CN219573604U - Motion device and sample extraction equipment - Google Patents

Abstract

The utility model discloses a motion device and sample extraction equipment, and relates to the technical field of molecular detection equipment. The movement device comprises a fixed frame, a movable mounting plate, a rotary driving module and a lifting driving module; the movable mounting plate is slidably arranged on the fixed frame along the first direction and is positioned in the accommodating space of the fixed frame, and a rotating seat is arranged on the movable mounting plate; the rotary driving module is arranged on the movable mounting plate and is in transmission connection with the rotary seat, and the rotary driving module is used for driving the rotary seat to rotate around the first direction; the lifting driving module is arranged on the fixed frame and is in transmission connection with the movable mounting plate, wherein the lifting driving module is arranged between the rotary driving module and the rotary seat, and the lifting driving module is used for driving the movable mounting plate to drive the rotary seat to move along the first direction. The moving device disclosed by the utility model integrates lifting and rotating movements, is reasonably arranged in structure, is more compact in structure, occupies smaller installation space and is convenient for subsequent installation and use.

Description

Motion device and sample extraction equipment

Technical Field

The utility model relates to the technical field of molecular detection equipment, in particular to a motion device and sample extraction equipment.

Background

With the development of technology, industrial automation equipment is rapidly moving into large enterprises, especially technical fields such as semiconductors, electronic equipment processing, biopharmaceuticals and the like or labor-intensive enterprises, and the degree of automation is higher and higher. Often, a motion device is needed to execute various actions on an automation production line of an enterprise so as to save manpower resources and improve production efficiency.

Current exercise devices typically have only a single linear or rotational motion. The prior art has the structure that has provided a rectilinear motion and rotary motion of having integrateed, but is unreasonable in structural layout, and is compact structurally, leads to the installation space that occupies big, and it is inconvenient to use.

Disclosure of Invention

The utility model aims to provide a movement device and sample extraction equipment, which are used for solving the defects in the prior art.

To achieve the above object, in a first aspect, the present utility model provides a sports apparatus comprising:

a fixed frame, the inside of which is provided with a containing space;

the movable mounting plate is slidably arranged on the fixed frame along a first direction and is positioned in the accommodating space, and a rotating seat is arranged on the movable mounting plate;

the rotary driving module is arranged on the movable mounting plate and is in transmission connection with the rotary seat, and the rotary driving module is used for driving the rotary seat to rotate around the first direction; and

the lifting driving module is arranged on the fixed frame and is in transmission connection with the movable mounting plate, wherein the lifting driving module is arranged between the rotary driving module and the rotary seat and is used for driving the movable mounting plate to drive the rotary seat to move along the first direction.

As a further improvement of the above technical scheme:

with reference to the first aspect, in one possible implementation manner, an avoidance hole for avoiding the rotation driving module is formed in the top of the fixed frame along the first direction.

With reference to the first aspect, in a possible implementation manner, an end of the movable mounting plate, where the rotating seat is provided, extends outside the fixed frame;

the top of the fixed frame along the first direction is provided with an avoidance gap for avoiding the rotary seat.

With reference to the first aspect, in one possible implementation manner, the fixing frame is provided with a hollowed-out area around the circumference of the first direction.

With reference to the first aspect, in one possible implementation manner, the rotating seat, the lifting driving module and the rotation driving module are sequentially arranged along the second direction, and the rotating seat, the lifting driving module and the rotation driving module are located on the same straight line.

With reference to the first aspect, in a possible implementation manner, the movement device includes at least one guide module, and each guide module is slidably disposed on the fixed frame along the first direction and connected to the movable mounting plate.

With reference to the first aspect, in one possible implementation manner, the guide module includes a guide seat and a sliding rail sliding block assembly, and the guide seat is slidably disposed on the fixed frame through the sliding rail sliding block assembly, where the movable mounting plate is detachably connected with the guide seat.

With reference to the first aspect, in one possible implementation manner, the guide module further includes at least two first position detectors, the two first position detectors are disposed on the fixed frame at intervals along the first direction, and the guide seat is provided with a sensing piece that is in sensing fit with the first position detectors.

With reference to the first aspect, in a possible implementation manner, the movement device further includes a code wheel, an origin wheel, a second position detector, and a third position detector;

the code disc and the origin disc are both arranged on the rotating seat, and the code disc and the origin disc are coaxial with the rotating seat;

the second position detector and the third position detector are arranged on the movable mounting plate through a fixed support;

the automatic rotary seat detection device comprises a rotary seat, a first position detector, a second position detector, a third position detector and a fourth position detector, wherein the rotary seat is arranged on a base plate, a preset number of position identifiers are arranged on the code plate, each position identifier corresponds to different working positions of the rotary seat, an origin identifier is arranged on the origin plate, the origin identifier corresponds to the working origin position of the rotary seat, the second position detector is used for detecting the position identifiers, and the third position detector is used for detecting the origin identifiers.

To achieve the above object, in a second aspect, the present utility model further provides a sample extraction apparatus, including a pipetting device and a movement device provided according to the first aspect, the pipetting device being disposed on the rotating base, the pipetting device being configured to aspirate a sample.

Compared with the prior art, the utility model has the beneficial effects that:

the utility model provides a movement device and sample extraction equipment, wherein the movement device drives a rotating seat to rotate around a first direction through a rotation driving module, and drives a movable mounting plate to drive the rotating seat to move along the first direction through a lifting driving module. The movement device provided by the utility model integrates lifting and rotating movements.

Further, through being arranged in the accommodation space of fixed frame with movable mounting panel, rotation driving module sets up in movable mounting panel, and lift driving module is between rotation driving module and roating seat, from this through rotation driving module, lift driving module and roating seat's reasonable layout, the space of fixed frame has been reasonably utilized for the motion device overall structure is compacter, and the installation space that occupies is littleer, makes things convenient for follow-up installation to use.

Additional features and advantages of the utility model will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate only certain embodiments of the utility model and, therefore, should not be considered as limiting the scope, since it is possible to obtain other related drawings from the drawings without inventive step by those of ordinary skill in the art. In the drawings:

FIG. 1 is a schematic diagram showing a partial structure of a sample extraction apparatus according to an embodiment of the present utility model;

FIG. 2 shows an exploded schematic view of the sample extraction device of FIG. 1;

FIG. 3 is a schematic perspective view showing a fixing frame and a guide module in the sample extraction apparatus of FIG. 1;

FIG. 4 is a schematic perspective view showing a moving device of the sample extraction apparatus of FIG. 1 with a stationary frame and a guide module hidden;

FIG. 5 illustrates a right side view of the exercise device of FIG. 4;

fig. 6 shows an exploded view of the rotary table, the driven pulley, the code wheel, and the origin plate of the movement apparatus shown in fig. 4.

Reference numerals illustrate:

100. a fixed frame; 110. an accommodating space; 120. avoidance holes; 130. an open side; 140. avoiding the notch; 150. hollow areas;

200. a movable mounting plate;

300. a rotary driving module; 310. a rotary drive assembly; 311. a first motor; 312. a motor base; 320. a mechanical transmission assembly; 321. a belt drive assembly; 322. a driving pulley; 323. a driven pulley; 324. a drive belt;

400. a lifting driving module; 410. a screw motor; 411. a second motor; 412. a transmission screw rod; 413. a drive nut;

500. a rotating seat; 510. a code wheel; 511. a position mark; 520. an origin plate; 521. an origin mark;

600. a guide module; 610. a guide seat; 611. a riser portion; 612. a cross plate portion; 620. a slide rail and slide block assembly; 621. a linear guide rail; 622. a linear slide; 630. a first position detector; 640. an induction member;

700. a second position detector;

800. a third position detector;

900. a fixed bracket;

1000. a liquid suction device; 1100. a liquid suction pump; 1200. a liquid suction nozzle;

x, a first direction; y, second direction.

Detailed Description

The following describes the detailed implementation of the embodiments of the present utility model with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

In the embodiments of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The utility model will be described in detail below with reference to the drawings in connection with exemplary embodiments.

Examples

Referring to fig. 1, 2 and 3, the present embodiment provides a movement device, which can be applied to a sample extraction apparatus. The motion device can output linear motion and rotary motion, so that the sample extraction device can complete different actions and realize different functions.

In this embodiment, the moving means includes a fixed frame 100, a movable mounting plate 200, a rotation driving module 300, and a lifting driving module 400. In some embodiments, the stationary frame 100 may also be placed in a horizontal position. In this embodiment, the fixed frame 100 is disposed in a vertical manner, and defines a vertical direction as a first direction X. Thus, this embodiment will be described in detail by taking the vertically placed fixed frame 100 as an example.

Specifically, the fixing frame 100 is provided with a receiving space 110 inside. The movable mounting plate 200 is slidably disposed in the fixed frame 100 along the first direction X, and the movable mounting plate 200 is disposed in the accommodating space 110, that is, the movable mounting plate 200 is slidable in the accommodating space 110 along the first direction X. Further, a rotating seat 500 is disposed on the movable mounting plate 200, the rotating seat 500 can rotate relative to the movable mounting plate 200, and a rotation axis of the rotating seat 500 is parallel to the first direction X.

The rotation driving module 300 is disposed on the movable mounting plate 200 and is in transmission connection with the rotating base 500, and the rotation driving module 300 is used for driving the rotating base 500 to rotate around the first direction X.

The lifting driving module 400 is disposed on the fixed frame 100 and is in transmission connection with the movable mounting plate 200, wherein the lifting driving module 400 is disposed between the rotary driving module 300 and the rotary seat 500, and the lifting driving module 400 is used for driving the movable mounting plate 200 to drive the rotary seat 500 to move along the first direction X. Since the rotary driving module 300 is disposed on the movable mounting plate 200, the rotary driving module 300 also moves synchronously with the movable mounting plate 200 along the first direction X.

Therefore, the movement device provided in this embodiment drives the rotary seat 500 to rotate around the first direction X through the rotation driving module 300, and drives the movable mounting plate 200 to drive the rotary seat 500 to move along the first direction X through the lifting driving module 400, so that lifting and rotation movements are integrated.

Further, through being arranged in the accommodation space 110 of the fixed frame 100 with the movable mounting plate 200, the rotary driving module 300 is arranged in the movable mounting plate 200, and the lifting driving module 400 is arranged between the rotary driving module 300 and the rotary seat 500, so that the space of the fixed frame 100 is reasonably utilized through reasonable layout of the rotary driving module 300, the lifting driving module 400 and the rotary seat 500, the whole structure of the movement device is more compact, the occupied installation space is smaller, and the subsequent installation and use are convenient.

Specifically, in the present embodiment, the top of the fixed frame 100 along the first direction X is provided with the avoidance hole 120 for avoiding the rotation driving module 300. Thus, when the rotary driving module 300 moves to the top of the fixed frame 100 along the first direction X, the avoidance hole 120 can avoid the rotary driving module 300, so as to prevent the rotary driving module 300 from interfering with the fixed frame 100. In addition, the size design of the fixing frame 100 can be reduced by providing the escape holes 120, so that the structure is more compact.

Further, one side of the fixed frame 100 along the second direction Y is provided as an open side 130, and one end of the movable mounting plate 200 provided with the swivel base 500 extends outside the fixed frame 100 through the open side 130. It will be appreciated that extending the movable mounting plate 200 outside the fixed frame 100 provides sufficient mounting space for the swivel base 500 to facilitate mounting of the functional components on the swivel base 500.

In this embodiment, the top of the fixed frame 100 along the first direction X is provided with a avoidance gap 140 for avoiding the rotating seat 500. Therefore, it can be understood that the avoidance gap 140 is provided at the top of the fixed frame 100, so that the length of the movable mounting plate 200 extending in the fixed frame 100 can be reduced, and the size of the movement device in the second direction Y can be reduced, so that the structure of the whole movement device is more compact.

In some embodiments, the fixing frame 100 is provided with a hollowed-out area 150 around the circumference of the first direction X, so as to reduce the weight of the fixing frame 100.

Referring to fig. 4, in the present embodiment, the rotating base 500, the lifting driving module 400 and the rotating driving module 300 are sequentially arranged along the second direction Y, and the rotating base 500, the lifting driving module 400 and the rotating driving module 300 are located on the same straight line. Therefore, by reasonably arranging the rotating seat 500, the lifting driving module 400 and the rotating driving module 300, the accommodating space 110 of the fixed frame 100 is fully utilized, and the structure of the movement device can be more compact.

Referring to fig. 1, 2 and 3, the movement device includes at least one guide module 600, and each guide module 600 is slidably disposed on the fixed frame 100 along the first direction X and connected to the movable mounting plate 200. Thus, by providing the guide module 600, the movable mounting plate 200 can be more stable when moving along the first direction X.

In this embodiment, two guide modules 600 are provided, and the two guide modules 600 are disposed on the inner walls of two sides of the accommodating space 110, and the two guide modules 600 are symmetrically disposed. Each guide module 600 includes a guide seat 610 and a sliding rail slider assembly 620, where the guide seat 610 is slidably disposed on the fixed frame 100 through the sliding rail slider assembly 620, and the movable mounting plate 200 is detachably connected with the guide seat 610 through a fastener. Optionally, the fastener is a screw or bolt.

In this embodiment, two sliding rail assemblies 620 are disposed in each guiding module 600 to ensure sliding stability. Further, the slide rail slider assembly 620 includes a linear guide 621 disposed along the first direction X and a linear slider 622 slidably disposed on the linear guide 621.

Alternatively, the guide holder 610 has an "L" shape, whereby the guide holder 610 having an "L" shape structure has a vertical plate portion 611 and a horizontal plate portion 612 integrally connected, the vertical plate portion 611 is used to connect with the linear slider 622, the horizontal plate portion 612 is parallel to the horizontal plane, and thus the horizontal plate portion 612 can facilitate the installation of the movable mounting plate 200, and in addition, the horizontal plate portion 612 can also support the movable mounting plate 200.

Further, in the present embodiment, the at least one guiding module 600 further includes at least two first position detectors 630, the two first position detectors 630 are disposed on the fixed frame 100 along the first direction X at intervals, and the guiding seat 610 is provided with a sensing member 640 that is in sensing fit with the first position detectors 630. Thus, the maximum travel of the movable mounting plate 200 in the first direction X can be effectively limited by the two first position detectors 630.

In some embodiments, the first position detector 630 is selected to be a correlation photosensor and the sensing element 640 is selected to be a light shielding sheet, thereby shielding a correlation beam in the photosensor by the light shielding sheet, and thereby triggering the photosensor.

In other embodiments, the first position detector 630 is selected to be a pair of travel switches, and the sensing member 640 is selected to be a touch block, whereby the travel switches are bumped by the touch block, thereby triggering the travel switches.

In still other embodiments, the first position detector 630 may be selected as a proximity sensor and the sensing element 640 is selected as a metallic element, whereby the proximity sensor is triggered by the metallic element being in proximity to the proximity sensor.

It is to be understood that the foregoing is illustrative only and is not to be construed as limiting the scope of the utility model.

Referring to fig. 2 and 4, the rotary driving module 300 includes a rotary driving assembly 310 and a mechanical transmission assembly 320, the rotary driving assembly 310 is disposed on the movable mounting plate 200, and the rotary driving assembly 310 is in transmission connection with the rotary seat 500 through the mechanical transmission assembly 320 for driving the rotary seat 500 to rotate around the first direction X.

In some embodiments, the rotary driving assembly 310 is a first motor 311, and the first motor 311 is mounted on the movable mounting plate 200 in an inverted position by a motor mount 312. The mechanical drive assembly 320 may alternatively be a gear drive assembly, a sprocket drive assembly, or a pulley drive assembly.

Alternatively, the first motor 311 may be selected to be a servo motor or a stepper motor, which is more accurate in control.

In this embodiment, the mechanical transmission assembly 320 is a belt transmission assembly 321, the belt transmission assembly 321 includes a driving pulley 322, a driven pulley 323 and a transmission belt 324, the driving pulley 322 is connected with a motor shaft of the first motor 311, the driven pulley 323 is disposed on the rotating base 500, and the driven pulley 323 is coaxial with the rotating base 500, and the transmission belt 324 is sleeved between the driving pulley 322 and the driven pulley 323. Thus, the first motor 311 drives the driving pulley 322 to rotate, and drives the driven pulley 323 to rotate through the driving belt 324 to drive the rotating seat 500. Wherein, the lifting driving module 400 is interposed between the driving pulley 322 and the driven pulley 323. Alternatively, the driving pulley 322 and the driven pulley 323 may be selected as synchronous pulleys, and the transmission belt 324 may be selected as a synchronous belt.

In some embodiments, the driven pulley 323 is integrally formed with the rotary base 500, that is, the driven pulley 323 is formed on the rotary base 500.

In other embodiments, the driven pulley 323 and the rotary seat 500 are manufactured separately, and the driven pulley 323 and the rotary seat 500 are connected together by fasteners (e.g., bolts, etc.) or welding.

Referring to fig. 2 and 4, the lifting driving module 400 can output a linear reciprocating motion, wherein the lifting driving module 400 can be selected from a cylinder, an oil cylinder, an electric push rod, a linear motor, a screw motor 410, or a linear module.

In the present embodiment, the elevation driving module 400 is selected as a screw motor, wherein the screw motor includes a second motor 411, a driving screw 412 and a driving nut 413, the second motor 411 is disposed at the top of the fixed frame 100, and a motor shaft of the second motor 411 faces downward in the first direction X. One end of the driving screw 412 is connected to a motor shaft of the second motor 411 through a coupling (not shown), and the other end of the driving screw 412 extends in the first direction X and is rotatably fitted to the bottom plate of the fixed frame 100. The transmission nut 413 is sleeved on the transmission screw 412 and is matched with a thread pair of the transmission screw 412, and the transmission nut 413 is connected with the movable mounting plate 200 through a fastener (such as a bolt and the like). Thereby, the second motor 411 drives the transmission screw 412 to rotate in a forward and reverse direction, so that the driving nut 413 drives the movable mounting plate 200 to perform lifting movement along the first direction X. Alternatively, the second motor 411 may be selected as a servo motor or a stepper motor, which is more accurate in control.

Referring to fig. 1, 4, 5 and 6, in some embodiments, the movement apparatus further includes a code wheel 510, an origin wheel 520, a second position detector 700 and a third position detector 800. The code wheel 510 and the origin disc 520 are both provided to the rotary seat 500, and the code wheel 510 and the origin disc 520 are coaxially arranged with the rotary seat 500. The second position detector 700 and the third position detector 800 are provided to the movable mounting plate 200 through the fixed bracket 900.

The code disc 510 is provided with a preset number of position identifiers 511, each position identifier 511 corresponds to a different working position of the rotary seat 500, the origin disc 520 is provided with an origin identifier 521, the origin identifier 521 corresponds to a working origin position of the rotary seat 500, the second position detector 700 is used for detecting the position identifier 511, and the third position detector 800 is used for detecting the origin identifier 521. Thereby, the position mark 511 is detected by the second position detector 700, thereby accurately controlling the rotation angle of the rotation seat 500. After the rotary driving module 300 drives the rotary seat 500 to perform the complete set of process, the rotary driving module 300 drives the origin disc 520 to rotate (either reversely or positively) so that the third position detector 800 detects the origin mark 521, thereby judging that the rotary seat 500 returns to the initial position, and stopping the rotary seat 500 at the initial position for preparing for the next action, thereby eliminating errors generated in the rotation process and improving the precision of each rotation of the rotary seat 500.

Alternatively, the second position detector 700 and the third position detector 800 may be selected as opposite photoelectric sensors, the corresponding position mark 511 and the origin mark 521 may be designed as light transmissive notches or through holes, or the corresponding position mark 511 and the origin mark 521 may be designed as light shielding teeth.

In other embodiments, the second position detector 700 and the third position detector 800 may refer to the arrangement of the first position detector 630.

Alternatively, a predetermined number of the position marks 511 may be uniformly distributed around the axis of the code wheel 510 or may be spaced apart by a predetermined angular distribution.

In some embodiments, the code wheel 510 and the origin disc 520 are integrally formed or the code wheel 510 and the origin disc 520 are separate pieces, and the code wheel 510 and the origin disc 520 are connected together by fasteners (e.g., bolts, etc.) or welding. And the positional relationship of the code wheel 510 and the origin wheel 520 in the first direction X is not particularly limited.

Referring to fig. 1 to 6, further, the present embodiment also provides a sample extraction apparatus. The sample extraction device comprises pipetting means 1000 and movement means according to the above. The pipetting device 1000 is disposed on the rotating base 500, and the pipetting device 1000 is used for pipetting samples. The pipetting device 1000 includes a pipetting pump 1100 disposed on the rotating base 500 and a pipetting nozzle 1200 connected to the pipetting pump 1100, wherein the pipetting nozzle 1200 faces downward along a first direction X. Thus, when the sample is sucked, the sample should be placed at a working position below the rotating seat 500 and fixed by the positioning seat.

The foregoing details of the optional implementation of the embodiment of the present utility model have been described in detail with reference to the accompanying drawings, but the embodiment of the present utility model is not limited to the specific details of the foregoing implementation, and various simple modifications may be made to the technical solution of the embodiment of the present utility model within the scope of the technical concept of the embodiment of the present utility model, and these simple modifications all fall within the protection scope of the embodiment of the present utility model.

In addition, the specific features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further.

In addition, any combination of various embodiments of the present utility model may be performed, so long as the concept of the embodiments of the present utility model is not violated, and the disclosure of the embodiments of the present utility model should also be considered.

Claims (10)

1. A exercise device, comprising:

a fixed frame (100) with a receiving space (110) inside;

the movable mounting plate (200) is slidably arranged in the fixed frame (100) along a first direction (X) and is positioned in the accommodating space (110), and a rotating seat (500) is arranged on the movable mounting plate (200);

the rotary driving module (300) is arranged on the movable mounting plate (200) and is in transmission connection with the rotary seat (500), and the rotary driving module (300) is used for driving the rotary seat (500) to rotate around the first direction (X); and

the lifting driving module (400) is arranged on the fixed frame (100) and is in transmission connection with the movable mounting plate (200), wherein the lifting driving module (400) is arranged between the rotary driving module (300) and the rotary seat (500), and the lifting driving module (400) is used for driving the movable mounting plate (200) to drive the rotary seat (500) to move along the first direction (X).

2. The movement device according to claim 1, characterized in that the top of the fixed frame (100) along the first direction (X) is provided with a avoidance hole (120) for avoiding the rotary driving module (300).

3. The movement device according to claim 1, characterized in that the end of the movable mounting plate (200) provided with the swivel seat (500) extends outside the fixed frame (100);

the top of the fixed frame (100) along the first direction (X) is provided with an avoidance gap (140) for avoiding the rotating seat (500).

4. The movement device according to claim 1, characterized in that the fixed frame (100) is provided with hollowed-out areas (150) around the circumference of the first direction (X).

5. The movement device according to claim 1, characterized in that the swivel (500), the lifting drive module (400) and the rotation drive module (300) are arranged in sequence along a second direction (Y), and the swivel (500), the lifting drive module (400) and the rotation drive module (300) are located on the same straight line.

6. The movement device according to claim 1 or 5, characterized in that it comprises at least one guiding module (600), each guiding module (600) being slidably arranged in the first direction (X) to the stationary frame (100) and connected to the movable mounting plate (200).

7. The exercise device of claim 6, wherein the guide module (600) comprises a guide holder (610) and a slide rail slider assembly (620), the guide holder (610) being slidably disposed to the fixed frame (100) by the slide rail slider assembly (620), wherein the movable mounting plate (200) is detachably connected to the guide holder (610).

8. The movement device according to claim 7, wherein the guide module (600) further comprises at least two first position detectors (630), the two first position detectors (630) are arranged on the fixed frame (100) at intervals along the first direction (X), and the guide seat (610) is provided with a sensing piece (640) in sensing fit with the first position detectors (630).

9. The exercise apparatus of claim 1, further comprising a code wheel (510), an origin wheel (520), a second position detector (700), and a third position detector (800);

the code disc (510) and the origin disc (520) are both arranged on the rotary seat (500), and the code disc (510) and the origin disc (520) are coaxial with the rotary seat (500);

the second position detector (700) and the third position detector (800) are arranged on the movable mounting plate (200) through a fixed bracket (900);

the automatic control device comprises a rotary seat (500), a first position detector (700) and a second position detector (800), wherein a preset number of position identifiers (511) are arranged on the code disc (510), each position identifier (511) corresponds to different working positions of the rotary seat (500), an origin identifier (521) is arranged on the origin disc (520), the origin identifier (521) corresponds to the working origin position of the rotary seat (500), the second position detector (700) is used for detecting the position identifiers (511), and the third position detector (800) is used for detecting the origin identifier (521).

10. Sample extraction device, characterized in that it comprises a pipetting device (1000) and a movement device according to any one of claims 1-9, the pipetting device (1000) being arranged to the swivel (500), the pipetting device (1000) being adapted to aspirate a sample.