CN102499850B - A traditional Chinese medicine massage robot - Google Patents

Abstract

The invention discloses a traditional Chinese medicine massage robot, which comprises a massage bed body, a two-degree-of-freedom imitation human body moving gantry mechanism and a three-degree-of-freedom human-like mechanical arm; the massage bed body includes an electric control box, a support seat, a bed frame, a drag chain and a bed Mats, etc.; the two-degree-of-freedom imitation human body moving gantry mechanism includes X-axis moving guide rails, Y-axis moving guide rails, X-axis stepping motors, vertical poles, X-axis ball screws, Y-axis ball screws, Y-axis stepping motors, Gantry bracket, forward and backward moving skateboard and moving slider, etc.; three-degree-of-freedom humanoid robotic arm includes U _1- axis ball screw, U _1- axis moving guide rail, Z-axis linear guide rail, U _1- axis stepping motor, and U _1- axis transmission gear , U _2- axis braking device, U ₂ -axis massage hand, Z-axis electric push rod, sensor, roller, U _2- axis stepping motor, joint connector, U _1- axis moving up and down slider, etc. The invention can conveniently locate the massage position, and can realize traditional Chinese medicine massage techniques such as massage rolling, finger kneading, palm kneading, and vibration.

Description

A traditional Chinese medicine massage robot

technical field

The invention relates to a traditional Chinese medicine massage robot, which belongs to the field of advanced manufacturing technology.

Background technique

With the continuous improvement of people's living standards, the time for mental work has increased greatly, and some civilized diseases such as lumbar muscle strain have come quietly, seriously affecting people's normal life, work and study. In daily life, long-term fixed positions or bad postures can easily cause lumbar muscle strain.

The disease mainly manifests as repeated episodes of low back pain, aggravation after exertion, and relief after rest. It is also called "functional low back pain" or "low back myofasciitis", etc. damage. It is mostly caused by untreated or wrongly treated acute lumbar sprain, repeated injuries; or due to long-term maintenance of a certain unbalanced position during labor, such as long-term bending work; or due to habitual poor posture. Congenital deformities of the lumbosacral spine make the activities of the two sides of the lumbosacral inconsistent, which is more likely to cause fatigue of the soft tissues of the lumbosacral region and cause low back pain. Patients with lumbar muscle strain have a long history of low back pain with recurrent episodes. One or both sides of the lumbosacral region are sore and uncomfortable, sometimes mild and sometimes severe, lingering and unhealed. Soreness increases with exertion, decreases with rest, and is associated with weather changes. When the lumbar muscle strain is acutely attacked, various symptoms are all significantly increased, and the lumbar activities are limited.

The rehabilitation treatment of lumbar muscle strain usually adopts the following five methods clinically, namely massage and massage therapy, acupuncture and cupping and block therapy, exercise therapy, lumbar muscle stretching, and traditional Chinese medicine therapy. However, at present, modern medicine has no definite curative effect on the treatment of this disease, and the treatment of chronic lumbar muscle strain with various methods of traditional Chinese medicine has obvious curative effects, especially massage and massage therapy for its quick effect, simple method, good curative effect, and no adverse effects Response and other advantages are increasingly welcomed by the majority of patients with chronic lumbar muscle strain.

Tuina and massage techniques for treating chronic lumbar muscle strain can relax tendons and activate blood circulation, loosen adhesions, relieve spasms, eliminate stagnation, dispel blood stasis, improve microcirculation, promote the absorption of inflammatory edema, and achieve the purpose of pain relief.

As a medical method, traditional Chinese medicine massage has been developed for more than two thousand years in China. It emphasizes the "natural healing theory" and advocates the application of natural methods such as massage to enhance human immunity and guide patients to recover naturally. The massage theory of traditional Chinese medicine is based on natural philosophy. It understands the occurrence and development of diseases from a dynamic and holistic perspective. In the long massage practice, the relationship between human body parts and disease treatment is summarized - the theory of acupuncture points and meridians in traditional Chinese medicine. Emphasis is placed on improving the ability of the immune system and achieving the purpose of disease prevention and treatment through the stimulation of changes in the techniques and strength of meridians and acupoints.

With the progress of social economy, people's work pressure is increasing, and people's attention to health is becoming more and more widespread. The training speed of Chinese medicine masseurs can no longer meet people's needs, and there is an extreme shortage of excellent Chinese medicine masseuses. Therefore, as a substitute for masseurs, various massage appliances have emerged.

Contents of the invention

The purpose of the present invention is to solve the lumbar muscle strain indications that have plagued people for a long time, and relieve the pressure of the society’s strong demand for high-end traditional Chinese medicine massage talents. The traditional Chinese medicine massage robot flexibly completes the four traditional Chinese medicine massage techniques of pressing, kneading, vibrating and rolling for lumbar muscle strain indications. The structure is stable, safe and reliable, and meets the specifications and requirements of the medical product industry.

A traditional Chinese medicine massage robot of the present invention comprises a massage bed body, a two-degree-of-freedom imitation human body moving gantry mechanism and a three-degree-of-freedom humanoid mechanical arm;

Massage bed body includes electric control box, support seat, bed frame, drag chain, drag chain frame and mattress;

The support base is fixedly connected to the bottom of the bed frame, and the electric control box is located inside the bed frame. One end of the drag chain is fixedly connected to the support base, and the other end is fixedly connected to the drag chain frame. Components, the drag chain is used to place and guide the wire; the mattress is located on the bed frame;

The two-degree-of-freedom imitation human body moving gantry mechanism includes X-axis moving guide rails, Y-axis moving guide rails, X-axis stepping motors, vertical poles, X-axis ball screws, Y-axis ball screws, Y-axis stepping motors, connectors, Gantry bracket, forward and backward moving slide, moving slider, connecting plate;

The X-axis moving guide rail is fixed on both sides of the X-axis direction inside the bed frame. The X-axis stepping motor fixes one end of the X-axis moving guide rail. The two ends of the X-axis ball screw are fixed on the X-axis moving guide rail through bearings and bearing seats. Two ends, one end of the X-axis ball screw is connected to the output shaft of the X-axis stepping motor, a round hole is provided on the moving slider, the X-axis ball screw passes through the round hole, and the bottom end of the moving slider is connected to the X-axis moving guide rail , the moving slider is connected to the longitudinal pole through a connecting piece, the moving slider is also connected to one end of the gantry bracket, and the other end of the gantry bracket is connected to another connecting piece, and the connecting piece is connected to the X-axis guide rail on the other side through a moving slider. One end of the two vertical poles is fixedly connected through the connecting plate, the Y-axis moving guide rail is fixed on the connecting plate, arranged along the Y-axis direction, and the Y-axis stepping motor is fixed on one end of the Y-axis moving guide rail , the two ends of the Y-axis ball screw are fixed on the two ends of the Y-axis moving guide rail through bearings and bearing seats, and one end is connected to the output shaft of the Y-axis stepping motor; there are through holes on the front and rear moving slides, and the Y-axis ball screw Through the through hole, the bottom end of the forward and backward moving slide plate is connected to the Y-axis moving guide rail, and the forward and backward moving slide plate can move along the Y-axis moving guide rail;

The three-degree-of-freedom humanoid robotic arm includes U _1- axis ball screw, U _1- axis moving guide rail, mounting plate A, Z-axis linear guide, U ₁ -axis stepping motor, U _1- axis transmission gear, U ₂ -axis braking device, U _2- axis massage hand, Z-axis electric push rod, mounting plate B, sensor, roller, U _2- axis stepping motor, joint connector, U _1- axis moving slider up and down;

The U _1- axis moving guide rail is fixed on the mounting plate B, and the bottom end of the mounting plate B is fixedly connected to the front and rear moving skateboards through joint connectors. The motor base is fixedly connected to the U _1- axis stepping motor; the U _1- axis transmission gear includes a large gear and a small gear, the output shaft of the U _1- axis stepping motor is connected to the pinion through the large gear, and the pinion is connected to the U _1- axis ball screw One end of the U ₁ -axis ball screw is fixedly connected, and the U _1- axis ball screw is equipped with a slider. The slider is fixedly connected to the mounting plate A, and the two sides of the mounting plate _A are fixed. _{The 1} -axis slides on the moving guide rail, and the installation version A is installed on the other side of the U _1- axis moving up and down the slider. Both sides are fixedly connected with a Z-axis linear guide rail. The Z-axis linear guide rail is fixed on the installation version A through the slider, and the Z-axis is linear. The guide rod in the guide rail can slide up and down in the slider. The Z-axis linear guide rail is used to ensure the rigidity of the mechanical arm; the Z-axis electric push rod is fixed in the middle of the installation version A, and there is a telescopic rod in the middle of the Z-axis electric push rod. One end of the telescopic rod is connected to the motor, and the other end is connected to the sensor. The sensor is fixed on the motor seat of the U _2- axis stepping motor. The sensor is used to measure the force of the U _{2- axis} massager when the massage hand is massaged. On the motor base, the output shaft of the U _2- axis stepping motor is connected to the U _2- axis braking device, and the U _2- axis braking device is connected to the U _2- axis massage hand, and the U _2- axis massage hand is also provided with a roller to realize the massage rolling method.

The advantages of the present invention are:

The present invention can conveniently locate the massage position, and can realize traditional Chinese medicine massage techniques such as massage rolling, finger kneading, palm kneading, vibrating, etc., and can replace the professional massage operation of a Chinese masseuse to a certain extent.

Description of drawings

Fig. 1 is a general configuration diagram of the present invention;

Fig. 2 is a massage bed structure diagram of the present invention;

Fig. 3 is the structural diagram of the two-degree-of-freedom imitation human body moving gantry mechanism of the present invention;

Fig. 4 is the front view of the three-degree-of-freedom humanoid mechanical arm of the present invention;

Fig. 5 is a side view of the three-degree-of-freedom humanoid robotic arm of the present invention;

Fig. 6 is the three-degree-of-freedom humanoid manipulator structural diagram (part) of the present invention;

Fig. 7 is the top view of massage bed of the present invention;

Fig. 8 is the bottom view of the massage bed of the present invention;

In the picture:

1-Massage bed body 2-Two degrees of freedom imitating human moving gantry mechanism 3-Three degrees of freedom humanoid robot arm

4-passive arm

101-Electric control box 102-Support seat 103-Bed frame

104-Towline 105-Towline Frame 106-Mattress

201-X-axis moving guide rail 212-Y-axis moving guide rail 202-X-axis stepping motor

203-Longitudinal pole 204-X-axis ball screw 205-Y-axis ball screw

206-Y-axis stepping motor 207-connector 208-gantry bracket

209-Move the slide plate back and forth 210-Move the slider 211-Connection plate

301-U _1- axis ball screw 302-U ₁ -axis moving rail 303-Mounting plate A

304-Z-axis linear guide rail 305-U ₁ -axis stepper motor 306-U _1- axis transmission gear

307-U _2- axis braking device 308-U _2- axis massage hand 309-Z-axis electric push rod

310-Mounting plate B 311-Sensor 312-Roller

313-U _2- axis stepper motor 314-Joint connector 315-U ₁ -axis moves the slider up and down

Detailed ways

The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

The present invention is a traditional Chinese medicine massage robot, as shown in FIG.

The long side of the massage bed body 1 is in the direction of the X axis, the short side is in the direction of the Y axis, the three-degree-of-freedom humanoid robotic arm 3 is in the direction of the Z axis, and the vertical direction where the U ₁ axis stepper motor 305 is located is the U ₁ axis, and the U ₂ The horizontal direction (wrist part) where the shaft stepper motor 313 is located is the U ₂ axis.

As shown in Figure 1 and Figure 2, the massage bed body 1 is used to support the massage robot and place the control device of the massage robot; the massage bed body 1 includes an electric control box 101, a support base 102, a bed frame 103, a drag chain 104, frame 105 and mattress 106;

Four support bases 102 are fixedly connected to the bottom of the bed frame 103 for supporting the bed frame 103. The electric control box 101 is located inside the bed frame 103 for placing electrical equipment, power supplies, etc., and one end of the drag chain 104 is fixedly connected to the support base 102 The other end is fixedly connected to the drag chain frame 105, the drag chain frame 105 is connected to the connector 207 of the two-degree-of-freedom imitation human body moving gantry mechanism 2, the drag chain 104 is used to place and guide the wires, and the wires in the electric control box 101 pass through the drag chain 104 connects the two-degree-of-freedom imitation human body mobile gantry mechanism 2 . The bed frame 103 is provided with a circle of card slots, and the mattress 106 is located in the card slots.

As shown in Figure 3, the two-degree-of-freedom imitation human body moving gantry mechanism 2 includes an X-axis moving guide rail 201, a Y-axis moving guide rail 212, an X-axis stepping motor 202, a vertical vertical rod 203, an X-axis ball screw 204, and a Y-axis ball screw. Lead screw 205, Y-axis stepping motor 206, connector 207, gantry support 208, forward and backward moving slide plate 209, moving slider 210, connecting plate 211.

The X-axis moving guide rail 201 is fixed on both sides of the X-axis direction inside the bed frame 103, the X-axis stepping motor 202 fixes one end of the X-axis moving guide rail 201, and the two ends of the X-axis ball screw 204 are fixed on the The two ends of the X-axis moving guide rail 201, wherein one end of the X-axis ball screw 204 is connected to the output shaft of the X-axis stepping motor 202, and the moving slider 210 is provided with a round hole, and the X-axis ball screw 204 passes through the round hole to move The bottom end of the slider 210 is connected to the X-axis moving guide rail 201, the moving slider 210 is connected to the vertical pole 203 through the connecting piece 207, the moving slider 210 is also connected to one end of the gantry bracket 208, and the other end of the gantry bracket 208 is connected to another connecting piece 207, the connecting piece 207 is connected to the X-axis guide rail 201 on the other side through a moving slider, and the connecting piece 207 is connected to another vertical pole 203; one end of the two vertical poles 203 is fixedly connected through the connecting plate 211, and the Y-axis moves the guide rail 212 is fixed on the connecting plate 211 and arranged along the Y-axis direction. The Y-axis stepping motor 206 is fixed on one end of the Y-axis moving guide rail 212, and the two ends of the Y-axis ball screw 205 are fixed on the Y-axis moving guide rail through bearings and bearing seats. Two ends of 212, one of which is connected to the output shaft of the Y-axis stepping motor 206; a through hole is provided on the front and rear moving slide plate 209, the Y-axis ball screw 205 passes through the through hole, and the bottom end of the front and rear moving slide plate 209 is connected to the Y-axis moving guide rail 212 , the forward and backward moving slide plate 209 can move along the Y-axis moving guide rail 212 .

After the X-axis stepping motor 202 starts, it drives the X-axis ball screw 204 to rotate, drives the moving slider 210 to move along the X-axis moving guide rail 201, and finally drives the vertical vertical rod 203 to move along the X-axis through the connecting piece 207, and the Y-axis steps After the motor 206 is started, it drives the Y-axis ball screw 205 to rotate, and drives the forward and backward moving slide plate 209 to move along the Y-axis moving guide rail 212 .

As shown in Figure 4, Figure 5, and Figure 6, the three-degree-of-freedom humanoid robotic arm 3 includes a U1 _- axis ball screw 301, a U1 _- axis moving guide rail 302, a mounting plate A303, a Z-axis linear guide rail 304, and a _U1- axis step Incoming motor 305, U _1- axis transmission gear 306, U _2- axis braking device 307, U _2- axis massage hand 308, Z-axis electric push rod 309, mounting plate B310, sensor 311, roller 312, U _2- axis stepping motor 313 , the joint connector 314, and the U ₁ axis moves the slider 315 up and down.

The U _1- axis moving guide rail 302 is fixed on the mounting plate B310, and the bottom end of the mounting plate B310 is fixedly connected to the forward and backward moving slide plate 209 through the joint connector 314, and the forward and backward movement of the three-degree-of-freedom humanoid robot arm 3 is realized by connecting the forward and backward moving slide plate 209. The upper end of the installation version B310 is fixedly connected to the U ₁ axis stepping motor 305 through the motor seat. The U ₁ axis transmission gear 306 includes a bull gear and a pinion gear, the output shaft of the U ₁ axis stepping motor 305 is connected to the pinion through the bull gear, and the pinion is fixedly connected with one end of the U ₁ axis ball screw 301, and the U ₁ axis The ball screw 301 is provided with a slider, the slider is fixedly connected to the mounting plate A303, the two sides of the mounting plate A303 are fixed on the _U1 axis to move the slider 315 up and down, and the _U1 axis moves the slider 315 up and down to move the guide rail 302 on the _U1 axis Slide up, the installation version A303 installs the U ₁ axis to move the other side of the slider 315 up and down, and both sides are fixedly connected with a Z-axis linear guide 304, the Z-axis linear guide 304 is fixed on the installation version A303 through the slider, and the Z-axis linear guide The guide rod in 304 can slide up and down in the slider, and the Z-axis linear guide rail 304 is used to ensure the rigidity of the mechanical arm; the Z-axis electric push rod 309 is fixed in the middle of the installation version A303, and there is a Z-axis electric push rod 309 in the middle Telescopic rod, one end of telescopic rod connects motor, and the other end connects sensor 311, and sensor 311 is fixed on the motor seat of U ₂ axis stepping motor 313, and sensor 311 is used for measuring the force that U ₂ axis massaging hand 308 massages, U _2- axis stepping motor 313 is fixed on the motor base, the output shaft of U _2- axis stepping motor 313 is connected to U _2- axis braking device 307, U _2- axis braking device 307 is connected to U _2- axis massage hand 308, U _2- axis The massage hand 308 is also provided with a roller 312 to realize the massage rolling method. The U _2- axis massage hand 308 is the executive part of the massage robot, which is used to realize traditional Chinese medicine massage techniques such as massage rolling, finger kneading, palm kneading, and vibration;

When the U1 _- axis stepping motor 305 rotates, it drives the large gear in the U1 _- axis transmission gear 306 to rotate, and the large gear drives the pinion to rotate, and the pinion is fixedly connected to the U1 _- axis ball screw 301, thereby realizing the U1 _- axis ball screw The rotation of 301 makes the mounting plate A303 move up and down through the movement of the slider on the _U1 axis ball screw 301, thereby realizing the up and down movement of the three-degree-of-freedom humanoid mechanical arm 3 and realizing the vibration method in the massage technique. The motor in the Z-axis electric push rod 309 drives the telescopic rod to move up and down to realize the up-and-down movement of the U ₂ -axis massage hand 308, so that the U _2- axis massage hand 308 reaches the massage position. The rotation of U _2- axis stepping motor 313 drives the change of U _2- axis massaging hand 308 attitude, and realizes the massage techniques of finger rubbing, palm rubbing, rolling method and vibration method. After the U _2- axis massaging hand 308 arrives at the massage posture, by controlling the switching on and off of the U _2- axis braking device 307 (electromagnetic principle absorbs the friction plate), the fixed locking of the U _2- axis massaging hand 308 attitude (when the power is cut off) is realized. When the U _2- axis braking device 307 locks the output shaft of the U _2- axis stepping motor 313, the posture of the U _2- axis massage hand 308 is fixed. If the power is accidentally cut off, the safety of the U _2- axis massage hand 308 can also be fixed. effect).

The passive arm 4 is also provided on the mounting plate B310, and the front end of the passive arm 4 is provided with a vision system for visual servo control.

As shown in Figures 7 and 8, the X-axis moving guide rail 201 needs to ensure a certain degree of parallelism. When designing the mechanism, two ribs are added to the bottom of the X-axis moving guide rail 201 to ensure the rigidity of the X-axis moving guide rail 201 and prevent its deformation. . The purpose of this design is to prevent the jamming problem caused by the non-parallel X-axis moving guide rails 201 when the gantry mechanism is moving.

In the present invention, the massage bed body 1 supports the entire massage device and provides a comfortable lying position for the massaged person. The two-degree-of-freedom imitation human body moving gantry mechanism 2 and the three-degree-of-freedom humanoid mechanical arm 3 are driven by the transmission device. Move along the X, Y, and Z axes; the motor of the Z-axis electric push rod 309 enables the massage device to vibrate back and forth along the Z-axis; the U _2- axis massage hand 308 is controlled by the motor, which can realize hovering at multiple set positions . The U _2- axis massage hand 308 can realize palm pressure, finger press, roller rolling and other massage techniques. The sensor 311 feeds back the massage pressure of the U _2- axis massage hand 308 to the host computer in real time to adjust the force.

Claims (2)

1. a Traditional Chinese medicine massage robot, is characterized in that, comprises massage couch body, two-freedom apery body mobile gantry mechanism and Three Degree Of Freedom apery mechanical arm;

The massage couch body comprises electric cabinet, supporting seat, bedstead, drag chain, hauling-chain frame and mattress;

Supporting seat is fixedly connected on the bedstead bottom, electric cabinet is positioned at bedstead inside, and an end of drag chain is fixedly connected on supporting seat, and the other end is fixedly connected with hauling-chain frame, hauling-chain frame connects the connector of two-freedom apery body mobile gantry mechanism, and drag chain is used for placing and lead wire; Mattress is positioned on bedstead;

Two-freedom apery body mobile gantry mechanism comprises X-axis moving guide rail, the moving guide rail of y-axis shift, X-axis motor, vertical vertical rod, X-axis ball-screw, Y-axis ball-screw, y-axis stepper motor, connector, gantry support, moves forward and backward slide plate, moving slider, connecting plate;

The X-axis moving guide rail is fixed on the X-direction both sides of bedstead inside, the X-axis motor is fixed an end of an X-axis moving guide rail, the two ends of X-axis ball-screw are fixed on the two ends of X-axis moving guide rail by bearing and bearing block, wherein X-axis ball-screw one end connects the output shaft of X-axis motor, moving slider is provided with circular hole, the X-axis ball-screw passes circular hole, the bottom of moving slider connects the X-axis moving guide rail, moving slider connects vertical vertical rod by connector, moving slider also connects an end of gantry support, the other end of gantry support connects the another one connector, the connector be connected with gantry support connects the X-axis moving guide rail of opposite side by a moving slider, the connector be connected with gantry support connects another vertical vertical rod, one end of two vertical vertical rods is fixedly connected with by connecting plate, the moving guide rail of y-axis shift is fixed on connecting plate, along Y direction, arrange, y-axis stepper motor is fixed on an end of the moving guide rail of y-axis shift, the two ends of Y-axis ball-screw are fixed on the two ends of the moving guide rail of y-axis shift by bearing and bearing block, wherein an end connects the output shaft of y-axis stepper motor, move forward and backward slide plate and be provided with through hole, the Y-axis ball-screw passes through hole, moves forward and backward the slide plate bottom and connects the moving guide rail of y-axis shift, and moving forward and backward slide plate can move along the moving guide rail of y-axis shift,

Three Degree Of Freedom apery mechanical arm comprises U ₁Axle ball-screw, U ₁Axle moving guide rail, installing plate A, Z axis line slideway, U ₁Shaft step motor, U ₁Shaft transmission gear, U ₂Shaft brake device, U ₂Axle massaging hand, Z axis electric pushrod, installing plate B, sensor, roller, U ₂Shaft step motor, joint connector, U ₁Axle moves up and down slide block;

U ₁The axle moving guide rail is fixed on that installing plate B is upper, and installing plate B bottom is fixedly connected with and moves forward and backward slide plate by joint connector, by connection, moves forward and backward slide plate and moves and realize moving forward and backward of Three Degree Of Freedom apery mechanical arm; Installing plate B upper end is fixedly connected with U by motor cabinet ₁Shaft step motor; U ₁Shaft transmission gear comprises a gear wheel and a pinion, U ₁The output shaft of shaft step motor connects pinion by gear wheel, pinion and U ₁One end of axle ball-screw is fixedly connected with, U ₁The axle ball-screw is provided with slide block, and slide block is fixedly connected with installing plate A, the one side of installing plate A, and both sides are U fixedly ₁Axle moves up and down slide block, U ₁Axle moves up and down slide block can be at U ₁On the axle moving guide rail, slide, the other one side of installing plate A, both sides all are fixedly connected with a Z axis line slideway, and the Z axis line slideway is fixed on installing plate A by slide block, guide rod in the Z axis line slideway can slide up and down in slide block, the Z axis line slideway is the rigidity that guarantees mechanical arm; The Z axis electric pushrod is fixed in the middle of installing plate A, in the middle of the Z axis electric pushrod, is provided with expansion link, and an end of expansion link connects motor, other end connecting sensor, and sensor is fixed on U ₂On the motor cabinet of shaft step motor, sensor is for measuring U ₂Stressed when the axle massaging hand is massaged, U ₂Shaft step motor is fixed on motor cabinet, U ₂The output shaft of shaft step motor connects U ₂Shaft brake device, U ₂Shaft brake device connects U ₂The axle massaging hand, U ₂Roller on the axle massaging hand, realize the massage rolling manipulation.

2. a kind of Traditional Chinese medicine massage robot according to claim 1, is characterized in that, X-axis moving guide rail bottom is provided with floor.

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