rocking device

Abstract

The application relates to the technical field of cell culture equipment, and discloses a swinging device, which comprises a swinging frame provided with an array of placing grooves for placing organ chips, the array of placing grooves is N rows and M columns, wherein N>=1 and M>=2; a base provided with two oppositely arranged supports, and a first end of the swinging frame is rotatably arranged on the supports; wherein the first direction is parallel to the row direction of the N rows of the array of placing grooves; a driving motor, a driving end of which is connected with a first rotating end of the swinging frame, and the driving motor is used for driving the swinging frame to periodically swing; and a limiting structure arranged on the opposite sides of a second direction of the placing grooves, wherein a plurality of thin film piezoresistive sensors are embedded on the inner wall of the limiting structure along the height direction at equal intervals, each layer is provided with a plurality of sensing points, and the limiting structure is used for detecting the pressure values at the sensing points after the organ chips are placed. The application can realize synchronous swinging culture of multiple organ chips, realize high-throughput parallel experiments, and meet the demand of synchronous experiments of multiple array organ chips.

Description

Technical Field

[0001] This application relates to the field of cell culture equipment technology, such as a swinging device. Background Technology

[0002] As an in vitro biomimetic model, organ-on-a-chip requires the application of periodic mechanical forces through a swinging device during the culture process to simulate the physiological and mechanical environment in vivo.

[0003] Currently, the swing device typically includes a base, a swing frame, a drive motor, and a placement slot on the swing frame. The organ-on-a-chip is placed in the placement slot, and the drive motor drives the swing frame to swing back and forth around the axis, thereby subjecting the organ-on-a-chip to periodic shear and tensile stimuli.

[0004] In related technologies, in order to improve the throughput of the swing device and adapt to the synchronous experiment of multi-array organ-on-a-chip, a placement slot array is set on the swing frame.

[0005] In the process of implementing the embodiments of this disclosure, it was found that the related technology has at least the following technical problems: When using a placement slot array, operators may fail to fully sink the organ-on-a-chip into the limiting structure of the placement slot due to angular deviation or interference from the sealing ring. This can cause the organ-on-a-chip to be damaged by impacts during the oscillation process, resulting in damage to the edge electrodes of the organ-on-a-chip that cannot be detected in time.

[0006] Therefore, based on the realization of synchronous rocking culture of multiple organ-on-a-chip, how to detect abnormalities in organ-on-a-chip loading in order to reduce the risk of organ-on-a-chip damage has become an urgent technical problem to be solved.

[0007] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0008] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0009] This disclosure provides a rocking device that, while enabling synchronous rocking culture of multiple organ-on-a-chip, can detect abnormal organ-on-a-chip loading and reduce the risk of organ-on-a-chip damage.

[0010] In some embodiments, the swing device includes: a swing frame having an array of placement slots for placing organ-on-a-chip; the placement slot array having N rows and M columns, where N≥1 and M≥2; a base having two opposing supports, with the two ends of the swing frame rotatably mounted on the supports in a first direction; wherein the first direction is parallel to the direction of the N rows of the placement slot array; a drive motor having a drive end connected to a first rotating end of the swing frame for driving the swing frame to swing periodically; and a limiting structure disposed on opposite sides of the placement slots in a second direction for limiting the offset of the organ-on-a-chip in the second direction; the second direction is perpendicular to the first direction and parallel to the bottom wall of the placement slot; and multiple thin-film piezoresistive sensors are equidistantly embedded in the inner wall of the limiting structure along the height direction, each layer having multiple sensing points for detecting the pressure value at each sensing point after the organ-on-a-chip is placed.

[0011] Optionally, the slot array is arranged symmetrically with respect to the rotation axis of the swing frame to enable the swing frame to maintain dynamic balance during swinging.

[0012] Optionally, the bottom wall of the placement slot is further provided with multiple sub-placement slots; wherein the shape of the sub-placement slots is adapted to the shape of the bottom surface of the organ-on-a-chip.

[0013] Optionally, a removable partition is provided between two adjacent placement slots. After the partition is removed, the adjacent placement slots are combined to form a combined placement slot.

[0014] Optionally, the inner wall of the limiting structure is covered with an elastic buffer layer, the thin-film piezoresistive sensor is embedded in the elastic buffer layer, and the upper surface of the thin-film piezoresistive sensor is flush with the surface of the elastic buffer layer.

[0015] Optionally, the rocking device further includes a braking structure connected to the second rotating end of the rocking frame, used to brake when the drive motor stops driving the rocking frame.

[0016] Optionally, the braking structure is an electromagnetic brake, which maintains braking in the power-off state and releases braking in the power-on state; when the drive motor stops driving or an abnormal loading is detected, the electromagnetic brake is energized to lock the second rotating end of the swing frame.

[0017] Optionally, the rocking device also includes: vibration damping support feet, with multiple vibration damping support feet mounted on the bottom of the base.

[0018] Optionally, the rocking device further includes a buffer assembly disposed between the rocking frame and the base and / or disposed at the rotational connection of the rocking frame, the buffer assembly being configured to generate elastic deformation or damping force when the rocking frame starts, stops and / or reverses, so as to absorb impact energy.

[0019] Optionally, the buffer assembly includes: an elastic element, one end of which is connected to the swing frame and the other end to the base; and a damping element, which is connected in parallel or in series with the elastic element.

[0020] The swing device provided in this embodiment can achieve the following technical effects: The swing device provided in this embodiment includes a swing frame, a base, a drive motor, and a limiting structure. The swing frame has an array of placement slots for placing organ-on-a-chip; the placement slot array has N rows and M columns, where N≥1 and M≥2. The base has two opposing supports, and the two ends of the swing frame in a first direction are rotatably mounted on the supports, the first direction being parallel to the direction of the N rows of the placement slot array. The drive end of the drive motor is connected to the first rotating end of the swing frame, used to drive the swing frame to swing periodically. The limiting structure is disposed on opposite sides of the placement slots in a second direction, used to limit the offset of the organ-on-a-chip in the second direction; the second direction is perpendicular to the first direction and parallel to the bottom wall of the placement slot; multiple thin-film piezoresistive sensors are equidistantly embedded along the height direction on the inner wall of the limiting structure, each layer having multiple sensing points for detecting the pressure value at each sensing point after the organ-on-a-chip is placed. Thus, after the operator loads the organ-on-a-chip into the placement slot array, by analyzing the pressure values ​​at each sensing point on the limiting structure, it can be determined whether the loading of the organ-on-a-chip is tilted or abnormally raised. For example, an excessively large pressure difference across the limiting structure indicates an abnormal tilt in the organ-on-a-chip loading. Similarly, a significantly greater bottom layer pressure than the top layer pressure in the longitudinal direction of the limiting structure indicates an abnormal tilting in the organ-on-a-chip loading. This allows for timely adjustments when an abnormality in organ-on-a-chip loading is detected, preventing damage due to improper loading during the rocking process. Therefore, this embodiment of the present disclosure, while enabling synchronous rocking culture of multiple organ-on-a-chips, can detect abnormal organ-on-a-chip loading, reducing the risk of organ-on-a-chip damage.

[0021] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a schematic diagram of a swinging device provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of another swinging device provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the inner wall of a limiting structure provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of a swing frame provided in an embodiment of this disclosure; Figure 5This is a schematic diagram of another swinging device provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of another swinging device provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of a control method for a swing device provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of another control method for a swing device provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram of a control device for a swinging device provided in an embodiment of the present disclosure.

[0023] Explanation of reference numerals in the attached figures: 100. Swing device; 110. Swing frame; 111. Placement slot; 120. Base; 121. Bracket; 122. Base plate; 130. Drive motor; 140. Limiting structure; 150. Braking structure. Detailed Implementation

[0024] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0025] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure 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 for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0026] Unless otherwise stated, the term "multiple" means two or more.

[0027] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, the A / B feature means: A or B.

[0028] The term "and / or" describes an association between objects, and the feature indicates that there can be three relationships. For example, A and / or B, the feature indicates three relationships: A or B, or A and B.

[0029] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0031] Combination Figure 1 and Figure 2 As shown, this embodiment of the present disclosure provides a swing device 100, which includes a swing frame 110, a base 120, a drive motor 130, and a limiting structure 140. The swing frame 110 is provided with an array of placement slots 111 for placing organ-on-a-chip; the array of placement slots 111 has N rows and M columns, where N≥1 and M≥2. The base 120 has two opposing supports 121, and the two ends of the swing frame 110 in a first direction are rotatably mounted on the supports 121; wherein, the first direction is parallel to the row direction of the N rows of the placement slots 111 array. The drive end of the drive motor 130 is connected to the first rotating end of the swing frame 110 and is used to drive the swing frame 110 to swing periodically. The limiting structure 140 is disposed on opposite sides of the placement slots 111 in a second direction, and is used to limit the offset of the organ-on-a-chip in the second direction; the second direction is perpendicular to the first direction and parallel to the bottom wall of the placement slots 111. The inner wall of the limiting structure 140 is equidistantly embedded with multiple thin-film piezoresistive sensors along the height direction. Each layer has multiple sensing points to detect the pressure value at each sensing point after the organ-on-a-chip is placed. Specifically, the swing frame 110 is the main load-bearing component of the swing device 100. It is a rigid frame or plate-like structure that can be made of aluminum alloy, stainless steel, or high-strength engineering plastics to meet the requirements of corrosion resistance and lightweight design for biological culture.

[0032] Specifically, the upper surface of the swing frame 110 is a working plane for mounting the array of slots 111. The swing frame 110 has pivot holes or journals at both ends in the first direction (i.e., the length direction) to form a rotating pair with the support 121 of the base 120.

[0033] Specifically, the placement slot 111 is a recessed container with a specific geometric profile, recessed on the upper surface of the swing frame 110, used for positioning and accommodating organ-on-a-chip. The array refers to the arrangement of these placement slots 111 according to certain mathematical rules, i.e., N rows and M columns. By setting N≥1 and M≥2, the array of placement slots 111 has at least two placement positions in the column direction (M direction) and at least one placement position in the row direction (N direction). This enables the swing device 100 to simultaneously assemble multiple organ-on-a-chips.

[0034] Specifically, the placement slot arrays set on different swing frames 110 are different, and different swing frames 110 can be assembled on the swing device 100 according to the actual application.

[0035] For example, Figure 1 The diagram shows the case where the slot array is a 1×3 array. Figure 2 The diagram shows the case where the slot array is a 2×3 array.

[0036] Specifically, the base 120 is the supporting foundation component of the entire swing device 100, used to mount the swing frame 110 on the workbench and to provide a pivot point for the swing frame 110 to rotate.

[0037] Specifically, the base 120 includes two vertically extending supports 121, which are located at opposite ends of the swing frame 110 in the first direction. Each support 121 has a bearing seat hole at its top for accommodating a support bearing. The two supports 121 are arranged opposite each other and spaced a certain distance apart, which matches the length of the swing frame 110 in the first direction. The swing frame 110 is embedded in the top of the supports 121 via bearings.

[0038] Understandably, the base 120 is fixed to the external environment (such as inside an incubator). The base 120 also includes a base plate 122, which is used to fix the base plate to the bottom of the incubator and to connect and fix the two supports 121 to prevent the supports 121 from shifting during the swaying process.

[0039] Specifically, the drive motor 130 is the power output component of the entire swing device 100. By directly connecting the drive end of a single drive motor 130 to the first rotating end of the swing frame 110, the swing frame 110 can swing back and forth around its axis under the drive of the drive motor 130.

[0040] Specifically, the second direction is a direction perpendicular to the first direction within the bottom wall plane of the placement slot 111. The limiting structure 140 is a physical stop, protrusion, or continuous rib protruding from the opposite side walls of the placement slot 111 in the second direction, with its inner surface facing the edge of the organ-on-a-chip. By setting the limiting structure 140 on the opposite sides of the placement slot 111 in the second direction, the horizontal offset of the chip in this direction can be precisely limited by physical constraint. In this way, the distance from each organ-on-a-chip to the axis of rotation can be locked to a constant value, ensuring that the linear velocity of each organ-on-a-chip in the same row is strictly consistent, and eliminating the violent impact of the organ-on-a-chip on the wall of the placement slot 111 when changing direction.

[0041] Specifically, the inner wall of the limiting structure 140 is the surface of the limiting structure 140 facing the organ-on-a-chip in the placement slot 111. Thin-film piezoresistive sensors are embedded at equal intervals along the height direction, from the bottom to the opening of the placement slot 111, so that the thin-film piezoresistive sensing surface is flush with the wall surface. Each layer has multiple sensing points at the same horizontal height, and multiple independent piezoresistive sensing units are distributed along the length of the inner wall of the limiting structure 140.

[0042] For example, such as Figure 3 The diagram shows the inner wall of a limiting structure 140 with three layers of thin-film piezoresistive sensors, each layer having four sensing points.

[0043] Specifically, by embedding multiple thin-film piezoresistive sensors at equal intervals along the height direction on the inner wall of the limiting structure 140, with multiple sensing points set in each layer, the pressure value at each sensing point after the organ-on-a-chip is placed can be detected, so as to determine whether there is any abnormality in the loading posture of the organ-on-a-chip by analyzing the pressure value at each sensing point.

[0044] Optionally, the steps for determining whether there is an abnormality in the organ-on-a-chip loading posture include: after the organ-on-a-chip is placed, reading the pressure values ​​of all sensor points at a set sampling rate; calculating the total pressure, and if the total pressure is less than a first pressure threshold, determining it to be in an unloaded state and prohibiting the motor from starting; calculating the pressure difference between the two sides, and if the pressure difference between the two sides is greater than a second pressure threshold, determining that the organ-on-a-chip is tilted abnormally; calculating the longitudinal pressure gradient, and if the pressure of the bottom layer is greater than a set multiple of the pressure of the upper layer, determining that the organ-on-a-chip is tilted abnormally. Specifically, by embedding multiple thin-film piezoresistive sensors at equal intervals along the height direction on the inner wall of the limiting structure 140, with multiple sensing points in each layer, the identification of whether there are abnormalities in the organ-on-a-chip loading posture is realized. In this way, after the organ-on-a-chip is loaded, it is possible to identify whether there are any abnormalities in the organ-on-a-chip status in a timely manner, reducing the risk of impact damage to the edge electrodes of the organ-on-a-chip during the swinging process of the swinging device 100.

[0045] The swing device 100 provided in this embodiment includes a swing frame 110, a base 120, a drive motor 130, and a limiting structure 140. The swing frame 110 has an array of placement slots 111 for placing organ-on-a-chip; the array of placement slots 111 has N rows and M columns, where N≥1 and M≥2. The base 120 has two opposing supports 121. The two ends of the swing frame 110 in a first direction are rotatably mounted on the supports 121, and the first direction is parallel to the direction of the N rows of the placement slot array. The drive end of the drive motor 130 is connected to the first rotating end of the swing frame 110 and is used to drive the swing frame 110 to swing periodically. The limiting structure 140 is disposed on opposite sides of the placement slots 111 in a second direction, and is used to limit the offset of the organ-on-a-chip in the second direction; the second direction is perpendicular to the first direction and parallel to the bottom wall of the placement slots 111. Multiple thin-film piezoresistive sensors are equidistantly embedded along the height direction on the inner wall of the limiting structure 140. Each layer has multiple sensing points to detect the pressure value at each sensing point after the organ-on-a-chip is placed. Thus, after the operator loads the organ-on-a-chip into the placement slot array, the pressure values ​​at each sensing point on the limiting structure 140 can be analyzed to determine if there is any tilting or lifting abnormality in the organ-on-a-chip loading. This allows for timely adjustments when an abnormality in organ-on-a-chip loading is detected, preventing damage to the organ-on-a-chip due to improper loading during the shaking process. Therefore, this embodiment of the present disclosure, while achieving synchronous shaking culture of multiple organ-on-a-chips, can detect abnormal organ-on-a-chip loading, reducing the risk of organ-on-a-chip damage.

[0046] Combination Figure 4 As shown, in some embodiments, the array of placement slots 111 is positioned relative to the axis of rotation of the swing frame 110 ( Figure 4 The L (i.e., the axis of rotation) is arranged symmetrically to ensure that the swing frame 110 is dynamically balanced during the swinging process.

[0047] Specifically, the rotation axis is the center line of the first direction of the swing frame 110. By symmetrically arranging the array of placement slots 111 with respect to the rotation axis of the swing frame 110, the rectangular area where the array of placement slots 111 is located is divided into two completely mirror-symmetrical parts, so that the number of placement slots 111 on both sides of the rotation axis is equal and the layout is consistent, and the slot on either side can find a corresponding slot symmetrical about the axis on the other side.

[0048] Specifically, during the periodic forward and reverse rotation of the swing frame 110, the main periodic disturbance force is the gravitational eccentricity moment. When the swing frame 110 tilts at an angle θ, if the total center of mass of the system (including the chip and culture medium) deviates from the rotation axis by a distance d, gravity will generate a restoring torque or unbalanced torque of magnitude M×g×d×sinθ. This torque will be superimposed on the output torque of the drive motor 130, causing severe fluctuations in the motor load. Especially during large-angle swings, this nonlinear disturbance will seriously disrupt the stability of the speed closed loop. However, by symmetrically arranging the array of placement slots 111 relative to the rotation axis of the swing frame 110, the total center of mass of the system under full load is precisely located on the rotation axis (i.e., d=0). At this time, regardless of the tilt angle of the swing frame 110, the torque generated by gravity on it is always zero. The system moves only under the action of inertial torque (J·α) and damping torque (B·ω), eliminating the interference of gravity on the drive swing frame 110.

[0049] In this embodiment, by symmetrically arranging the array of placement slots 111 relative to the rotation axis of the swing frame 110, the center of mass of the system falls on the rotation axis, eliminating the gravitational eccentricity, improving the swing angle control accuracy and trajectory repeatability of the swing frame 110, and realizing the dynamic balance of the swing frame 110 during the swing process.

[0050] In some embodiments, the bottom wall of the placement slot 111 is further provided with a plurality of sub-placement slots 111; wherein the shape of the sub-placement slots 111 is adapted to the shape of the bottom surface of the organ chip.

[0051] Specifically, the sub-placement slot 111 refers to a smaller micro-accommodating cavity formed by further recessing downwards on the bottom surface inside the main placement slot 111. That is, the embodiments of this disclosure construct a two-level bearing structure of "main slot-sub-slot". The main placement slot 111 is used to accommodate the entire organ-on-a-chip, and the sub-placement slot 111 is used as a positioning and fixing unit for the organ-on-a-chip.

[0052] Specifically, by adapting the shape of the sub-placement slot 111 to the shape of the bottom surface of the organ-on-a-chip, such as a rectangle, a circle, or a specific irregular shape, the outline of the sub-placement slot 111 can form a clearance fit with the outer edge of the bottom of the chip. This can further reduce the risk of the organ-on-a-chip sliding during oscillation.

[0053] Alternatively, the sub-placement slot 111 can be integrally formed on the upper surface of the swing frame 110 by precision milling, laser engraving or injection molding.

[0054] In this embodiment, by adding multiple sub-placement slots 111 adapted to the shape of the bottom surface of the organ chip to the bottom of the mother placement slot 111, secondary positioning of the organ chip is achieved, ensuring that the distance between each organ chip and the axis of rotation is constant during the swinging process, eliminating random placement errors, and improving the consistency of the force on the organ chip.

[0055] In some embodiments, a removable partition is provided between two adjacent placement slots 111. After the partition is removed, the adjacent placement slots 111 are combined to form a combined placement slot 111.

[0056] Specifically, two adjacent placement slots 111 refer to a pair of placement slots 111 that are adjacent to each other along the row or column direction in the placement slot array. The detachable partition refers to the common wall member between these two placement slots 111, which is detachably connected to the swing frame 110 body. In the installed state, the partition completely isolates the two adjacent slots in physical space, forming independent organ-on-a-chip placement slots 111; after the partition is removed, the bottom space and lateral space of the two adjacent slots are connected, merging into a single organ-on-a-chip placement slot 111 with doubled volume and changed aspect ratio, i.e., a combined placement slot 111.

[0057] Specifically, with the development of organ-on-a-chip technology, the size of some complex chips integrating vascular networks or nerve bundles has exceeded the standard single-slot capacity limit. The combined placement slot 111 formed by removing the septum provides double the physical space in length or width, which can directly accommodate such customized large chips, avoiding the problem of having to abandon the use of rocking culture due to mismatched slot sizes.

[0058] In this embodiment, by making the partition between two adjacent placement slots 111 removable, the adjacent placement slots 111 can be combined to form a larger combined placement slot 111 after the partition is removed. This allows for the adaptation of organ-on-a-chip devices of different sizes, increasing the versatility of the swing device 100 in adapting to organ-on-a-chip devices.

[0059] In some embodiments, the inner wall of the limiting structure 140 is covered with an elastic buffer layer, the thin-film piezoresistive sensor is embedded in the elastic buffer layer, and the upper surface of the thin-film piezoresistive sensor is flush with the surface of the elastic buffer layer.

[0060] In this embodiment, by covering the inner wall of the limiting structure 140 with an elastic buffer layer, and embedding the thin-film piezoresistive sensor within the elastic buffer layer, with the upper surface of the thin-film piezoresistive sensor flush with the surface of the elastic buffer layer, the elastic buffer layer can absorb the collision energy between the organ-on-a-chip edge and the limiting structure during oscillation and reversal, avoiding organ-on-a-chip microcracks or electrode damage caused by hard contact. It also ensures that the pressure on the organ-on-a-chip side is uniformly transmitted to the sensing surface, avoiding stress concentration or poor contact caused by protrusions or depressions, and guaranteeing the authenticity and repeatability of pressure detection.

[0061] Combination Figure 5 As shown, in some embodiments, the rocking device 100 further includes a brake structure 150. The brake structure 150 is connected to the second rotating end of the rocker frame 110 and is used to brake when the drive motor 130 stops driving the rocker frame 110.

[0062] Specifically, the brake structure 150 is an actuator that generates controllable torque for rotational motion. The brake structure 150 is connected to the second rotating end of the swing frame 110. The second rotating end is opposite to the first rotating end and the two are coaxial.

[0063] Specifically, when the drive motor 130 drives the swing frame 110 to swing and change direction, or after the drive motor 130 stops driving, the swing frame 110 will continue to rotate at a certain angle due to inertia. This may cause the organ-on-a-chip to exceed the design limit angle, resulting in a hard collision with the limiting structure 140 or the organ-on-a-chip slipping off. By setting a brake structure 150 connected to the second rotating end of the swing frame 110, a braking torque can be applied at the moment the drive motor 130 stops or changes direction, precisely locking the swing frame 110.

[0064] Optionally, the braking structure 150 is an electromagnetic brake, which maintains braking in the power-off state and releases braking in the power-on state; when the drive motor 130 stops driving or an abnormal loading is detected, the electromagnetic brake is energized to lock the second rotating end of the swing frame 110.

[0065] Optionally, the braking structure 150 can be used to control the swing frame 110 to hover at a set position for a set duration (e.g., 1 to 2 seconds) during the swinging process. This creates a hovering period during which the swing frame 110 remains stationary, providing the operator with a stable static window. This facilitates microscopic observation, image acquisition, microdroplet sample addition, or liquid replacement during the swinging process, allowing for intervention without stopping the machine and improving the flexibility and continuity of the experimental operation.

[0066] In this embodiment, a symmetrical braking layout is achieved by connecting the brake structure 150 to the second rotating end of the swing frame 110. This allows the swing frame 110 to be locked at a preset angle the instant the drive motor 130 stops, while simultaneously preventing inertia exceeding limits and thus avoiding collisions or slippage of the organ-on-a-chip.

[0067] In some embodiments, the rocking device 100 further includes vibration-damping support feet. Multiple vibration-damping support feet are mounted on the bottom of the base 120. Specifically, by mounting multiple vibration-damping support feet on the bottom of the base 120, high-frequency micro-vibrations during the rocking process can be absorbed, ensuring stability during the rocking process. In some embodiments, the rocking device 100 further includes a buffer assembly. The buffer assembly is disposed between the rocking frame 110 and the base 120 and / or at the rotational connection of the rocking frame 110. The buffer assembly is configured to generate elastic deformation or damping force when the rocking frame 110 starts, stops, and / or reverses direction to absorb impact energy.

[0068] Specifically, the buffer assembly is a collection of physical elements with elastic deformation capability or viscous damping characteristics, installed between the swing frame 110 and the base 120, that is, the suspended area between the lower surface of the swing frame 110 and the upper surface of the base 120; or installed at the rotating connection of the swing frame 110, that is, the mating interface or end face contact position between the swing frame 110 rotating shaft and the bearing of the bracket 121.

[0069] Specifically, during the swinging process, the swing frame 110 is limited by the mechanical hard stop on the base 120 at its extreme swing angle, which will generate a large impact energy on the hard stop. By setting a buffer component between the swing frame 110 and the base 120, the impact energy can be absorbed, preventing the organ-on-a-chip from being subjected to excessive impact force.

[0070] Specifically, during long-term reciprocating oscillation, the clearance between the shaft and the bearing in the swing frame 110 can cause minute axial movement and radial runout. Especially at the moment of reversal, this micro-impact is transmitted to the organ-on-a-chip in the form of high-frequency vibration. By applying a constant preload to the bearing at the rotating connection of the swing frame 110, the clearance can be eliminated, and the high-frequency micro-vibration can be converted into micro-deformation absorption by the elastic element.

[0071] Optionally, the buffer assembly includes an elastic element and a damping element. One end of the elastic element is connected to the swing frame 110, and the other end is connected to the base 120. The damping element is arranged in parallel or in series with the elastic element.

[0072] In this embodiment, by setting buffer components between the swing frame 110 and the base 120 and at the rotational connection, multi-level passive dissipation of impact energy during swinging motion is achieved, reducing the ultimate impact. Before the swing frame 110 touches the hard stop, the impact energy is smoothly absorbed by the buffer components, effectively protecting the organ-on-a-chip and internal cell structure.

[0073] Combination Figure 6 As shown, in some embodiments, the rocking device 100 further includes a control device 600 for the rocking device. The control device 600 is electrically connected to the drive motor, thin-film piezoresistive sensor and brake structure via internal connecting wires, and is used to control these structures to perform the following control method.

[0074] In conjunction with the aforementioned swing device, this disclosure provides a control method for the swing device, wherein the execution subject of the control method can be the aforementioned control device. Figure 7 As shown, the control method includes: S701, obtain the target swing angle and target swing speed.

[0075] Specifically, the target swing angle defines the maximum amplitude of the swing on one side of the swing frame (e.g., ±10°), which determines the maximum tilt angle that the organ-on-a-chip experiences during the swing. The target swing speed defines the magnitude of the angular velocity maintained by the swing frame in the constant speed segment (e.g., 6° / s), which determines the magnitude of the shear stress in the culture medium within the organ-on-a-chip microchannels.

[0076] Specifically, the target swing angle and target swing speed can be obtained or read from the user input interface, host computer instructions, or preset program memory.

[0077] It should be noted that, with the swing frame parallel to the horizontal line as the reference, the swing angle is positive when the swing frame swings upward in the vertical direction and negative when it swings downward in the vertical direction.

[0078] S702 determines the acceleration range, constant speed range, and deceleration range based on the target swing angle.

[0079] Specifically, the target swing angle defines the maximum angle range of the entire swing stroke. By dividing the target swing angle into three continuous time / progress intervals—acceleration interval, constant speed interval, and deceleration interval—independent adjustments can be made for different speed intervals during the swing process.

[0080] Specifically, the acceleration zone smoothly accelerates the swing frame from rest to the target speed, avoiding startup shock; the constant speed zone provides a stable speed platform, ensuring that the cells in the organ-on-a-chip are stimulated under constant shear force; and the deceleration zone smoothly decelerates the swing frame to a stop, avoiding liquid surface oscillation caused by sudden stops.

[0081] Optionally, the acceleration interval accounts for 1% to 30% of the total swing progress, the constant speed interval accounts for 40% to 98% of the total swing progress, and the deceleration interval accounts for 1% to 30% of the total swing progress.

[0082] S703, within the acceleration range, controls the drive motor to accelerate from zero speed to the target swing speed according to the rising segment of the preset speed curve.

[0083] The preset speed curve is a fifth-order polynomial of speed with respect to progress.

[0084] Optionally, the expression for the preset velocity curve is as follows: Position function: s(x) = 6x 5 15x 4 + 10x³; Velocity function: v(x) = s'(x) = 30x 4 60x³ + 30x²; Acceleration function: a(x) = s''(x) = 120x³ 180x² + 60x; Where x is the normalized progress, with a value range of [0,1]; s(x) is the normalized position; v(x) is the normalized velocity; and a(x) is the normalized acceleration.

[0085] It should be noted that since the value range of x is [0,1], the interval from x to 0.5 is the rising segment of the preset speed curve, and the interval from x to 0.5 is the falling segment of the preset speed curve.

[0086] Specifically, the time progress x in the acceleration interval is the independent variable. The instantaneous speed corresponding to each control cycle is calculated according to the rising segment of the speed function v(x) of the preset speed curve, and the motor is driven to accelerate from 0 to the target swing speed along the curve. In this way, compared with the trapezoidal acceleration or cubic polynomial acceleration curve in related technologies, it can ensure that the position, speed and acceleration of the starting point (zero speed position) and the ending point (the position where the target swing speed is reached) are all continuous, and there will be no problem of acceleration jump.

[0087] Furthermore, the control method of controlling the drive motor to accelerate from zero speed to the target swing speed according to the rising segment of the preset speed curve within the acceleration range can keep the output current change of the drive motor smooth throughout the entire process without current spikes. This suppresses the mechanical vibration and impact of the swing frame during acceleration, avoids problems such as motor howling and structural resonance caused by traditional acceleration, and keeps the start-up process of the swing frame in a smooth and controllable state. This not only protects the electrical life of the drive motor, but also reduces the probability of wear on the transmission components of the swing frame.

[0088] S704 controls the drive motor to run at a constant speed of the target swing speed within the constant speed range.

[0089] Specifically, the uniform speed range is the period during which the organ-on-a-chip receives steady-state mechanical stimulation. After smooth acceleration, allowing the swing frame to enter a stable constant-speed operation phase ensures that the swing speed remains consistent, preventing abrupt fluctuations and frequent torque adjustments. This ensures that the cells within the organ-on-a-chip receive stimulation under constant shear force.

[0090] S705, within the deceleration range, controls the drive motor to decelerate from the target swing speed to zero speed according to the descending segment of the preset speed curve.

[0091] Specifically, the deceleration zone is the descent segment based on the preset speed curve, which completes the stopping control of the swing frame. Similar to the control method of the acceleration zone, the drive motor is controlled to decelerate from the target swing speed to zero speed according to the descent segment of the preset speed curve. This ensures that the position, speed, and acceleration of the deceleration start point (target swing speed position) and the deceleration end point (zero speed position) are continuous throughout the entire process. The abruptness is limited to a finite range, and there will be no reverse impact caused by sudden acceleration changes.

[0092] In this embodiment, during the reciprocating swing of the drive swing frame, the target swing angle and target swing speed are first acquired, and an acceleration interval, a constant speed interval, and a deceleration interval are determined based on the target swing angle. Then, within the acceleration interval, the drive motor is controlled to accelerate from zero speed to the target swing speed according to the rising segment of the preset speed curve; within the constant speed interval, the drive motor is controlled to run at a constant speed at the target swing speed; within the deceleration interval, the drive motor is controlled to decelerate from the target swing speed to zero speed according to the falling segment of the preset speed curve. In this way, the swing process is divided into acceleration, constant speed, and deceleration intervals. Furthermore, since the preset speed curve uses a fifth-order polynomial of speed with respect to progress, the peak acceleration of the swing frame during the acceleration and deceleration intervals is limited to a preset range. This ensures that the time-varying rate of change of the shear force experienced by the organ-chip on the swing frame is continuous without jumps throughout the entire swing process, eliminating the rigid impact caused by inertia during start-stop reversal. Therefore, the embodiments of this disclosure can improve the stability of the swing frame during start-up, stop-start and reversal during the swing process, thereby avoiding hard collisions between the organ-on-a-chip and the limiting structure, effectively preventing the occurrence of microcracks at the edge of the organ-on-a-chip, loosening of the sealing ring or damage to the bottom electrode, while suppressing violent shaking and splashing of the culture medium in the organ-on-a-chip, effectively preventing cells from falling off the organ-on-a-chip substrate due to mechanical overshoot, and ensuring the swing culture effect of the organ-on-a-chip.

[0093] In some embodiments, after determining the acceleration interval, constant speed interval, and deceleration interval based on the target swing angle, the control method further includes: acquiring the real-time angle and real-time angular velocity of the current swing cycle; and adaptively adjusting the proportions of the acceleration interval, constant speed interval, and deceleration interval to the total swing progress based on the real-time angle and real-time angular velocity.

[0094] Specifically, the swing device is equipped with tilt sensors, MEMS micro accelerometers and other components. These components can collect the actual angle and real-time angular velocity of the swing frame in the current swing cycle in real time. The collected actual angle and real-time angular velocity are then compared with the preset theoretical motion curve to identify the motion deviation caused by current load fluctuations, mechanical wear and environmental interference. In this way, the proportion of the three intervals in the total swing stroke is dynamically adjusted.

[0095] Optionally, the adaptive adjustment strategy includes: when the real-time angle is less than a preset small angle threshold, reducing the proportions of the acceleration interval and deceleration interval to a first proportion value, and increasing the proportion of the constant speed interval to a second proportion value; when the real-time angular velocity is greater than a preset high speed threshold, increasing the proportions of the acceleration interval and deceleration interval to a third proportion value, and reducing the proportion of the constant speed interval to a fourth proportion value; when the real-time angle is greater than a preset large angle threshold and the real-time angular velocity is less than a preset low speed threshold, increasing the proportions of the acceleration interval and deceleration interval to a fifth proportion value, and correspondingly reducing the proportion of the constant speed interval.

[0096] Specifically, when the real-time angle is detected to be less than the preset small angle threshold, the travel ratio of the acceleration and deceleration intervals is actively compressed, and the ratio of the two is reduced to the pre-calibrated first ratio value. At the same time, the proportion of the uniform speed interval is increased to the second ratio value. This can extend the uniform speed running segment as much as possible within the limited travel distance, ensuring that the organ-on-a-chip is in the running time of receiving steady-state stimuli and avoiding the entire process being occupied by acceleration and deceleration.

[0097] Specifically, when the real-time angular velocity is detected to be greater than the preset high-speed threshold, it indicates that the current operating speed of the swing frame is too high. At this time, the proportion of the acceleration and deceleration intervals is actively increased to the third ratio value, while the proportion of the uniform speed interval is compressed to the fourth ratio value. This can make the speed change process in the high-speed state smoother and avoid sudden acceleration changes caused by short-distance acceleration and deceleration during high-speed operation.

[0098] Specifically, when the real-time angle is greater than the preset large angle threshold and the real-time angular velocity is less than the preset low speed threshold, it indicates that the swing frame is in a large stroke low speed swing condition. At this time, the proportion of the acceleration and deceleration intervals is increased to the fifth ratio value, and the proportion of the uniform speed interval is further reduced. This can extend the acceleration and deceleration intervals, making the transition of the speed curve smoother and avoiding speed crawling and positioning offset problems under low speed and large stroke. This allows the swing frame to maintain an extremely low vibration level when starting and stopping at large angles.

[0099] Optionally, the first percentage is 5% to 15%, the second percentage is 70% to 90%, the third percentage is 30% to 45%, the fourth percentage is 10% to 40%, and the fifth percentage is 35% to 50%.

[0100] In this embodiment, by collecting real-time angle and angular velocity data of the swing frame, the stroke ratio of the acceleration interval, constant speed interval and deceleration interval is dynamically adjusted, which can adapt to complex working conditions such as load fluctuation and mechanical wear. It retains the smooth motion advantage of the preset speed curve and solves the motion deviation problem that is easy to occur in fixed interval control.

[0101] In some embodiments, multilayer thin-film piezoresistive sensors are equidistantly embedded along the height direction on the inner walls of the limiting structures on opposite sides of the placement slot, each layer including multiple sensing points. This disclosure provides another control method for a swing device, combined with... Figure 8 As shown, the control method includes: S801 reads the pressure values ​​of all sensor points at a set sampling rate after the organ-on-a-chip is placed.

[0102] Specifically, after the organ-on-a-chip is placed, the real-time pressure values ​​of all thin-film piezoresistive sensing points are read synchronously at a preset stable sampling rate, which can accurately capture the subtle force changes of the organ-on-a-chip in the placement slot.

[0103] S802, calculate the total pressure. If the total pressure is less than the first pressure threshold, it is determined to be an unloaded state, and the motor is prohibited from starting.

[0104] Specifically, the total pressure is obtained by summing the pressure values ​​of all collected sensor points. If the total pressure is less than a first pressure threshold, it indicates that the limiting structure is not under sufficient pressure. In this case, the placement slot is directly determined to be in an empty state, and the swing device will be prohibited from starting. This effectively avoids the swing device running idle in an empty slot without an organ chip placed in it.

[0105] S803, calculate the pressure difference between the two sides. If the pressure difference between the two sides is greater than the second pressure threshold, it is determined that the organ-on-a-chip is tilted abnormally.

[0106] Specifically, the total pressure at all sensing points on both sides of the placement slot is calculated to obtain the real-time pressure difference between the two sides. This difference is then compared with a second pressure threshold. If the pressure difference exceeds the threshold, it indicates that the organ-on-a-chip is subjected to severely uneven forces on both sides of the slot. Therefore, in this case, it can be determined that the organ-on-a-chip is in an abnormal tilting state.

[0107] S804 calculates the longitudinal pressure gradient. If the pressure at the bottom layer is greater than the set multiple of the pressure at the top layer, it is determined to be an abnormality of organ-on-a-chip tilting.

[0108] Specifically, the longitudinal pressure gradient of different sensing points is calculated according to height, and the ratio of the total pressure of the bottom layer sensing points to the total pressure of the upper layer sensing points is compared. If the pressure of the bottom layer is greater than a set multiple of the pressure of the upper layer (e.g., 1.5 times), it indicates that the bottom of the organ-on-a-chip is excessively compressed and the upper part is suspended and tilted. Therefore, in this case, the organ-on-a-chip can be determined to be in an abnormal tilting state.

[0109] When an abnormality is detected, S805 issues an alarm message and cuts off the enable signal of the drive motor.

[0110] Specifically, if the organ-on-a-chip exhibits abnormal tilting or warping, the edge of the organ-on-a-chip will experience hard friction with the slot during the oscillation process, causing damage to the organ-on-a-chip structure. Therefore, in this situation, an alarm message needs to be issued and the enable signal of the drive motor needs to be cut off.

[0111] In this embodiment, relying on the multi-layer distributed thin-film piezoresistive sensors on the inner wall of the limiting structure, accurate identification of three types of anomalies—no-load, chip tilt, and chip warping—is achieved. By prohibiting the motor from starting during no-load conditions, the ineffective operation of the swing device is avoided. By issuing an alarm message and cutting off the enable signal of the drive motor when an anomaly is detected, problems such as chip impact and damage are avoided.

[0112] In some embodiments, the control method further includes: monitoring the rotor position feedback signal and / or speed feedback signal of the drive motor; and performing closed-loop vector control on the drive motor based on the rotor position feedback signal and / or speed feedback signal.

[0113] Specifically, the rotor position feedback signal and speed feedback signal of the motor can be continuously collected based on a photoelectric encoder, rotary transformer or high-precision Hall sensor installed on the end of the drive motor shaft.

[0114] Specifically, by comparing the collected rotor position feedback signal and / or speed feedback signal with the preset target position and target speed, the motion deviation caused by load fluctuations and changes in mechanical friction of the swing frame can be clearly identified. Therefore, closed-loop vector control can be performed on the drive motor based on the rotor position feedback signal and / or speed feedback signal.

[0115] Optionally, closed-loop vector control is performed on the drive motor based on the rotor position feedback signal and / or speed feedback signal, including: determining the actual output torque based on the speed feedback signal; during the closed-loop vector control process, adjusting the torque component of the stepper motor's drive current based on the deviation between the target torque and the actual output torque to compensate for load disturbances; comparing the rotor position feedback signal with the theoretical expected position, and when the position deviation exceeds a preset threshold, determining that the stepper motor has lost steps, increasing the torque component and / or decreasing the target speed until the position deviation recovers to within the preset threshold.

[0116] In this embodiment, by acquiring the rotor position signal and speed feedback signal of the drive motor in real time and executing closed-loop vector control, the load fluctuation and mechanical friction interference during the operation of the swing device are compensated, thereby improving the smoothness and positioning accuracy of the swing motion.

[0117] In some embodiments, the control method further includes: responding to a user-selected biorhythm waveform pattern; determining a corresponding asymmetric motion curve based on the waveform pattern; and controlling a drive motor to drive the swing frame to swing according to the asymmetric motion curve.

[0118] Specifically, different organ-on-a-chips have different stimulation environments. Therefore, this disclosure embodiment pre-constructs a biological rhythm waveform library that includes various biological rhythm waveform patterns (e.g., heartbeat waveform, respiratory waveform, intestinal peristalsis waveform, etc.).

[0119] Specifically, when a user selects a preset biorhythm waveform pattern, the processor responds and locks the dedicated control logic for that pattern, retrieves pre-stored waveform feature parameters, and generates an asymmetric motion curve that perfectly matches the biorhythm characteristics. This type of curve breaks the limitations of traditional symmetrical reciprocating oscillations in terms of stroke and speed, enabling asymmetric motion characteristics such as a slow ascent and a fast descent, or slow acceleration in the first half and rapid deceleration in the second half, accurately replicating the dynamic mechanical stimulation environment within a real biological body.

[0120] In this embodiment, users can select a biological rhythm waveform mode, which automatically generates a matching asymmetric motion curve and drives the swing frame to complete rhythmic swinging. This accurately simulates the dynamic mechanical microenvironment in real organisms and improves the adaptability of swing control to the needs of organ-on-a-chip culture.

[0121] Combination Figure 9 As shown, this disclosure provides a control device 600 for a swinging device, comprising a processor 601 and a memory 602. Optionally, the device may further include a communication interface 603 and a bus 604. The processor 601, communication interface 603, and memory 602 can communicate with each other via the bus 604. The communication interface 603 can be used for information transmission. The processor 601 can call logical instructions in the memory 602 to execute the control method for the swinging device described in the above embodiments.

[0122] Furthermore, the logic instructions in the aforementioned memory 602 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0123] The memory 602, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / units corresponding to the methods in the embodiments of this disclosure. The processor 601 executes functional applications and data processing by running the program instructions / units stored in the memory 602, thereby implementing the control method for the swing device in the above embodiments.

[0124] The memory 602 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 602 may include high-speed random access memory and may also include non-volatile memory.

[0125] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to perform the control method for the swing device described above.

[0126] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0127] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0128] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0129] The methods and products disclosed in the embodiments herein (including but not limited to devices and equipment) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to implement this embodiment according to actual needs. In addition, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0130] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A swinging device, characterized in that, include: A swing frame is provided with an array of placement slots for placing organ-on-a-chip; the placement slot array has N rows and M columns, where N≥1 and M≥2. The base has two opposing supports, and the first two ends of the swing frame are rotatably mounted on the supports; wherein, the first direction is parallel to the row direction of the N rows of the placement slot array; The drive motor, with its drive end connected to the first rotating end of the swing frame, is used to drive the swing frame to swing periodically. A limiting structure is provided on both sides of the second direction of the placement slot to limit the offset of the organ chip in the second direction; the second direction is perpendicular to the first direction and parallel to the bottom wall of the placement slot. The inner wall of the limiting structure is equidistantly embedded with multiple thin-film piezoresistive sensors along the height direction. Each layer is equipped with multiple sensing points to detect the pressure value at each sensing point after the organ-on-a-chip is placed.

2. The swinging device according to claim 1, characterized in that, The placement of the slot array is symmetrical about the rotation axis of the swing frame, so that the swing frame is dynamically balanced during the swinging process.

3. The swinging device according to claim 1, characterized in that, The bottom wall of the placement trough is also provided with multiple sub-placement troughs; The shape of the sub-placement slot is adapted to the shape of the bottom surface of the organ-on-a-chip.

4. The swinging device according to claim 1, characterized in that, A removable partition is provided between two adjacent placement slots. After the partition is removed, the adjacent placement slots are combined to form a combined placement slot.

5. The swinging device according to claim 1, characterized in that, The inner wall of the limiting structure is covered with an elastic buffer layer, and the thin-film piezoresistive sensor is embedded in the elastic buffer layer, with the upper surface of the thin-film piezoresistive sensor flush with the surface of the elastic buffer layer.

6. The swinging device according to any one of claims 1 to 5, characterized in that, The swing device also includes: The braking structure, connected to the second rotating end of the swing frame, is used to brake when the drive motor stops driving the swing frame.

7. The swinging device according to claim 6, characterized in that, The braking structure is an electromagnetic brake, which maintains braking when the power is off and releases braking when the power is on. When the drive motor stops driving or an abnormality is detected in the load, the electromagnetic brake is energized and locks the second rotating end of the swing frame.

8. The swinging device according to any one of claims 1 to 5, characterized in that, The swing device also includes: Vibration-damping support feet: Multiple vibration-damping support feet are installed at the bottom of the base.

9. The swinging device according to any one of claims 1 to 5, characterized in that, The swing device also includes: A buffer assembly is disposed between the swing frame and the base and / or at the rotatable connection of the swing frame. The buffer assembly is configured to generate elastic deformation or damping force when the swing frame starts, stops and / or reverses to absorb impact energy.

10. The swinging device according to claim 9, characterized in that, The buffer components include: The elastic element is connected to the swing frame at one end and to the base at the other end. Damping components are arranged in parallel or in series with elastic components.

Images