1. The utility model provides an industrial robot momentum boundary limit system based on computer, including robot host computer (1), a serial communication port, robot host computer (1) inboard is provided with control system (2), and the inboard lower extreme of robot host computer (1) is provided with first drive element (3), the upper end of the drive end of first drive element (3) is provided with second drive element (4), the upper end and robot host computer (1) fixed connection of second drive element (4), the middle part and the meshing of restriction sensing part (5) of second drive element (4) are connected, and restriction sensing part (5) are parallel and be provided with two relatively, and be located and be provided with two sets ofly on robot host computer (1) in the cross.

2. A computer-based industrial robot momentum boundary limiting system according to claim 1, characterized in that the first drive element (3) comprises a first servomotor (31) and a connecting rod (32) arranged at the drive end of the first servomotor (31), the other end of the connecting rod (32) being provided with a drive head (33), the drive head (33) being oval in side view and being arranged inside the connecting member (34).

3. A computer-based industrial robot momentum boundary limiting system according to claim 2, characterized in that the connecting assembly (34) comprises a supporting cap (341) and a movable cap (342) movably arranged at the upper end of the supporting cap (341), the driving head (33) is arranged inside the supporting cap (341) and the movable cap (342), and the upper end of the movable cap (342) is provided with a bearing (343), and the inner ring of the movable cap (342) is fixedly connected with the lower end of the second driving element (4).

4. The computer-based industrial robot momentum boundary limiting system of claim 3, wherein the second driving element (4) comprises a second servo motor (41) and a limiting column (42) arranged at the lower end of the second servo motor (41), a square groove is formed in the inner side of the limiting column (42), a rotating column (43) is fixedly arranged on the inner ring of the bearing (343), a square block (44) matched with the square groove is arranged at the upper end of the rotating column (43), and an inserting column (45) is arranged at the upper end of the square block (44).

5. A computer based industrial robot momentum boundary limitation system according to claim 4, characterized in that the turning column (43) is provided on its outer side with a first driving gear (46) and a second driving gear (47).

6. A computer-based industrial robot momentum boundary limiting system according to claim 5, characterized in that the limiting sensor means (5) comprises a fixed column (51) and a transmission rod (52) arranged outside the fixed column (51), a first sensor (53) is arranged on the upper side of the end of the transmission rod (52), a second sensor (54) is arranged on the end face of the transmission rod (52), and both the first sensor (53) and the second sensor (54) are electrically connected with the control system (2).

7. A computer-based industrial robot momentum boundary limiting system according to claim 6, characterized in that the drive rod (52) is further provided on its outer side with a driven tooth (521) in meshing connection with the first drive gear (46).

8. A computer-based industrial robot momentum boundary limitation system according to claim 7, characterized in that the outer side of the rotating column (43) is further provided with a first outer bearing (48) and a second outer bearing (49), the inner rings of the first outer bearing (48) and the second outer bearing (49) are fixedly connected with the rotating column (43), and the outer rings are provided with outer teeth (481).

9. The momentum boundary limiting system of a computer-based industrial robot according to claim 8, wherein a driving member (410) is provided at an upper end of the rotary post (43), the other end of the rotary post (43) is fixedly connected to a driving post (411) provided at an upper end of the first outer bearing (48), a contact (4111) is provided at one side of the upper end of the driving post (411), and the contact (4111) corresponds to a closing switch of the robot main body (1) provided inside the robot main body (1).

10. A method of implementing a computer based industrial robot momentum boundary confinement system according to any of claims 1-9, comprising the steps of:

s1: goods are placed at the upper end of a robot host (1), a first servo motor (31) is started to drive a connecting rod (32) to rotate, and then a driving head (33) is driven to rotate, the driving head (33) drives a movable cover (342) to move upwards, and then a rotating column (43) is driven to move upwards, so that a square block (44) is matched with a square groove, and the connection of a second servo motor (41) and the rotating column (43) is completed;

s2: the second servo motor (41) is started to drive the limiting column (42) to rotate, so that the rotating column (43) rotates to drive the first driving gear (46) to rotate, the first driving gear (46) is meshed and connected with the driven gear (521), and the driving rod (52) is driven to move outwards, so that fixed boundary limitation can be conveniently carried out on goods with different widths;

s3: when the robot host (1) is in a cargo transportation moving state, the first servo motor (31) drives the driving head (33) to rotate again, so that the square block (44) is separated from the square groove;

s4: when the robot host (1) moves on a fixed line and an obstacle exists on the fixed line due to an emergency, the sensing part (5) is limited from sensing the obstacle, (the optimal distance between the obstacle is limited to 5 cm), at the moment, the control system (2) controls the robot host (1) to move laterally or transversely until the distance between the sensing part (5) and the obstacle in front is limited to be more than 5 cm, the robot host (1) continues to move forwards, and the industrial robot can be further ensured not to collide with the emergency obstacle;

s5: when the second sensor (54) is damaged or not timely sensed, the transmission rod (52) is extruded, the outer ring of the first outer bearing (48) is driven to rotate, the transmission column (411) is driven to rotate, the contact (4111) presses the closing switch to close the robot host (1), the robot host (1) is made to move in a pause mode, the transportation safety of the robot host (1) is guaranteed, and other robot hosts (1) cannot be interfered.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and can operate according to a preset program, and modern industrial robots can also perform a principle outline action based on a computer and formulated according to an artificial intelligence technology.

However, when the computer-based industrial robot performs the boundary restriction system setting, since the set restriction pitch of the sensor is fixed, the boundary limit spacing of the entire industrial robot is also fixed, which results in that when industrial instruments of different widths are transported, because some industrial instruments are wider and even the width exceeds the set value of the boundary limit, the industrial instruments transported by the industrial robot are easy to touch the obstacle boundary, in order to make the wide industrial instruments normally transportable, different boundary limiting systems are required to be set, the operation is troublesome, and after the sensors of the industrial robot are damaged, when the robot encounters an obstacle suddenly falling ahead, the robot can still continue to advance, which not only causes the damage of the body of the industrial robot, the normal movement of other industrial robots is also affected due to directional yaw instability caused by the continued forward motion.

To solve the above problems. Therefore, the system and the method for limiting the momentum boundary of the industrial robot based on the computer are provided.

Disclosure of Invention

The invention aims to provide a computer-based industrial robot momentum boundary limiting system and method, wherein goods are placed at the upper end of a robot host, a first driving element is started, a second driving element can drive a limiting sensing part to move, then the first driving element is closed, when a signal transmitted by the limiting sensing part can be infrared ray barrier-free, a control system controls the second driving element to be closed, the limiting sensing part is the optimal limiting sensing position of the goods to be loaded, when the robot host moves on a fixed line, when an obstacle exists on the fixed line due to an emergency, the limiting sensing part senses the obstacle, the optimal distance between the obstacle is limited to cm, the control system controls the robot host to move laterally or transversely until the distance between the limiting sensing part and the obstacle in front is larger than cm, the main machine of the robot continues to move forward, so that the industrial robot can be further ensured not to impact sudden obstacles, and the problems in the background art can be solved.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an industrial robot momentum boundary limit system based on computer, including the robot host computer, the robot host computer inboard is provided with control system, and the inboard lower extreme of robot host computer is provided with first drive element, the upper end of the drive end of first drive element is provided with second drive element, the upper end and the robot host computer fixed connection of second drive element, the middle part and the restriction sensing part meshing of second drive element are connected, and restrict the sensing part parallel and be provided with two relatively, and be located and be the cross on the robot host computer and be provided with two sets ofly.

Further, first drive element includes first servo motor and sets up the connecting rod at first servo motor drive end, and the other end of connecting rod is provided with the drive head, and the drive head looks sideways at and is oval-shaped, and sets up the inboard at coupling assembling.

Furthermore, the connecting assembly comprises a supporting cover and a movable cover movably arranged at the upper end of the supporting cover, the driving head is arranged on the inner sides of the supporting cover and the movable cover, a bearing is arranged at the upper end of the movable cover, and the inner ring of the movable cover is fixedly connected with the lower end of the second driving element.

Further, the second driving element comprises a second servo motor and a limiting column arranged at the lower end of the second servo motor, a square groove is formed in the inner side of the limiting column, a rotating column is fixedly arranged on an inner ring of the bearing, a square block matched with the square groove is arranged at the upper end of the rotating column, and an inserting column is arranged at the upper end of the square block.

Further, a first driving gear and a second driving gear are arranged on the outer side of the rotating column.

Furthermore, restriction sensing part includes the fixed column and sets up the transfer line in the fixed column outside, and the terminal upside of transfer line is provided with first sensor, and the terminal surface of transfer line is provided with the second sensor, first sensor and second sensor all with control system electric connection.

Furthermore, the outer side of the transmission rod is also provided with a driven tooth in meshed connection with the first driving gear.

Further, the outside of rotating the post still is provided with first outer bearing and second outer bearing, the inner ring and the rotation post fixed connection of first outer bearing and second outer bearing, and the outer ring all is provided with the external tooth.

Furthermore, a transmission part is arranged at the upper end of the rotating column, the other end of the rotating column is fixedly connected with the transmission column arranged at the upper end of the first outer bearing, a contact is arranged on one side of the upper end of the transmission column, and the contact corresponds to a robot host closing switch arranged on the inner side of the robot host.

The invention provides another technical scheme that: an implementation method of a momentum boundary limiting system of an industrial robot based on a computer is provided, which comprises the following steps:

s1: placing goods on the upper end of a robot host, starting a first servo motor to drive a connecting rod to rotate and further drive a driving head to rotate, driving the movable cover to move upwards by the driving head and further drive a rotating column to move upwards, so that a square block is matched with a square groove, and the connection of a second servo motor and the rotating column is completed;

s2: the second servo motor is started to drive the limiting column to rotate, so that the rotating column rotates and further drives the first driving gear to rotate, the first driving gear is meshed with the driven teeth and further drives the transmission rod to move outwards, and therefore fixed boundary limitation can be conveniently carried out on goods with different widths;

s3: when the robot host is in a cargo carrying moving state, the first servo motor drives the driving head to rotate again, so that the square block is separated from the square groove;

s4: when the robot host moves on the fixed line and an obstacle exists on the fixed line due to an emergency, the sensing part is limited from sensing the obstacle, the optimal distance between the obstacles is limited to 5 cm, the control system controls the robot host to move laterally or transversely at the moment until the distance between the sensing part and the obstacle in front is limited to be more than 5 cm, the robot host continues to move forwards, and the industrial robot can be further prevented from colliding with the emergency obstacle;

s5: when the second sensor is damaged or not timely sensed, the transmission rod is extruded, the outer ring of the first outer bearing is driven to rotate, the transmission column is driven to rotate, the contact presses the closing switch to close the robot host, the robot host is suspended to move, the cargo transportation safety of the robot host is guaranteed, and other robot hosts cannot be interfered.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention provides a computer-based industrial robot momentum boundary limiting system and a computer-based industrial robot momentum boundary limiting method, wherein goods are placed at the upper end of a robot host, a first driving element is started, a second driving element can drive a limiting sensing part to move, then the first driving element is closed, when a transmitted signal of the limiting sensing part can be infrared ray without barrier, a control system controls the second driving element to be closed, the limiting sensing part is the optimal limiting sensing position of the goods to be loaded, when the robot host moves on a fixed line, when an obstacle exists on the fixed line due to an emergency, the limiting sensing part senses the obstacle, the optimal distance of the obstacle is limited to 5 cm, the control system controls the robot host to move laterally or transversely at the moment, until the distance between the limiting sensing part and the obstacle in front is larger than 5 cm, the robot host continues to move forward, can further guarantee that industrial robot can not bump into proruption barrier, can not lead to industrial robot group to remove in disorder, improve industrial robot's stability in use.

2. According to the system and the method for limiting the momentum boundary of the industrial robot based on the computer, the first servo motor is started to drive the connecting rod to rotate so as to drive the driving head to rotate, the driving head drives the movable cover to move upwards so as to drive the rotating column to move upwards, so that the square block is matched with the square groove, the connection between the second servo motor and the rotating column is completed, the second servo motor is started to drive the rotating column to rotate so as to drive the first driving gear to rotate, the first driving gear is meshed with the driven teeth and further drives the driving rod to move outwards, the fixed boundary limitation of goods with different widths can be conveniently carried out, and resetting is not needed.

3. When the host machine of the industrial robot is in a freight moving state, the first servo motor drives the driving head to rotate again to enable the square block to be separated from the square groove, when the second sensor is damaged or not timely sensed, the transmission rod is extruded to further drive the outer ring of the first outer bearing to rotate to further drive the transmission column to rotate, at the moment, the contact presses the closing switch to close the host machine of the robot, the host machine of the robot is enabled to stop moving, the freight safety of the host machine of the robot is guaranteed, other host machines of the robot are enabled not to be interfered, and the use safety of the industrial robot is improved.

Drawings

FIG. 1 is an overall system block diagram of the momentum boundary limiting system of a computer-based industrial robot of the present invention;

FIG. 2 is a schematic diagram of the overall perspective structure of the momentum boundary limiting system of the computer-based industrial robot of the present invention;

FIG. 3 is a schematic view of the overall inside partial perspective structure of the momentum boundary limiting system of a computer-based industrial robot according to the present invention;

FIG. 4 is a boundary-bounding logic diagram of the computer-based industrial robot momentum boundary-bounding system of the present invention;

FIG. 5 is a schematic perspective view of a first driving element and a second driving element of the momentum boundary limiting system of a computer-based industrial robot according to the present invention;

FIG. 6 is a schematic diagram of a plane structure of a computer-based industrial robot momentum boundary limiting system according to the present invention, wherein a driving head pushes a movable cover to move upwards;

FIG. 7 is a schematic perspective view of a first driving element of the momentum boundary limiting system of a computer-based industrial robot according to the present invention;

FIG. 8 is a schematic diagram of a partial perspective view of a second drive element of the momentum boundary limiting system of a computer-based industrial robot according to the present invention;

FIG. 9 is a schematic view of a partial perspective view of the outside of a rotating column of the momentum boundary limiting system of a computer-based industrial robot according to the present invention;

fig. 10 is a schematic perspective view of a limit sensing part of the momentum boundary limiting system of the computer-based industrial robot according to the present invention.

In the figure: 1. a robot host; 2. a control system; 3. a first drive element; 31. a first servo motor; 32. a connecting rod; 33. a drive head; 34. a connecting assembly; 341. a support housing; 342. a movable cover; 343. a bearing; 4. a second drive element; 41. a second servo motor; 42. a restraining post; 43. rotating the column; 44. a square block; 45. inserting a column; 46. a first drive gear; 47. a second drive gear; 48. a first outer bearing; 481. an outer tooth; 49. a second outer bearing; 410. a transmission member; 411. a drive post; 4111. a contact; 5. a limit sensing part; 51. fixing a column; 52. a transmission rod; 521. a driven tooth; 53. a first sensor; 54. a second sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a computer-based momentum boundary limiting system for an industrial robot comprises a robot main body 1 and a control system 2 arranged on the inner side of the robot main body 1, wherein a first driving element 3 is arranged at the lower end of the inner side of the robot main body 1, a second driving element 4 is arranged at the upper end of the driving end of the first driving element 3, the upper end of the second driving element 4 is fixedly connected with the robot main body 1, the middle part of the second driving element 4 is meshed with a limiting sensing part 5, the two limiting sensing parts 5 are arranged in parallel and oppositely, and two groups are arranged on the robot main body 1 in a crossed manner.

Referring to fig. 1-4, a computer-based industrial robot momentum boundary limiting system, a cargo is placed on a robot host 1, a first driving element 3 is started, so that a second driving element 4 can drive a limiting sensing part 5 to move, then the first driving element 3 is closed, when a signal transmitted by the limiting sensing part 5 can be infrared without barrier, a control system 2 controls the second driving element 4 to be closed, the limiting sensing part 5 is an optimal limiting sensing position of the cargo to be loaded, when the robot host 1 moves on a fixed line, when an obstacle exists on the fixed line due to an emergency, the limiting sensing part 5 senses the obstacle, the optimal spacing of the obstacle is limited to 5 cm, the control system 2 controls the robot host 1 to move laterally or transversely until the spacing between the limiting sensing part 5 and a front obstacle is larger than 5 cm, the robot host 1 continues to move ahead, can further guarantee that industrial robot can not bump into proruption barrier, can not lead to industrial robot mass to remove in disorder, improves industrial robot's stability in use.

Referring to fig. 5-7, a computer-based momentum boundary limiting system for an industrial robot, a first driving element 3 includes a first servo motor 31 and a connecting rod 32 disposed at a driving end of the first servo motor 31, a driving head 33 is disposed at another end of the connecting rod 32, the driving head 33 is elliptical in side view and disposed at an inner side of a connecting assembly 34, the connecting assembly 34 includes a supporting cap 341 and a movable cap 342 movably disposed at an upper end of the supporting cap 341, the driving head 33 is disposed at inner sides of the supporting cap 341 and the movable cap 342, a bearing 343 is disposed at an upper end of the movable cap 342, and an inner ring of the movable cap 342 is fixedly connected to a lower end of a second driving element 4.

Second drive element 4 includes second servo motor 41 and sets up the restriction post 42 at second servo motor 41 lower extreme, square groove has been seted up to restriction post 42's inboard, the fixed rotation post 43 that is provided with of inner ring of bearing 343, the upper end of rotating post 43 is provided with square groove assorted square piece 44, square piece 44's upper end is provided with inserts post 45, first servo motor 31 starts, it rotates to drive connecting rod 32, and then drive head 33 rotates, drive head 33 drives movable cover 342 rebound, and then drive and rotate post 43 upward movement, make square piece 44 and square groove phase-match, accomplish being connected of second servo motor 41 and rotation post 43.

Referring to fig. 8 and 10, a computer-based industrial robot momentum boundary limiting system, a first driving gear 46 and a second driving gear 47 are disposed outside a rotating column 43, a limiting sensing component 5 includes a fixed column 51 and a transmission rod 52 disposed outside the fixed column 51, a first sensor 53 is disposed on the upper side of the end of the transmission rod 52, a second sensor 54 is disposed on the end face of the transmission rod 52, the first sensor 53 and the second sensor 54 are both electrically connected with a control system 2, a driven tooth 521 meshed with the first driving gear 46 is further disposed outside the transmission rod 52, the rotating column 43 rotates to drive the first driving gear 46 to rotate, the first driving gear 46 is meshed with the driven tooth 521 to drive the transmission rod 52 to move outwards, so that fixed boundary limitation can be performed on goods with different widths without resetting.

Referring to fig. 9, in a computer-based momentum boundary limiting system for an industrial robot, a first outer bearing 48 and a second outer bearing 49 are further disposed on an outer side of a rotating column 43, inner rings of the first outer bearing 48 and the second outer bearing 49 are fixedly connected to the rotating column 43, outer rings of the first outer bearing 48 and the second outer bearing 49 are both provided with outer teeth 481, a transmission member 410 is disposed on an upper end of the rotating column 43, the other end of the rotating column 43 is fixedly connected to a transmission column 411 disposed on an upper end of the first outer bearing 48, a contact 4111 is disposed on one side of an upper end of the transmission column 411, the contact 4111 corresponds to a closed switch diagram of a robot main body 1 disposed inside the robot main body 1, when the robot main body 1 is in a transportation and moving state, a first servo motor 31 drives a driving head 33 to rotate again, so that a square block 44 is separated from a square groove, when a second sensor 54 is damaged or has insufficient induction, a transmission rod 52 is squeezed, and then drive the outer loop of first outer bearing 48 and rotate, and then drive post 411 and rotate, contact 4111 presses the switch that closes and closes robot host 1 this moment for robot host 1 moves in a pause, guarantees the freight safety of robot host 1, also makes other robot host 1 can not receive the interference, improves industrial robot's safety in utilization.

The invention provides another technical scheme that: an implementation method of a momentum boundary limiting system of an industrial robot based on a computer is provided, which comprises the following steps:

the method comprises the following steps: placing goods at the upper end of the robot host 1, starting the first servo motor 31 to drive the connecting rod 32 to rotate so as to drive the driving head 33 to rotate, driving the driving head 33 to drive the movable cover 342 to move upwards so as to drive the rotating column 43 to move upwards, so that the square block 44 is matched with the square groove, and the connection of the second servo motor 41 and the rotating column 43 is completed;

step two: the second servo motor 41 is started to drive the limiting column 42 to rotate, so that the rotating column 43 is rotated to drive the first driving gear 46 to rotate, the first driving gear 46 is meshed with the driven gear 521, and the transmission rod 52 is driven to move outwards, so that fixed boundary limitation can be performed on goods with different widths conveniently;

step three: when the robot host 1 is in a freight moving state, the first servo motor 31 drives the driving head 33 to rotate again, so that the square block 44 is separated from the square groove;

step four: when the robot host 1 moves on the fixed line and an obstacle exists on the fixed line due to an emergency, the sensing part 5 is limited from sensing the obstacle, the optimal distance between the obstacle is limited to 5 cm, the control system 2 controls the robot host 1 to move laterally or transversely at the moment, and the robot host 1 continues to move forwards until the distance between the sensing part 5 and the obstacle in front is limited to be larger than 5 cm, so that the industrial robot can be further prevented from colliding with the emergency obstacle;

step five: when the second sensor 54 is damaged or fails to sense the time, the transmission rod 52 is squeezed to drive the outer ring of the first outer bearing 48 to rotate, so as to drive the transmission column 411 to rotate, and the contact 4111 presses the closing switch to close the robot main unit 1, so that the robot main unit 1 is moved in a pause mode, the cargo transportation safety of the robot main unit 1 is guaranteed, and other robot main units 1 cannot be interfered.

In summary, the following steps: the invention relates to a computer-based industrial robot momentum boundary limiting system and a computer-based industrial robot momentum boundary limiting method, wherein goods are placed at the upper end of a robot host 1, a first driving element 3 is started, a second driving element 4 can drive a limiting sensing part 5 to move, then the first driving element 3 is closed, when a transmitted signal of the limiting sensing part 5 can be infrared ray without barrier, a control system 2 controls the second driving element 4 to be closed, the limiting sensing part 5 is the optimal limiting sensing position of the goods to be loaded, when the robot host 1 moves on a fixed line, when an obstacle exists on the fixed line due to an emergency, the limiting sensing part 5 senses the obstacle, the optimal spacing of the obstacle is limited to 5 cm, the control system 2 controls the robot host 1 to move laterally or transversely until the spacing between the limiting sensing part 5 and the obstacle in front is larger than 5, the robot main machine 1 continues to move forward, so that the industrial robot can be further ensured not to collide with sudden obstacles, the group movement disorder of the industrial robot can not be caused, the use stability of the industrial robot is improved, the first servo motor 31 is started to drive the connecting rod 32 to rotate, and further drive the driving head 33 to rotate, the driving head 33 drives the movable cover 342 to move upwards, and further drive the rotating column 43 to move upwards, so that the square block 44 is matched with the square groove, the connection between the second servo motor 41 and the rotating column 43 is completed, the second servo motor 41 is started to drive the rotating column 43 to rotate, and further drive the first driving gear 46 to rotate, the first driving gear 46 is meshed with the driven tooth 521, and further drive the transmission rod 52 to move outwards, so that the fixed boundary limitation on goods with different widths can be conveniently carried out, the resetting is not required, when the robot main machine 1 is in a goods moving state, first servo motor 31 drives drive head 33 and rotates once more, make square piece 44 break away from square inslot, when second sensor 54 takes place to destroy or the response is not in time, transfer line 52 receives the extrusion, and then drive the outer loop of first outer bearing 48 and rotate, and then drive transmission post 411 rotates, contact 4111 presses the switch of closing and closes robot host 1 this moment, make robot host 1 pause and remove, guarantee robot host 1's freight safety, also make other robot host 1 can not receive the interference, improve industrial robot's safety in utilization.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.