific limitations in this regard.

[0063] In the above embodiment, the first rotating member 213 can be eccentrically set relative to the output shaft of the first driving member 211, which can not only drive the first connecting block 22 and the platform 1 to move along the first direction A1, but also achieve a large transmission ratio in a limited space, making the structural layout of the entire first motion component 2 more compact and effectively improving the layout rationality of the first motion component 2.

[0064] In some embodiments, such as Figure 2 and Figure 3 As shown, the length direction of the first connecting block 22 is parallel to the second direction A2. A first groove 221 is provided on the first connecting block 22 along its length direction. The first rotating member 213 passes through the first groove 221. The first rotating member 213 applies force to the two groove walls in the first groove 221 that are parallel to the second direction A2, so as to drive the platform 1 to reciprocate along the first direction A1.

[0065] The first groove 221 may have a first sidewall 2211 and a second sidewall 2212. The first rotating member 213 may be slidably disposed in the first groove 221. In one embodiment of this application, the forward and reverse rotation of the first driving member 211 can be used to make the first connecting block 22 achieve a single reciprocating motion along the first direction A1. Specifically, the first driving member 211 can rotate clockwise, driving the first protrusion 212 and the first rotating member 213 on the first protrusion 212 to rotate clockwise synchronously. At this time, the first rotating member 213 can abut against the first sidewall 2211 of the first groove 221 and push the first connecting block 22 to move closer to the third driving member 61 (the third driving member 61 will be described in detail below, and will not be elaborated on here). Then, the first driving member 211 can rotate counterclockwise, driving the first protrusion 212 and the first rotating member 213 on the first protrusion 212 to rotate counterclockwise synchronously. At this time, the first rotating member 213 can abut against the second sidewall 2212 of the first groove 221 and push the first connecting block 22 to move away from the third driving member 61. In this way, by switching the forward and reverse directions of the first driving member 211, the reciprocating motion of the first connecting block 22 along the first direction A1 can be realized. In another embodiment of this application, the first connecting block 22 can achieve continuous reciprocating motion by continuously rotating the first driving member 211 in one direction. Specifically, the first driving member 211 can rotate clockwise, driving the first protrusion 212 and the first rotating member 213 on the first protrusion 212 to rotate clockwise synchronously. At this time, the first rotating member 213 can abut against the first sidewall 2211 of the first groove 221 and push the first connecting block 22 towards the third driving member 61. After the first rotating member 213 rotates clockwise until it disengages from the first sidewall 2211, it can continue to rotate clockwise until it abuts against the second sidewall 2212 and pushes the first connecting block 22 away from the third driving member 61. In this way, the reciprocating motion of the first connecting block 22 along the first direction A1 can be achieved by continuously rotating the first driving member 211 in one direction.

[0066] The first groove 221 can be elongated, and the length direction of the first groove 221 can be perpendicular to the first direction A1. The first sidewall 2211 and the second sidewall 2212 can be represented as two opposing inner sidewalls inside the elongated first groove 221.

[0067] In the above embodiments, the first sidewall 2211 and the second sidewall 2212 of the first groove 221 can realize the movement of the stage 1 in the first direction A1, thereby converting the circumferential rotation of the first protrusion 212 into the linear motion of the stage 1, effectively simplifying the mechanical connection structure of the first actuation component 21, and reducing the manufacturing cost and maintenance complexity of the first actuation component 21.

[0068] In some embodiments, such as Figure 2 and Figure 3 As shown, the second motion component 3 includes a second actuation component 31 and a second connecting block 32. The second connecting block 32 is connected to the second actuation component 31 and the first connecting plate 231 respectively. The second actuation component 31 drives the first actuation component 21 and the stage 1 to reciprocate along the second direction A2 through the second connecting block 32.

[0069] The second connecting block 32 can be connected to the upper part of the first connecting plate 231 and can also be connected to the drive end of the second actuation component 31. The second actuation component 31 can drive the second connecting block 32 to move, thereby driving the first connecting plate 231 and the platform 1 connected to the first connecting plate 231 to move synchronously. The shape of the second connecting block 32 can be rectangular, square, or circular, etc., and this application does not make a specific limitation in this regard.

[0070] In the above embodiment, the second actuation component 31 can drive the first connecting plate 231 and the stage 1 to reciprocate along the second direction A2 through the second connecting block 32. In this way, while simplifying the structure of the second motion component 3, it also ensures that the driving force generated by the second actuation component 31 can be efficiently transmitted to the stage 1, effectively improving the driving efficiency of the second motion component 3.

[0071] In some embodiments, such as Figure 2 and Figure 3 As shown, the second motion component 3 also includes a second driven component 33. The second driven component 33 includes a second connecting plate 331 and a second linear transmission mechanism 332 disposed on the second connecting plate 331. The second connecting plate 331 is disposed below the first connecting plate 231. The first connecting plate 231 is movably connected to the second connecting plate 331 through the second linear transmission mechanism 332. The second actuation component 31 drives the second connecting block 32 to reciprocate relative to the second connecting plate 331 along the length direction of the second linear transmission mechanism 332.

[0072] The aforementioned second linear transmission mechanism 332 can be disposed between the first connecting plate 231 and the second connecting plate 331. The first connecting plate 231 can reciprocate relative to the second connecting plate 331 along the second direction A2 through the second linear transmission mechanism 332.

[0073] The aforementioned second linear transmission mechanism 332 can be two, and the two second linear transmission mechanisms 332 can be spaced apart on both sides of the second connecting block 32. Through the two spaced second linear transmission mechanisms 332, the weight of the component to be vibrated 8, the platform 1, and the first connecting plate 231 can be evenly distributed to the two second linear transmission mechanisms 332, avoiding deformation or damage to a single second linear transmission mechanism 332 due to concentrated force. This reduces wear on a single second linear transmission mechanism 332 and extends its service life. Furthermore, the spaced second linear transmission mechanisms 332 can prevent the component to be vibrated 8 on the platform 1 from tilting or wobbling when the second actuation component 31 drives the platform 1 to reciprocate along the second direction A2, effectively ensuring the stable and smooth movement of the component to be vibrated 8.

[0074] The aforementioned second linear transmission mechanism 332 may specifically include a slide rail and a slider adapted to the slide rail. One of the first connecting plate 231 and the second connecting plate 331 may be provided with a slide rail, and the other of the first connecting plate 231 and the second connecting plate 331 may be provided with a slider. Figure 2 For example, the slide rail can be set on the second connecting plate 331 along the second direction A2, and the slider can be set at the bottom of the first connecting plate 231. It can be understood that the length direction of the second linear transmission mechanism 332 mentioned above can be parallel to the second direction A2.

[0075] In the above embodiment, the second connecting plate 331 can serve as a carrier to mount components such as the first linear transmission mechanism 232 and the first connecting plate 231. When the second actuation component 31 drives the second connecting block 32 to move, the first connecting plate 231 connected to the second connecting block 32 can reciprocate along the second linear transmission mechanism 332, thereby driving the stage 1 to move synchronously through the first connecting block 22. On the one hand, the second linear transmission mechanism 332 can have a guiding function so that the stage 1 can move along the second direction A2 under the drive. On the other hand, the second linear transmission mechanism 332 can ensure the smooth movement of the stage 1 and ensure the driving efficiency of the second actuation component 31.

[0076] In some embodiments, such as Figure 2 and Figure 3As shown, the second actuation assembly 31 includes a second driving member 311 and a second protrusion 312. The second driving member 311 is connected to the second connecting plate 331. The output shaft of the second driving member 311 passes through one side of the second protrusion 312. A second rotating member 313 is provided on the side of the second protrusion 312 away from the second driving member 311. The rotation center of the second rotating member 313 is eccentrically set relative to the rotation center of the output shaft of the second driving member 311. The second rotating member 313 passes through the second connecting block 32 (a through hole can be provided on the second connecting block 32, and the second rotating member 313 passes through the through hole, which can be the second groove 321 mentioned below). The second driving member 311 drives the second protrusion 312 to rotate, so that the second rotating member 313 located thereon drives the second connecting block 32 to reciprocate along the second direction A2.

[0077] The second protrusion 312 can be cylindrical. The cylindrical second protrusion 312 can be sleeved on the output shaft of the second driving member 311. The second rotating member 313 can be rotatably disposed on the side of the second protrusion 312 away from the second driving member 311. The second protrusion 312 can rotate circumferentially around the output shaft of the second driving member 311 under the drive of the second driving member 311.

[0078] The second rotating member 313 can be eccentrically positioned relative to the output shaft of the second driving member 311, allowing it to have a larger rotation range relative to the second protrusion 312. This, in turn, enables the second connecting block 32 to move over a greater range. Of course, the relative position between the second rotating member 313 and the output shaft of the second driving member 311 can be adjusted according to actual needs, thereby achieving different transmission ratios and allowing the second connecting block 32 to travel different distances.

[0079] The shape of the second rotating member 313 can be cylindrical, elongated, etc., preferably cylindrical, so as to improve the stability and smoothness of the second rotating member 313 during movement.

[0080] The second rotating member 313 and the second protrusion 312 can be detachably connected or integrally formed. The detachable connection can include plug-in connection or threaded connection, etc., and this application does not make specific limitations in this regard.

[0081] In the above embodiment, the second rotating member 313 can be eccentrically set relative to the output shaft of the second driving member 311. This not only drives the second connecting block 32 and the platform 1 to move along the second direction A2, but also achieves a large transmission ratio in a limited space, making the overall structure of the second motion component 3 more compact and effectively improving the layout rationality of the second motion component 3.

[0082] In some embodiments, such as Figure 2 and Figure 3 As shown, the length direction of the second connecting block 32 is parallel to the first direction A1. A second groove 321 is provided on the second connecting block 32 along its length direction. The second rotating member 313 passes through the second groove 321. The second rotating member 313 applies force to the two groove walls in the second groove 321 that are parallel to the first direction A1, so as to drive the first connecting plate 231 to reciprocate along the second direction A2.

[0083] The second groove 321 described above may have a third sidewall 3211 and a fourth sidewall 3212, and the second rotating member 313 may be slidably disposed within the second groove 321. For example... Figure 2 As shown, the second direction A2 may include the first linear motion direction A21 and the second linear motion direction A22 that are opposite to each other. In one example of this application, the forward and reverse switching of the second driving member 311 can be used to make the second connecting block 32 achieve a single reciprocating motion along the second direction A2. Specifically, the second driving member 311 can rotate clockwise, driving the second protrusion 312 and the second rotating member 313 on the second protrusion 312 to rotate clockwise synchronously. At this time, the second rotating member 313 can abut against the third sidewall 3211 of the second groove 321, and push the second connecting block 32 to move along the first linear motion direction A21. Then, the second driving member 311 can rotate counterclockwise, driving the second protrusion 312 and the second rotating member 313 on the second protrusion 312 to rotate counterclockwise synchronously. At this time, the second rotating member 313 can abut against the fourth sidewall 3212 of the second groove 321, and push the second connecting block 32 to move along the second linear motion direction A22. Thus, by switching the forward and reverse directions of the second driving member 311, the reciprocating motion of the second connecting block 32 along the second direction A2 can be realized. In another embodiment of this application, the continuous unidirectional rotation of the second driving member 311 can be used to make the second connecting block 32 achieve continuous reciprocating motion. Specifically, the second driving member 311 can rotate clockwise, driving the second protrusion 312 and the second rotating member 313 on the second protrusion 312 to rotate clockwise synchronously. At this time, the second rotating member 313 can abut against the third side wall 3211 of the second groove 321 and push the second connecting block 32 to move along the first linear motion direction A21. After the second rotating member 313 rotates clockwise until it disengages from the third side wall 3211, it can continue to rotate clockwise until it abuts against the fourth side wall 3212 and push the second connecting block 32 to move along the second linear motion direction A22. In this way, through the continuous unidirectional rotation of the second driving member 311, the reciprocating motion of the second connecting block 32 along the second direction A2 can be realized.

[0084] The second groove 321 can be elongated, and the length direction of the second groove 321 can be perpendicular to the second direction A2. The third side wall 3211 and the fourth side wall 3212 can be represented as the two opposing inner side walls inside the elongated second groove 321.

[0085] In the above embodiment, the third sidewall 3211 and the fourth sidewall 3212 of the second groove 321 can realize the movement of the stage 1 in the second direction A2, thereby converting the circumferential rotation of the second protrusion 312 into the linear motion of the stage 1, effectively simplifying the mechanical connection structure of the second actuation component 31, and reducing the manufacturing cost and maintenance complexity of the second actuation component 31.

[0086] In some embodiments, such as Figure 1 , Figures 3 to 5 As shown, at least one apex corner of the stage 1 is provided with a positioning component 4. The positioning component 4 includes a positioning block 41 and a movable arm 42. The positioning block 41 is movably disposed on the stage 1, and the movable arm 42 is movably connected to the positioning block 41. The positioning block 41 has a first position and a second position relative to the stage 1. The movable arm 42 drives the positioning block 41 to move between the first position and the second position, so as to limit the vibration element 8 of different sizes on the stage 1 via the positioning block 41.

[0087] The first position and the second position mentioned above can be represented as different distances between the positioning block 41 and the stage 1, respectively. The first position can be farther away from the stage 1 than the second position.

[0088] The movable arm 42 and the positioning block 41 can be hinged together. When subjected to external force, the movable arm 42 can move the positioning block 41 from the second position to the first position, forming a space for placing the component to be vibrated 8. When the external force applied to the movable arm 42 is removed, the positioning block 41 can move to the second position to abut against the apex of the component to be vibrated 8. Thus, when the first motion component 2 and the second motion component 3 move the component to be vibrated 8, the positioning block 41 can apply force to the component to be vibrated 8, thereby preventing the component to be vibrated 8 from falling off the platform 1. Of course, an external force can be applied to the movable arm 42 by using a drive structure or by manually pressing it; this application does not specifically limit this method.

[0089] Since the positioning block 41 can move between the first position and the second position, when different sized components 8 to be vibrated are placed on the stage 1, the apex of the component 8 to be vibrated and the positioning block 41 can be abutted by the positioning block 41 when the corresponding apex is between the first and second positions. It can be understood that when the positioning block 41 is in the first position, the size of the component 8 to be vibrated that can be placed on the stage 1 is the largest; similarly, when the positioning block 41 is in the second position, the size of the component 8 to be vibrated that can be placed on the stage 1 is the smallest.

[0090] The upper wall of the aforementioned stage 1 can be recessed downwards to form a recessed area 12, and the projection of the positioning block 41 toward the plane of the stage 1 can be located within the recessed area 12. Since the positioning block 41 is easily affected by factors such as mold precision and material shrinkage during manufacturing, dimensional tolerances are unavoidable. These tolerances can easily cause the edge of the positioning block 41 to collide with the stage 1, leading to surface scratches on the stage 1, wear on the corners of the positioning block 41, and even deformation of the positioning block 41, thus affecting the subsequent contact accuracy with the vibrating component 8. The recessed area 12 on the stage 1 effectively absorbs these dimensional tolerances, improving the safety and reliability of the stage 1 and the positioning block 41.

[0091] In the above embodiment, the positioning block 41 can move between a first position and a second position under the drive of the movable arm 42. Through the abutment and fixation between the positioning block 41 and the oscillating element 8, oscillating elements 8 of different sizes can be fixed on the stage 1. On the one hand, the positioning component 4 can effectively prevent the oscillating element 8 from shifting or tipping during oscillation. When the oscillation mechanism is applied to cell biology research and clinical cell culture, it can effectively ensure the safety of cell research and culture. On the other hand, using a single stage 1 can accommodate oscillating elements 8 of different sizes, greatly improving the versatility of the oscillation mechanism, reducing the cost required for purchasing and replacing stages 1 of different sizes, and also saving storage space required for stages 1 of different sizes.

[0092] In some embodiments, such as Figures 3 to 5 As shown, a limiting stage 11 is provided along the upper edge of the stage 1. The limiting stage 11 and the positioning block 41 cooperate to form a space that limits the space of the component to be vibrated 8.

[0093] The aforementioned limiting platform 11 can be elongated. Multiple elongated limiting platforms 11 can be arranged along the outer edge of the upper surface of the platform 1. The number of limiting platforms 11 can be multiple. The space enclosed by multiple limiting platforms 11 can be adapted to the outer contour of the component to be vibrated 8. When the component to be vibrated 8 is placed on the platform 1, the outer wall of the component to be vibrated 8 can abut against the limiting platform 11, thereby firmly fixing the component to be vibrated 8 on the platform 1.

[0094] In the above embodiments, the limiting platform 11 can play a good limiting role for the oscillating component 8, preventing the oscillating component 8 from overturning or falling when the platform 1 drives the oscillating component 8 to move, thus effectively improving the safety and reliability of the oscillation mechanism.

[0095] In some embodiments, the positioning component 4 further includes an elastic element (not shown in the figure), one end of which is connected to the stage 1 and the other end of which is connected to the positioning block 41. The elastic element is used to apply a force to the positioning block 41 to move it in the direction of the second position.

[0096] Specifically, a cylinder 13 can be provided on the side wall of the stage 1 facing the positioning block 41. A receiving cavity is formed inside the cylinder 13. An elastic member can be located inside the receiving cavity, and one end of the elastic member can be connected to the bottom of the receiving cavity. Part of the structure of the positioning block 41 can pass through the receiving cavity and be connected to the other end of the elastic member.

[0097] The aforementioned elastic element can be a spring or elastic rubber, etc. Of course, any device that can switch between a stretched state and a natural state after being subjected to force is within the scope of this application, and this application does not make any specific limitations on it.

[0098] In the above embodiment, when an external force is applied to the movable arm 42 to drive the positioning block 41 to the first position, the elastic element can be in a stretched state. After the external force applied to the movable arm 42 is removed, the elastic element can be changed from the stretched state to the natural state, thereby driving the positioning block 41 to the second position, and thus making the positioning block 41 have a resisting force applied to the member to be vibrated 8. This simplifies the structure of the positioning component 4 and also improves the practicality of the positioning component 4.

[0099] In some embodiments, such as Figure 1 and Figure 4 As shown, the positioning block 41 has an abutment surface 411 on the side facing the platform 1. The abutment surface 411 is used to abut against the member to be vibrated 8 to apply a force to the member to be vibrated to make it abut against the limiting platform 11.

[0100] In the above embodiment, when the elastic element drives the positioning block 41 to move to the second position, the abutting surface 411 on the positioning block 41 can directly act on the top corner of the member to be vibrated 8, thereby applying a clamping force to the member to be vibrated through the cooperation between the positioning block 41 and the limiting platform 11, effectively improving the stability of the abutment between the positioning block 41 and the member to be vibrated 8.

[0101] According to another aspect of the invention, such as Figure 6As shown, a pipetting device can also be provided, including a working platform 5 and an oscillation mechanism as described above, wherein the oscillation mechanism is disposed on the working platform 5.

[0102] The pipetting device of the present invention can be integrated into a pipetting workstation for use with the liquid addition device, centrifugation device, etc. in the pipetting workstation. When the pipetting device is applied to cell biology research and clinical cell culture, it can realize the automated connection of research and culture processes, and greatly improve the efficiency of research and culture.

[0103] In some embodiments, such as Figures 1 to 3 , Figure 6 As shown, the pipetting device also includes a tilting motion component 6, which is located below the working platform 5. One end of the oscillation mechanism is rotatably connected to the working platform 5 via a rotating shaft 7, and the tilting motion component 6 is connected to the other end of the oscillation mechanism to drive one end of the oscillation mechanism to swing circumferentially around the rotating shaft 7.

[0104] Specifically, one end of the second connecting plate 331 in the oscillation mechanism can be rotatably connected to the working platform 5 via the rotating shaft 7. The tilting motion component 6 can pass through the working platform 5 and connect to the bottom of the other end of the second connecting plate 331. When the tilting motion component 6 applies a force to the second connecting plate 331, the second connecting plate 331 can drive the first motion component 2, the second motion component 3, and the platform 1 connected to it to swing around the rotating shaft 7.

[0105] In the above embodiments, the tilting motion component 6 can drive the oscillation mechanism to oscillate around the rotation axis 7, thereby enabling the oscillation mechanism to not only move the sample 8 to be oscillated in a horizontal plane, but also to perform a three-dimensional composite motion. This allows the sample 8 to be oscillated to be better mixed in the tilted state. When the pipetting device is applied to cell biology research and clinical cell culture, it can further ensure that the cells and nutrients in the multi-well plate are fully mixed, significantly improving the effect and efficiency of cell research and culture.

[0106] In some embodiments, such as Figures 1 to 3 As shown, the tilting motion assembly 6 includes a third driving member 61, a driven block 62, and a support arm 63. The driven block 62 is connected to the output shaft of the third driving member 61. One end of the support arm 63 is rotatably connected to the driven block 62, and the other end of the support arm 63 is connected to the other end of the oscillation mechanism. Under the drive of the third driving member 61, the driven block 62 moves towards its location to drive the support arm 63 to apply a supporting force to the oscillation mechanism.

[0107] The aforementioned tilting motion assembly 6 may further include a base plate 64. A third driving member 61 may be fixedly mounted on the base plate 64, and a driven block 62 may be sleeved on the output shaft of the third driving member 61 and slidably connected to the base plate 64. When the output shaft of the third driving member 61 rotates, the driven block 62 may move towards or away from the third driving member 61. Specifically, the output shaft of the third driving member 61 may be a lead screw, and the driven block 62 may be a nut adapted to the lead screw.

[0108] The aforementioned support arm 63 may include a first arm 631 and a second arm 632 hinged together. The end of the first arm 631 away from the second arm 632 may be hinged to the driven block 62, and the end of the second arm 632 away from the first arm 631 may be fixedly connected to the second connecting plate 331. When the third driving member 61 drives the driven block 62 to move closer to the third driving member 61, the driven block 62 can sequentially drive the first arm 631 and the second arm 632, thereby applying a supporting force to the second connecting plate 331. It can be understood that the tilt angle of the second connecting plate 331 may correspond to the distance between the third driving member 61 and the driven block 62. That is, when the distance between the third driving member 61 and the driven block 62 is at its maximum, the second connecting plate 331 may be in a horizontal state; conversely, when the distance between the third driving member 61 and the driven block 62 is at its minimum, the second connecting plate 331 may be in a maximum tilt angle.

[0109] The aforementioned tilting motion component 6 may also include a slide rail and a slider adapted to the slide rail. The slide rail may be set on the base plate 64 along the movement direction of the driven block 62. The driven component may be slidably connected to the slide rail via the slider. This not only effectively improves the stability and smoothness of the movement of the driven block 62, but also reduces the friction between the driven block 62 and the base plate 64, thereby improving the driving efficiency of the third driving component 61.

[0110] In the above embodiment, the third driving member 61 can drive the support arm 63 to move through the driven block 62, and then the support arm 63 can drive the second connecting plate 331 of the oscillation mechanism to rotate around the rotation axis 7. This not only realizes the rotation of the oscillation mechanism, but also simplifies the connection structure of the tilting motion component 6 and reduces the manufacturing difficulty and cost of the tilting motion component 6.

[0111] According to another aspect of the invention, such as Figure 7 As shown, a pipetting method can also be provided, which is applied to the pipetting device as described above. The pipetting device further includes a tilting motion component 6, which is connected to an oscillation mechanism. The pipetting method includes steps S101 and S102.

[0112] Step S101: Control the first motion component 2 and the second motion component 3 to work, so as to drive the oscillating component 8 on the stage 1 to move along the preset trajectory.

[0113] Step S102: Control the tilting motion component 6 to tilt the stage 1 at a preset angle so as to perform the pipetting operation after the stage 1 is tilted at the preset angle.

[0114] The aforementioned preset tilt angle can be determined based on the distance between the third driving component 61 and the positioning block 41, as described above, so it will not be elaborated further here.

[0115] In the above embodiment, the first motion component 2 can drive the stage 1 to reciprocate along the first direction A1, while the second motion component 3 can drive the first motion component 2 and the stage 1 to reciprocate along the second direction A2. Thus, through the cooperation of the first motion component 2 and the second motion component 3, the component to be vibrated 8 can move along a preset trajectory. After the component to be vibrated 8 has moved along the preset trajectory, the tilting motion component 6 can tilt the component to be vibrated 8 at a preset angle, thereby facilitating pipetting operations and greatly improving the convenience of pipetting operations.

[0116] In some embodiments, such as Figure 8 As shown, step S102: control the tilting motion component 6 to tilt the platform 1 at a preset angle, specifically including steps S201 and S203.

[0117] Step S201: Obtain the volume information of the liquid inside the component 8 to be vibrated.

[0118] The aforementioned tilting motion component 6 can also be electrically connected to a controller, which can acquire the volume information of the liquid inside the object to be vibrated 8. The aforementioned volume information can be acquired in various ways. For example, it can be determined by a weight detection device installed on the stage 1, or by an acoustic volume detection device or a machine vision image analysis device installed beside the stage 1. This application does not specifically limit the method of acquiring the volume information.

[0119] Step S202: Determine the preset angle of the oscillating element 8 based on the capacity information.

[0120] The controller can determine the preset angle corresponding to the obtained capacity information based on the obtained capacity information. Step S203: Control the tilting motion component 6 to move according to the preset angle.

[0121] In the above embodiments, the tilt angle of the agitator 8 can be precisely controlled according to the volume information of the liquid inside the agitator 8, thereby maximizing the accuracy and precision of the pipetting operation.

[0122] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0123] For ease of description, the term "connection" may be used herein to describe the relationship between one or more elements or features shown in the figure and other elements or features. It should be understood that "connection" may include direct connections or indirect connections via other elements or features, and this document is intended to encompass all such cases.

[0124] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0125] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0126] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shock mechanism, characterized by, The utility model relates to a kind of vibration shaker, including: A carrier is used to carry to be shaken piece; First movement component, the first movement component is connected with the carrier; Second movement component, the second movement component is connected with the first movement component; And Controller, the first movement component and the second movement component are electrically connected with the controller respectively, the controller is used to control the first movement component to drive the carrier reciprocating motion along first direction respectively, and control the second movement component to drive the first movement component and the carrier reciprocating motion along second direction, or simultaneously control the first movement component and the second movement component drive the carrier moves along preset trajectory, wherein the first direction is perpendicular to the second direction.

2. The oscillating mechanism of claim 1, wherein, The first movement component includes first actuating component and first connecting block, the first connecting block is connected with the first actuating component and the carrier respectively, and the first actuating component drives the carrier reciprocating motion along the first direction through the first connecting block.

3. The oscillating mechanism of claim 2, wherein, The first movement component further includes first driven component, and the first driven component includes first connecting plate and first linear transmission mechanism arranged on the first connecting plate, and the first connecting plate is arranged below the carrier, and the carrier is movably connected with the first connecting plate through the first linear transmission mechanism, and the first actuating component drives the first connecting block to reciprocate along the length direction of the first linear transmission mechanism relative to the first connecting plate.

4. The oscillating mechanism of claim 3, wherein, The first actuating component includes first driving part and first lug, the first driving part is connected with the first connecting plate, the output shaft of the first driving part is arranged on one side of the first lug, the first lug is provided with first rotating part away from the side of the first driving part, the rotating center of the first rotating part is eccentrically arranged relative to the rotating center of the output shaft of the first driving part, the first rotating part is arranged in the first connecting block, and the first driving part drives the first lug to rotate, so that the first rotating part located thereon drives the first connecting block to reciprocate along the first direction.

5. The oscillating mechanism of claim 4, wherein, The length direction of the first connecting block is parallel to the second direction, and the first connecting block is provided with first groove along the length direction thereof, the first rotating part is arranged in the first groove, and the first rotating part applies force to two groove walls in the first groove parallel to the second direction respectively, to drive the carrier to reciprocate along the first direction.

6. The oscillating mechanism of claim 3, wherein, The second movement component includes second actuating component and second connecting block, the second connecting block is connected with the second actuating component and the first connecting plate respectively, and the second actuating component drives the first actuating component and the carrier reciprocating motion along the second direction through the second connecting block.

7. The oscillating mechanism of claim 6, wherein, The second motion assembly further comprises a second driven assembly, the second driven assembly comprising a second connecting plate and a second linear transmission mechanism arranged on the second connecting plate, the second connecting plate being arranged below the first connecting plate, the first connecting plate being movably connected with the second connecting plate through the second linear transmission mechanism, the second actuating assembly driving the second connecting block to reciprocate along the length direction of the second linear transmission mechanism relative to the second connecting plate.

8. The oscillating mechanism of claim 7, wherein, The second actuating assembly comprises a second driving member and a second protrusion, the second driving member being connected with the second connecting plate, an output shaft of the second driving member being arranged through one side of the second protrusion, a second rotating member being arranged on the side of the second protrusion away from the second driving member, a rotating center of the second rotating member being arranged eccentrically relative to a rotating center of the output shaft of the second driving member, the second rotating member being arranged through the second connecting block, the second driving member driving the second protrusion to rotate, so that the second rotating member located thereon drives the second connecting block to reciprocate along the second direction.

9. The oscillating mechanism of claim 8, wherein, The length direction of the second connecting block is parallel to the first direction, a second groove being arranged on the second connecting block along the length direction thereof, the second rotating member being arranged through the second groove, the second rotating member applying force to two groove walls of the second groove parallel to the first direction respectively, so as to drive the first connecting plate to reciprocate along the second direction.

10. The oscillating mechanism of claim 1, wherein, At least one top corner of the object table is provided with a positioning assembly, the positioning assembly comprising a positioning block and a movable arm, the positioning block being movably arranged on the object table, the movable arm being movably connected with the positioning block, the positioning block having a first position and a second position relative to the object table, the movable arm driving the positioning block to move between the first position and the second position, so as to define different sizes of the to-be-vibrated member on the object table via the positioning block.

11. The oscillating mechanism of claim 10, wherein, A limiting table is arranged along the upper edge of the object table, the limiting table cooperating with the positioning block to define a space for the to-be-vibrated member.

12. The oscillating mechanism of claim 10, wherein, The positioning assembly further comprises an elastic member, one end of the elastic member being connected with the object table, the other end of the elastic member being connected with the positioning block, the elastic member being used to apply force to the positioning block to move in the direction of the second position.

13. The oscillating mechanism of claim 11, wherein, The side of the positioning block facing the object table is formed with an abutting surface, the abutting surface being used to abut against the to-be-vibrated member to apply force to the to-be-vibrated member to abut against the limiting table.

14. A pipetting device, characterized in that The device further comprises a work platform and the oscillation mechanism as claimed in any one of claims 1 to 13, the oscillation mechanism being arranged on the work platform.

15. The pipetting apparatus of claim 14, wherein, The pipetting device further comprises a tilting motion assembly, the tilting motion assembly being arranged below the work platform, one end of the oscillation mechanism being rotatably connected with the work platform through a rotating shaft, the tilting motion assembly being connected with the other end of the oscillation mechanism to drive one end of the oscillation mechanism to swing circumferentially about the rotating shaft.

16. The pipetting apparatus of claim 15, wherein, The tilting motion assembly comprises a third driving member, a driven block connected with an output shaft of the third driving member, and a support arm having one end rotatably connected with the driven block and the other end connected with the other end of the oscillation mechanism; the driven block is driven by the third driving member to move towards the direction in which it is located, so as to drive the support arm to apply a support force to the oscillation mechanism.

17. A pipetting method, characterized in that, The pipetting method is applied to the pipetting device according to any one of claims 14 to 16, the pipetting device further comprises a tilting motion assembly connected with the oscillation mechanism, and the pipetting method comprises: controlling the first motion assembly and the second motion assembly to drive the to-be-oscillated member on the object table to move along a preset track; controlling the tilting motion assembly to drive the object table to tilt by a preset angle, and performing a pipetting operation after the object table is tilted by the preset angle.

18. The pipetting method according to claim 17, characterized in that The control of the tilting motion assembly to drive the object table to tilt by a preset angle specifically comprises: acquiring capacity information of the liquid in the to-be-oscillated member; determining a preset angle of the to-be-oscillated member based on the capacity information; controlling the tilting motion assembly to move according to the preset angle.

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