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Positioning industrial robot with three rotation degrees of freedom

[Application publication number: CN110497399A; applicant: Guizhou University; inventor and designer: Wang Lunjie; Ding Shilin; Huang Haisong; Yang Bo; Lu Jian;]
Summary:
The invention discloses a three-rotation-degree-of-freedom positioning industrial robot, which includes a rotating table, a turning frame, and a rotating box. The turning frame is mounted on the rotating table. The turning frame includes two supporting frames, one and two, and the rotating box is rotatably connected. Between the two support frames one and two, the rotary box is connected to the driven shaft one through a cup-shaped harmonic reducer, the driven shaft one is rotatably connected to the support frame one, and is connected to the overturn through the timing belt transmission mechanism one. The motor and the overturn motor are fixedly connected to the supporting frame. A driven gear shaft is rotatably connected to one side of the rotating box. A flange is fixedly connected to the outer end of the driven gear shaft. The inner end is connected to the driving gear shaft through a bevel gear transmission mechanism. At one end, the driving gear shaft is rotatably connected to the rotating box, and the other end of the driving gear shaft is connected with a driving mechanism. The invention can satisfy 360 ° rotation at the bottom, 270 ° rotation of the rotary box, and 180 ° rotation of the flange, and can be used for operations such as transportation, welding, spraying and manufacturing, and has high positioning accuracy and strong bearing capacity.
Sovereign items:
A three-rotation-degree-of-freedom positioning industrial robot, comprising: a rotating table (1), a turning frame (2), and a rotating box (3); the turning frame (2) is installed on the rotating table (1) and turned over The frame (2) adopts two symmetrical support frames (4) and two (5), and the two ends of the rotary box (3) are rotatably connected between the two support frames (4) and the two (5) support frames. One end of the rotating box (3) is connected to the driven shaft one (7) through a cup-type harmonic reducer (6), and the driven shaft one (7) is rotatably connected to the supporting frame one (4) and extends out of the support One frame (4) is connected to the overturn motor (8) through a synchronous belt transmission mechanism, the overturn motor (8) is fixedly connected to the support frame (4), and one side of the rotary box (3) is rotatably connected with a slave The driven gear shaft (9), the driven gear shaft (9) is fixedly connected with a flange (10) at the outer end, and the inner end is connected to one end of the driving gear shaft (11) through a bevel gear transmission mechanism, and the driving gear shaft (11) can rotate The ground is connected to the other end of the rotating box (3), and the other end of the driving gear shaft (11) is connected with a driving mechanism.
Claim:
A three-rotation-degree-of-freedom positioning industrial robot, comprising: a rotating table (1), a turning frame (2), and a rotating box (3); the turning frame (2) is installed on the rotating table (1) and turned The frame (2) adopts two symmetrical support frames (4) and two (5), and the two ends of the rotary box (3) are rotatably connected between the two support frames (4) and the two (5) support frames. One end of the rotating box (3) is connected to the driven shaft one (7) through a cup-type harmonic reducer (6), and the driven shaft one (7) is rotatably connected to the supporting frame one (4) and extends out of the support One frame (4) is connected to the overturn motor (8) through a synchronous belt transmission mechanism, the overturn motor (8) is fixedly connected to the support frame (4), and one side of the rotary box (3) is rotatably connected with a slave The driven gear shaft (9), the driven gear shaft (9) is fixedly connected with a flange (10) at the outer end, and the inner end is connected to one end of the driving gear shaft (11) through a bevel gear transmission mechanism, and the driving gear shaft (11) can rotate The ground is connected to the other end of the rotating box (3), and the other end of the driving gear shaft (11) is connected with a driving mechanism.
2. A three-rotation-degree-of-freedom positioning industrial robot according to claim 1, characterized in that: a timing belt transmission mechanism comprises a driven pulley (22), a driving pulley (23), and a timing belt (24) And the driving shaft one (25), the driven pulley one (22) is fixedly connected to the driven shaft one (7), the driving pulley one (23) is fixedly connected to the driving shaft one (25), and the timing belt one (24) Sleeve on the driven pulley one (22) and the driven pulley one (23), the driving shaft one (25) is rotatably connected to the lower part of the support frame one (4), and the inner end passes through the support frame one (4) and is fixedly connected Turn the motor over (8).
3. A three-rotation-degree-of-freedom positioning industrial robot according to claim 1, characterized in that the driving mechanism comprises a flange shaft (12), a harmonic reducer (13), and a driven shaft two (14). One end of the blue shaft (12) is connected to the driving gear shaft (11) through a coupling (15), the other end is connected to the output end of the harmonic reducer one (13), and the input end of the harmonic reducer one (13) is connected The driven shaft two (14), the driven shaft two (14) are rotatably connected to the support frame two (5), and after extending the support frame two (5), they are connected to the driving stepper motor through the synchronous belt transmission mechanism two (15), the driving stepping motor (15) is fixedly connected to the support frame two (5).
4. A three-rotation degree of freedom positioning industrial robot according to claim 3, characterized in that: the second synchronous belt transmission mechanism comprises a second driven pulley (26), a second active pulley (27), and a second synchronous belt (28) And the second driving shaft (29), the second driven pulley (26) are fixedly connected to the second driving shaft (14), the first driving pulley (27) is fixedly connected to the second driving shaft (29), and the second timing belt (28) Socketed on the second driven pulley (26) and the second driven pulley (27), the second driving shaft (29) is rotatably connected to the lower part of the support frame (5), and the inner end is fixedly connected after passing through the second support frame (5). Drive the stepper motor (15).
5. A three-rotation degree of freedom positioning industrial robot according to claim 1, characterized in that the driving gear shaft (11) is connected to the bearing sleeve cup (31) through a pair of bearings (30), and the bearing sleeve The first cup (31) is fixedly connected to a sleeve provided on the inner side of the right end of the rotary box (3).
The three-degree-of-freedom positioning industrial robot according to claim 1, characterized in that a top cover (32) and a bottom cover (33) are arranged on the upper and lower sides of the rotation box (3), and the middle of the top cover (32) A bearing sleeve cup two (34) is fixedly connected, and the bearing sleeve cup two (34) is rotatably connected to the driven gear shaft (9) through a pair of bearing two (35).
7. A three-rotation-freedom positioning industrial robot according to claim 1, characterized in that the rotating table (1) comprises a base (16), a second harmonic reducer (17), a rotating electric machine (18), and a rotary The disc (19), the base (19) is a hollow structure with an open lower end, the rotating disc (19) is rotatably connected to the upper end of the base (19), and the bottom is connected to the rotating motor (2) through a harmonic reducer (17) 18), the rotary motor (18) is fixedly connected to the base (16).
8. The three-rotation-freedom positioning industrial robot according to claim 7, wherein the rotary disk (19) is connected to a step hole (1) of the base (16) through a cross roller bearing (20). 9.
The three-degree-of-freedom positioning industrial robot according to claim 7, characterized in that the rotary motor (18) is connected to the step hole 2 of the base (16) through a flange (21), and the harmonics are decelerated The steel wheel of the second device (17) is fixedly connected to the flange (21), the flexible wheel is fixedly connected to the rotating disk (19), and the wave generator is connected to the motor shaft of the rotating motor (18).
The three-rotation-freedom positioning industrial robot according to claim 7, characterized in that: a bottom cover (36) is provided on the side of the base (19).
Positioning industrial robot with three rotation degrees of freedom
Technical field
The invention relates to a three-rotation-degree-of-freedom positioning industrial robot, and belongs to the technical field of positioning robots.
Background technique
The three-rotation-degree-of-freedom positioning robot is an industrial robot that belongs to industrial robots. In the use of China, automobiles and their parts occupy a large share, but in other industries, the application of industrial robots is still very lacking, such as in Chips, photovoltaics, LEDs, biochemical pharmaceuticals and other fields, so China's industrial robot technology needs to be greatly improved.
Positioning robots in the industrial industry have poor carrying capacity and positioning accuracy, especially in the field of processing and manufacturing, which require higher positioning accuracy and carrying capacity of positioning robots.
Summary of the invention
The technical problem to be solved by the present invention is to provide a three-rotation-degree-of-freedom positioning industrial robot to solve the problems in the prior art mentioned above.
The technical solution adopted by the present invention is: a three-rotation-degree-of-freedom positioning industrial robot, which includes a rotating table, a turning frame and a rotating box; the turning frame is installed on the rotating table; the turning frame adopts two symmetrical support frames 1 and 2; The two ends of the rotating box are rotatably connected between two supporting frames 1 and two supporting frames. One end of the rotating box is connected to the driven shaft 1 through a cup-shaped harmonic reducer, and the driven shaft 1 is rotatably connected to the supporting frame 1. And after extending the support frame, it is connected to the overturning motor through a synchronous belt transmission mechanism. The overturning motor is fixedly connected to the support frame. A driven gear shaft is rotatably connected to the middle of one side of the rotary box. The outer end of the driven gear shaft is fixed. A flange is connected, the inner end is connected to one end of the driving gear shaft through a bevel gear transmission mechanism, the driving gear shaft is rotatably connected to the other end of the rotary box, and the other end of the driving gear shaft is connected with a driving mechanism.
Preferably, the timing belt transmission mechanism 1 includes a driven pulley 1, a driving pulley 1, a timing belt 1, and a driving shaft 1. The driven pulley 1 is fixedly connected to the driven shaft 1. The driving pulley 1 is fixedly connected to the driving shaft 1. A set of timing belts is connected to the driven pulley 1 and the driven pulley 1. The driving shaft 1 is rotatably connected to the lower part of the support frame, and the inner end passes through the support frame 1 and is fixedly connected to the turning motor.
Preferably, the driving mechanism includes a flange shaft, a harmonic reducer 1 and a driven shaft 2. One end of the flange shaft is connected to the driving gear shaft through a coupling, and the other end is connected to the output end of the harmonic reducer 1. The input end of the first type of harmonic reducer 1 is connected to the driven shaft two, and the driven shaft two is rotatably connected to the support frame two, and after extending the support frame two, it is connected to the driving stepper motor through the synchronous belt transmission mechanism two. The stepping motor is fixedly connected to the support frame two.
Preferably, the above-mentioned timing belt transmission mechanism 2 includes a driven pulley 2, a driving pulley 2, a timing belt 2, and a driving shaft 2. The driven pulley 2 is fixedly connected to the driven shaft 2, and the driving pulley 1 is fixedly connected to the driving shaft 2. The second synchronous belt is connected to the second driven pulley and the second active pulley. The second driving shaft is rotatably connected to the lower part of the support frame 2. The inner end passes through the second support frame and is fixedly connected to drive the stepping motor.
Preferably, the driving gear shaft is connected to a bearing sleeve cup through a pair of bearings, and the bearing sleeve cup is fixedly connected to a sleeve provided inside the right end of the rotary box.
Preferably, a top cover and a bottom cover are provided on the upper and lower sides of the rotary box, and a bearing sleeve cup 2 is fixedly connected to the middle of the top cover, and the bearing sleeve cup 2 is rotatably connected to the driven gear shaft through a pair of bearings 2.
Preferably, the rotary table includes a base, a harmonic reducer II, a rotating electric machine and a rotating disc. The base is a cavity structure with an open bottom end, the rotary disc is rotatably connected to the upper end of the base, and the bottom is connected through the harmonic reducer II. To the rotary motor, the rotary motor is fixedly connected to the base.
Preferably, the rotary disk is connected to a step hole of the base through a cross roller bearing.
Preferably, the rotary electric machine is connected to the step hole 2 of the base through a flange, the steel wheel of the harmonic reducer 2 is fixedly connected to the flange, the flexible wheel is fixedly connected to the rotating disk, and the wave generator is connected to the rotation. Motor shaft of the motor.
Preferably, a bottom cover is provided on the side of the base.
Advantageous effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:
(1) The present invention adopts a three-degree-of-freedom rotary positioning robot composed of a rotating table, a turning frame and a rotating box, which can meet 360 ° rotation at the bottom, 270 ° rotation of the rotation box, and 180 ° rotation of the flange, and can be used for transportation, welding, Spraying manufacturing and other operations, high positioning accuracy, strong carrying capacity, simple and compact structure of the whole machine, modular structure of parts, easy processing, disassembly;
(2) The bevel gear transmission mechanism is used to realize 90 ° transmission steering. The transmission is stable and reliable, and the installation is convenient. The cup-shaped harmonic reducer is used for transmission. It is light in weight and small in size, simple in structure, convenient in installation, smooth in movement and efficient in transmission. High, high transmission speed ratio, high carrying capacity, high transmission accuracy, can ensure the performance of robot transmission, positioning speed, positioning accuracy, synchronous belt transmission, stable and reliable transmission, high transmission accuracy, and can play a buffer role;
(3) Synchronous belt drive, high precision transmission, harmonic reducer 1. Light weight, small size, simple structure, convenient installation, stable movement, high transmission efficiency, large transmission speed ratio, high load capacity, high transmission accuracy, can To ensure the performance of the robot's transmission, positioning speed and positioning accuracy, the rotary motor and the driving stepper motor are located inside the support frame, reducing the rotary inertia of the rotary table, the rotation is more stable, the equipment structure is more compact, and the manufacturing cost and performance requirements of the rotary table are reduced. ;
(4) The structure of the bearing sleeve assembly is convenient for the rapid installation of the bearing, improving the installation efficiency and the accuracy;
(5) The structure of the rotary box is convenient for the installation of internal parts, and it is also convenient for the manufacture of the rotary box. The connection mode of the cup is convenient for the rapid installation of the bearing, which improves the installation efficiency and accuracy;
(6) The rotary table has a compact structure, and the motor has a built-in suspension to avoid weight loading on the rotating disc to reduce the load weight. It adopts the second transmission of the harmonic reducer, which is light in weight and small in size, simple in structure, convenient to install, stable in movement and high in transmission efficiency. , The transmission speed ratio is large, the bearing capacity is high, and the transmission accuracy is high, which can ensure the performance of the robot's transmission, positioning speed, and positioning accuracy.
BRIEF DESCRIPTION OF THE DRAWINGS
Positioning industrial robot with three rotation degrees of freedom
FIG. 1 is a schematic view of a three-dimensional structure of the present invention;
Positioning industrial robot with three rotation degrees of freedom
2 is a schematic plan view of the structure of the present invention;
Positioning industrial robot with three rotation degrees of freedom
FIG. 3 is a schematic structural diagram of AA section in FIG. 2; FIG.
Positioning industrial robot with three rotation degrees of freedom
FIG. 4 is a schematic diagram of the BB half-section structure in FIG. 2; FIG.
Positioning industrial robot with three rotation degrees of freedom
5 is a schematic cross-sectional structure view taken along CC in FIG. 3;
Positioning industrial robot with three rotation degrees of freedom
6 is a schematic cross-sectional structure view taken along DD in FIG. 3;
Positioning industrial robot with three rotation degrees of freedom
FIG. 7 is a schematic structural diagram of a rotary table.
detailed description
The invention is further described below with reference to the drawings and specific embodiments.
Embodiment 1: As shown in FIG. 1 to FIG. 7, a three-rotation-degree-of-freedom positioning industrial robot includes a rotating table 1, a turning frame 2, and a rotating box 3. The turning frame 2 is mounted on the rotating table 1, and the turning frame 2 adopts Two symmetrical support frames 1 and 2 are supported. The two ends of the rotation box 3 are rotatably connected to the two support frames 4 and 5 through a tapered roller bearing 37. One end of the rotation box 3 passes through a cup-shaped harmonic. The reducer 6 is connected to the driven shaft 1, the driven shaft 7 is rotatably connected to the support frame 4, and after extending the support frame 4, it is connected to the turning motor 8 through the synchronous belt transmission mechanism 1, and the turning motor 8 The driven gear shaft 9 is fixedly connected to the supporting frame 4 and the rotating box 3 is rotatably connected with a driven gear shaft 9 at the middle of the side. The driven gear shaft 9 is fixedly connected to the flange 10 at the outer end and the bevel gear transmission mechanism to the driving end. One end of the gear shaft 11, the driving gear shaft 11 is rotatably connected to the other end of the rotating box 3, and the other end of the driving gear shaft 11 is connected with a driving mechanism. The bevel gear transmission mechanism is used to achieve 90 ° transmission steering, the transmission is stable and reliable, and the installation is convenient. , Using a cup-shaped harmonic reducer for transmission, Light weight, small size, simple structure, convenient installation, stable movement, high transmission efficiency, large transmission speed ratio, high load capacity, high transmission accuracy, can ensure the performance of robot transmission, positioning speed, positioning accuracy; timing belt transmission mechanism One includes a driven pulley 22, a driving pulley 23, a timing belt 24, and a driving shaft 25. The driven pulley 22 is fixedly connected to the driven shaft 1 and the driving pulley 23 is fixedly connected to the driving shaft 25. The timing belt 24 is sleeved on the driven pulley 1 22 and the driving pulley 1 23. The driving shaft 25 is rotatably connected to the lower part of the support frame 1. The inner end passes through the support frame 1 and is fixedly connected to the flip motor 8. The motor 8 is fixedly connected to the inner side of the support frame 4 through a motor frame 38, and the driving shaft 25 is connected to the motor shaft of the reversing motor 8 through a coupling. The coupling is located in the cavity of the motor frame 1, and is driven by a synchronous belt. Stable and reliable, high transmission accuracy, and can play a buffering role;
Preferably, the driving mechanism includes a flange shaft 12, a harmonic reducer 13 and a driven shaft two 14. One end of the flange shaft 12 is connected to the driving gear shaft 11 through a coupling 15 and the other end is connected to the harmonic reducer. The output end of 13 is connected to the driven shaft 2 14 at the input end of the harmonic reducer 1 13. The driven shaft 2 14 is rotatably connected to the support frame 2 5 and extends out of the support frame 2 5 through the timing belt transmission mechanism. Two is connected to the driving stepper motor 15, which is fixedly connected to the supporting frame two 5 through the motor frame two 39; the timing belt transmission mechanism two includes the driven pulley two 26, the driving pulley two 27, the timing belt two 28 and Driving shaft two 29, driven pulley two 26 are fixedly connected to driven shaft two 14, driving pulley one 27 is fixedly connected to driving shaft two 29, and timing belt two 28 are sleeved on driven pulley two 26 and driving pulley two 27 The driving shaft two 29 is rotatably connected to the lower part of the support frame two 5. The inner end passes through the support frame two 5 and the stepper motor 15 is fixedly connected and driven by a coupling. The coupling is located in the inner cavity of the motor frame two and is synchronized. Belt drive, high transmission precision, harmonic reducer , Light weight, small size, simple structure, convenient installation, stable movement, high transmission efficiency, large transmission speed ratio, high load capacity, high transmission accuracy, can ensure the performance of robot transmission, positioning speed, positioning accuracy, rotary motor and The driving stepper motor is located inside the support frame, which reduces the rotating inertia of the rotary table, the rotation is more stable, the equipment structure is more compact, and the manufacturing cost and performance requirements of the rotary table are reduced.
Preferably, the driving gear shaft 11 is connected to the bearing sleeve cup 31 through a pair of bearings 30, and the inner end of the bearing sleeve cup 31 is fixedly connected to a sleeve provided on the inner side of the right end of the rotary box 3 through a flange. The component structure is convenient for the rapid installation of bearings, and improves the installation efficiency and accuracy.
Preferably, a top cover 32 and a bottom cover 33 are provided on the upper and lower sides of the rotating box 3, and a bearing sleeve cup 34 is fixedly connected to the middle of the top cover 32. The bearing sleeve cup 34 is rotatably connected to the driven member through a pair of bearings 35 The structure of the gear shaft 9 is convenient for the installation of internal parts and also for the manufacture of the rotating box. The connection mode of the cup is convenient for the rapid installation of the bearing and improves the installation efficiency and accuracy.
Preferably, the above-mentioned driven shaft 1, driven shaft 2, driven shaft 1, and driven shaft 2 are all connected to the bearing sleeve cup through a pair of bearings 3. The bearing sleeve cup is fixedly connected to the support frame 1 or the support frame 2. The assembly The structure is convenient for the rapid installation of the bearing, and improves the installation efficiency and accuracy.
Preferably, the above-mentioned rotating table 1 includes a base 16, a harmonic reducer 17, a rotating electric machine 18, and a rotating disc 19. The base 19 is a hollow structure with an open lower end, and the rotating disc 19 is rotatably connected to the upper end of the base 19. The bottom is connected to the rotating electric machine 18 through the harmonic reducer II. The rotating electric machine 18 is fixedly connected to the base 16. The rotary table has a compact structure and the built-in suspension of the motor prevents the weight from being loaded on the rotating disc and reduces the load weight. The harmonic reducer is used. Second transmission, light weight, small size, simple structure, convenient installation, stable movement, high transmission efficiency, large transmission speed ratio, high carrying capacity, high transmission accuracy, can ensure the performance of robot transmission, positioning speed, positioning accuracy.
Preferably, the rotating disk 19 is connected to the step hole 1 of the base 16 through the crossed roller bearing 20, so that the bearing capacity and the rotating accuracy of the rotating disk can be improved.
Preferably, the rotating electric machine 18 is connected to the stepped hole 2 of the base 16 through the flange 21, the steel wheel of the harmonic reducer 2 17 is fixedly connected to the flange 21, and the flexible wheel is fixedly connected to the rotating disk 19, The wave generator is connected to the motor shaft of the rotating electric machine 18, which is convenient for installation and reliable and stable connection.
Preferably, a bottom cover 36 is provided on the side of the base 19 to facilitate the maintenance of parts in the base.
Because the mechanical structure of the positioning robot requires a compact machine size and the overall quality should not be too heavy, harmonic reducers are used in the three mechanisms of the robot. Harmonic reducer is a kind of reducer. Its structure is relatively simple. It is mainly composed of steel wheel, flexible wheel and wave generator. Although the structure is simple, compared with other reducers, Has many advantages:
(1) Light weight and small volume. Compared with general reduction gears, when the same torque needs to be output, the weight of the harmonic reducer will be reduced by half compared with other reduction gears, and the occupied volume will be reduced by nearly one third;
(2) Simple structure and easy installation; Since the main basic components are only steel wheels, flexible wheels and wave generators, other components are also relatively simple, and the input and output shafts are coaxial, so the harmonic reducer has a simple structure and is easy to install. It's also easy.
(3) The movement is stable and the transmission efficiency is high; when the harmonic reducer is working, when the soft gear and the steel gear mesh, the two positions in the opposite position are meshed, so that there is no impact phenomenon, so the movement is stable. The high transmission efficiency is due to the uniform radial movement of the teeth of the flexible wheel during work. Therefore, even if the high speed is input, the steel wheel and the flexible wheel only have relatively small relative slippage and relatively wear. Small, so high transmission efficiency, up to 96%.
(4) The transmission speed ratio is large; the transmission ratio of the single-stage harmonic reducer ranges from 30 to 320, and the multi-stage transmission can reach more than 30,000. And it can not only slow down, but also increase speed in some cases.
(5) High load carrying capacity; because the gearbox has a large number of meshing teeth at the same time during operation, the tooth meshing between the steel wheel and the flexible wheel is surface contact, and the flexible wheel is made of special high-strength steel, so the load bearing capacity is high.
(6) The transmission accuracy is high; because the harmonic reducer has a large number of meshing teeth during the transmission, the error generated is also averaged, that is, the multi-tooth meshing can compensate the error, so the transmission accuracy is very high. Compared with other gear transmissions of the same level, the error produced is one quarter of those gear transmissions. At the same time, when the radius of the wave generator is increased, the meshing backlash can be made very small, even without backlash meshing, so the idler transmission has a small idle distance and is also suitable for reverse rotation.
As shown in Figure 1-7, the rotating motor of the base is fixedly suspended on the flange (suspended in the base). The motor shaft of the rotating motor is directly connected to the second input of the harmonic reducer, and finally the second output of the harmonic reducer The screw is connected to the rotary disk to realize the rotation of the rotary disk. In order to prevent the total mass of the parts on the rotary disk from being too high and the harmonic reducer 2 is crushed, a cross roller bearing is installed between the rotary disk and the base. It functions as a slewing bearing. In the left side of Figure 2 is a kinematic chain that drives the rotary box. The rotary motor transmits motion and torque to the input of the cup-type harmonic reducer through the synchronous belt transmission mechanism mounted on the support frame 1. Finally, the output flange of the cup-type harmonic reducer is directly connected to the rotary box through screws, thereby realizing the turning motion of the rotary box. In the right side of Figure 2, the principle is basically the same as that of the right side drive, except that the output of the harmonic reducer is driven by a flanged shaft. The flanged shaft is connected to the drive bevel gear shaft, which is then reversed by the bevel gear. Finally, it is necessary to drive the load on the flange installed above the rotary box for rotary positioning.
The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present invention. It should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
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