Rescue underwater robot in dangerous water area
阅读说明：本技术 一种危险水域救援水下机器人 (Rescue underwater robot in dangerous water area ) 是由 翁丹丽 于 2020-06-18 设计创作，主要内容包括：本发明涉及机器人技术领域,且公开了一种危险水域救援水下机器人,包括架体,所述架体的内侧固定安装有箱体,所述架体的两侧均固定安装有连接架,所述连接架上安装有推动螺旋桨,所述架体的一端转动连接有转动架,所述转动架的内侧前端固定安装有摄像头和两个照明灯,且两个照明灯位于摄像头的两侧,所述箱体的前端两侧均固定安装有机械臂,所述机械臂的一端固定安装有机械爪。该危险水域救援水下机器人,保证可以将被困人员身上的石头较为安全的移开,保证具有较佳的操作精准,可以方便的协助被困人员脱离,通过机器人所携带工具将水草进行清理,保证机器人在救援的过程中设置有防护设备进行防护处理,可以保证机器人在救援过程中的机动性。(The invention relates to the technical field of robots and discloses a rescue underwater robot in a dangerous water area, which comprises a frame body, wherein a box body is fixedly arranged on the inner side of the frame body, connecting frames are fixedly arranged on two sides of the frame body, a pushing propeller is arranged on each connecting frame, one end of the frame body is rotatably connected with a rotating frame, a camera and two illuminating lamps are fixedly arranged at the front end of the inner side of the rotating frame, the two illuminating lamps are positioned on two sides of the camera, mechanical arms are fixedly arranged on two sides of the front end of the box body, and a mechanical claw is fixedly arranged at one end of each mechanical arm. This dangerous waters rescue underwater robot guarantees can be stranded personnel on one's body the stone relatively safe remove, guarantees to have the operation of preferred accurate, and the stranded personnel of assistance that can be convenient break away from, clears up pasture and water through the instrument that the robot carried, guarantees that the robot is provided with protective equipment at the in-process of rescue and protects the processing, can guarantee the mobility of robot at the rescue in-process.)
1. The utility model provides a dangerous waters rescue underwater robot, includes support body (1), its characterized in that: the multifunctional fishing rack is characterized in that a box body (2) is fixedly arranged on the inner side of the rack body (1), connecting frames (3) are fixedly arranged on the two sides of the rack body (1), a pushing screw (4) is installed on each connecting frame (3), one end of the rack body (1) is rotatably connected with a rotating frame (6), a camera (7) and two illuminating lamps (8) are fixedly installed at the front end of the inner side of each rotating frame (6), the two illuminating lamps (8) are located on the two sides of the camera (7), mechanical arms (16) are fixedly installed on the two sides of the front end of the box body (2), mechanical claws (17) are fixedly installed at one ends of the mechanical arms (16), a tool box (18) is slidably installed in the middle of the front end of the box body (2), a connecting frame (21) is fixedly connected with the bottom end of the box body (2), and a protective ring, the equal fixed mounting in both ends of support body (1) has fifth mounting bracket (27), the bottom fixed mounting of fifth mounting bracket (27) has fourth pneumatic cylinder (28).
2. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: the nitrogen propeller is characterized in that nitrogen propellers (5) are fixedly mounted on two sides of the frame body (1), and the nitrogen propellers (5) are located below the whole propeller (4).
3. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: one end side of the rotating frame (6) is fixedly connected with a protection column (9), and the protection columns (9) are located on two sides of the camera (7).
4. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: the utility model discloses a safety protection box, including box (2), the top fixed mounting of box (2) has first mounting bracket (10), the inboard fixed mounting of first mounting bracket (10) has second mounting bracket (11), the inboard fixed mounting of second mounting bracket (11) has driving motor (12), the output fixedly connected with lift screw (14) of driving motor (12), the top fixed mounting of second mounting bracket (11) has third mounting bracket (13), the inboard fixed protection section of thick bamboo that has lift screw (14) of third mounting bracket (13).
5. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: the top of first mounting bracket (10) is through connecting plate fixedly connected with rope frame (15), and is connected with the rope body on rope frame (15).
6. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: arm (16) is including mount pad (161), first rotor arm (162), second rotor arm (163) and rotation piece (166), first rotor arm (162) rotate and install on mount pad (161), the other end of first rotor arm (162) rotates and is connected with second rotor arm (163), fixed mounting has first pneumatic cylinder (164) between second rotor arm (163) and mount pad (161), rotate piece (166) and rotate the other end of connecting at second rotor arm (163), fixed mounting has second pneumatic cylinder (165) between rotation piece (166) and second rotor arm (163).
7. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: the gripper (17) is including installed part (171), the both sides of installed part (171) are all rotated and are connected with rotation tooth (173), installed part (171) mid-mounting has third pneumatic cylinder (172), the output fixed connection of third pneumatic cylinder (172) is in the one end of rotating tooth (173).
8. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: the front end of the tool box (18) is provided with a plurality of notches (181), the middle part of the front end of the tool box (18) is fixedly provided with a movable handle (182), and scissors (19) and a knife (20) are placed in the tool box (18).
9. The rescue underwater robot for dangerous water areas as claimed in claim 1, wherein: a plurality of through holes (211) are formed in the bottom end of the interior of the connecting frame (21), and an inlet groove (212) is fixedly installed at one end of the connecting frame (21);
bottom fixedly connected with fourth mounting bracket (23) of linking frame (21), well fixed mounting of fourth mounting bracket (23) has oxygen supply jar (24), oxygen supply jar (25) are installed through the pipeline to the output of (24), oxygen supply mask (25) are located the inboard of linking frame (21), the bottom fixedly connected with protection casing (26) of linking frame (21), and protection casing (26) are located the outside of oxygen supply jar (24).
10. A hazardous water area rescue underwater robot as claimed in claim 1, further comprising: a status indicator and a controller, wherein the status indicator is connected to the controller,
the state indicator and the controller are respectively in wireless connection with the robot arm;
the state indicator is used for indicating the current working state of the robot arm and sending the current working state to the controller;
the controller sends a corresponding control instruction to the robot arm according to the current working state so as to control or adjust the current working state;
each lighting lamp of the two lighting lamps comprises a WIFI module, the WIFI module of each lighting lamp is in wireless connection with the controller, and the controller is used for controlling the working mode of each lighting lamp through the WIFI module of each lighting lamp, wherein the working mode comprises at least one of working time, working power, working color and color switching mode;
the two types of illumination lamps include: one or two types of infrared fill light lamps, proximity fill light lamps and white light lamps.
Technical Field
The invention relates to the technical field of robots, in particular to a rescue underwater robot in a dangerous water area.
Background
In the past underwater rescue work, factors such as a complex water area environment, rapid water flow and physical limitation of diving personnel all become search and rescue obstacles, a great safety risk exists even in the underwater area exceeding 30 m, a new technology is developed, a new hope is brought to underwater rescue, the underwater rescue robot can freely move in the underwater area through the remote of an intelligent control platform by carrying various search and detection sensors and search data in real time, after a target is determined, underwater search and rescue are carried out through carrying salvage and rescue mechanical arms, and a search and search ship is returned. The underwater rescue robot uses a high torque synchronous drive with a microprocessor controlled 3-segment intravenous power management system submersible jet motor, which is consistently made with high quality parts and special high grade paint only, and is therefore extremely robust and maintenance free. After the endurance test of 10000 hours of full load operation, the problem of reduced failure performance is completely avoided.
The underwater rescue robot is controlled by a remote upper computer on a ship or on the shore through working personnel, can quickly and efficiently tour or directly reach a target area based on propeller propulsion, detects vital signs through vision and other sensing, uploads information in real time, and improves the efficiency and reliability of underwater rescue. Aiming at the rescue work requirement of dangerous water areas.
The rescue robot in the dangerous water area used at present has certain defects, stones pressed on the body of a trapped person can not be safely removed, better operation accuracy cannot be guaranteed, the operation efficiency is low, the trapped person is provided with an oxygen tank and is wound by aquatic plants, and when the robot is not convenient to move, the aquatic plants cannot be cleaned through tools carried by the robot, the trapped person can not escape conveniently, the robot can be attacked by aquatic animals in the dangerous water area.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a dangerous water area rescue underwater robot, which solves the problems that the existing dangerous water area rescue robot has certain defects, stones pressed on trapped people cannot be safely removed from the water, better operation accuracy cannot be ensured, the operation efficiency is low, the trapped people with an oxygen tank are wound by waterweeds and are inconvenient to move, the waterweeds can not be cleaned by the tool carried by the robot, the trapped people can not escape conveniently, the robot can be attacked by animals in the water in dangerous water areas, the robot is not provided with protective equipment for protection in the rescue process, therefore, trapped people are attacked after being separated, the robot is trapped in silt in the rescue process and cannot be separated by the propeller of the robot, and the problem that the robot is trapped is caused.
In order to realize the above-mentioned assurance can be with stranded personnel on one's body stone relatively safe take away, guarantee to have the operation of preferred accurate, operating efficiency is higher, can be convenient help stranded personnel to break away from, clear up pasture and water through the instrument that the robot carries, the stranded personnel of being convenient for flee, guarantee that the robot is provided with protective equipment in the in-process of rescuing and protects and handles, avoid the stranded personnel to receive the attack after breaking away from, guarantee that the robot can not produce the condition of being stranded in the aquatic, can guarantee the mobility purpose of robot in the rescue process, the invention provides the following technical scheme: the utility model provides a dangerous waters rescue underwater robot, includes the support body, the inboard fixed mounting of support body has the box, the equal fixed mounting in both sides of support body has the link, install the promotion screw on the link, the one end of support body is rotated and is connected with the rotating turret, the inboard front end fixed mounting of rotating turret has camera and two lights, and two lights are located the both sides of camera, the equal fixed mounting in front end both sides of box has the arm, the one end fixed mounting of arm has the gripper, the front end middle part slidable mounting of box has the toolbox, the bottom fixedly connected with linking frame of box, linking frame's lateral wall fixedly connected with guard ring, the equal fixed mounting in both ends of support body has the fifth mounting bracket, the bottom fixed mounting of fifth mounting bracket has the fourth pneumatic cylinder.
Preferably, nitrogen thrusters are fixedly mounted on two sides of the frame body and located below the whole propeller.
Preferably, one end side of the rotating frame is fixedly connected with a protection column, and the protection columns are located on two sides of the camera.
Preferably, a first mounting frame is fixedly mounted at the top end of the box body, a second mounting frame is fixedly mounted on the inner side of the first mounting frame, a driving motor is fixedly mounted on the inner side of the second mounting frame, a lifting propeller is fixedly connected to the output end of the driving motor, a third mounting frame is fixedly mounted at the top end of the second mounting frame, and a protective cylinder with the lifting propeller is fixed on the inner side of the third mounting frame.
Preferably, the top end of the first mounting frame is fixedly connected with a rope connecting frame through a connecting plate, and a rope body is connected to the rope connecting frame.
Preferably, the arm is including mount pad, first rotor arm, second rotor arm and rotation piece, first rotor arm rotates and installs on the mount pad, the other end of first rotor arm rotates and is connected with the second rotor arm, fixed mounting has first pneumatic cylinder between second rotor arm and the mount pad, rotate the other end of connecting at the second rotor arm, fixed mounting has the second pneumatic cylinder between rotation piece and the second rotor arm.
Preferably, the gripper is including the installed part, the both sides of installed part are all rotated and are connected with the rotation tooth, installed part mid-mounting has the third pneumatic cylinder, the output fixed connection of third pneumatic cylinder is in the one end of rotating the tooth.
Preferably, a plurality of notches are formed in the front end of the tool box, a movable handle is fixedly mounted in the middle of the front end of the tool box, and scissors and a knife are placed in the tool box.
Preferably, a plurality of through holes are formed in the bottom end of the inner portion of the connecting frame, and an inlet groove is fixedly installed at one end of the connecting frame.
Preferably, the bottom fixedly connected with fourth mounting bracket of linking frame, well fixed mounting of fourth mounting bracket has the oxygen supply jar, the output of oxygen supply jar has the oxygen suppliment face guard through the pipe installation, the oxygen suppliment face guard is located linking frame's inboard, linking frame's bottom fixedly connected with protection casing, and the protection casing is located the outside of oxygen supply jar.
Preferably, the robot further comprises: a status indicator and a controller, wherein the status indicator is connected to the controller,
the state indicator and the controller are respectively in wireless connection with the robot arm;
the state indicator is used for indicating the current working state of the robot arm and sending the current working state to the controller;
the controller sends a corresponding control instruction to the robot arm according to the current working state so as to control or adjust the current working state;
each lighting lamp of the two lighting lamps comprises a WIFI module, the WIFI module of each lighting lamp is in wireless connection with the controller, and the controller is used for controlling the working mode of each lighting lamp through the WIFI module of each lighting lamp, wherein the working mode comprises at least one of working time, working power, working color and color switching mode;
the two types of illumination lamps include: one or two types of infrared fill light lamps, proximity fill light lamps and white light lamps.
Compared with the prior art, the invention provides a rescue underwater robot in a dangerous water area, which has the following beneficial effects:
1. this dangerous waters rescue underwater robot, when the robot discovery stranded personnel is pushed down the unable bullet by the stone, can drive the second rotor arm through first pneumatic cylinder and swing, then drive through the second pneumatic cylinder and rotate the piece and swing, thereby adjust the position, then utilize the third pneumatic cylinder to drive the one end of rotating the tooth and remove, thereby can reach and open and closed purpose with rotating the tooth, thereby can be comparatively accurate with the cover removal of pressing on one's body of stranded personnel, guarantee can be with the stranded personnel stone on one's body relatively safe the puting aside, the operation accuracy of preferred is guaranteed to have, operating efficiency is higher.
2. This dangerous waters rescue underwater robot, stranded personnel are twined by pasture and water and lead to when can not breaking away from, can pull out the toolbox through removing the handle to take out instrument scissors and knife, the stranded personnel of assistance that can be convenient break away from the predicament, clear up pasture and water through the instrument that the robot carried, the stranded personnel of being convenient for flee.
3. This dangerous waters rescue underwater robot, stranded personnel can get into the inside rest that carries on of connection frame through the entrance slot after breaking away from the predicament, through the oxygen supply jar for stranded personnel oxygen suppliment through the oxygen suppliment face guard, stranded personnel hide simultaneously and also can prevent the danger that the aquatic animal attacked in connection frame, guarantee that the robot is provided with protective equipment at the in-process of rescue and protects the processing, avoid stranded personnel to receive the attack after breaking away from.
4. This dangerous waters rescue underwater robot through driving nitrogen gas propeller and can driving this robot and arrive fast after seeking stranded personnel, also can break away from through nitrogen gas propeller when the robot is stranded by silt, guarantees that the robot can not produce the condition of stranded in aqueous, can guarantee the mobility of robot at the rescue in-process.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the structure of the present invention;
FIG. 3 is a schematic structural view of a structural turret according to the present invention;
FIG. 4 is a schematic view of a robot arm and gripper mounting arrangement according to the present invention;
FIG. 5 is a schematic view of the structure of the present invention;
FIG. 6 is a schematic structural diagram of the structural connection frame of the present invention.
In the figure: 1. a frame body; 2. a box body; 3. a connecting frame; 4. pushing the propeller; 5. a nitrogen gas propeller; 6. a rotating frame; 7. a camera; 8. an illuminating lamp; 9. a protective column; 10. a first mounting bracket; 11. a second mounting bracket; 12. a drive motor; 13. a third mounting bracket; 14. lifting the propeller; 15. a rope connecting frame; 16. a mechanical arm; 161. a mounting seat; 162. a first rotation arm; 163. a second rotating arm; 164. a first hydraulic cylinder; 165. a second hydraulic cylinder; 166. a rotating member; 17. a gripper; 171. a mounting member; 172. a third hydraulic cylinder; 173. rotating the teeth; 18. a tool box; 181. a notch; 182. moving the handle; 19. scissors; 20. a knife; 21. a connecting frame; 211. a through hole; 212. an inlet tank; 22. a guard ring; 23. a fourth mounting bracket; 24. an oxygen supply tank; 25. an oxygen supply mask; 26. a protective cover; 27. a fifth mounting bracket; 28. and a fourth hydraulic cylinder.
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. 1-6, a rescue underwater robot in a dangerous water area comprises a
Guarantee that this robot has the operation of preferred accurate, operating efficiency is higher, the stranded personnel of assistance that can be convenient break away from, clear up pasture and water through the instrument that the robot carried, the stranded personnel of being convenient for flee, guarantee that the robot is provided with protective equipment at the in-process of rescue and protects the processing, avoid the stranded personnel to receive the attack after breaking away from, guarantee that the robot can not produce the condition of stranded in aqueous, can guarantee the mobility of robot at the rescue in-process.
The two sides of the frame body 1 are both fixedly provided with nitrogen propellers 5, and the nitrogen propellers 5 are positioned below the whole pushing propeller 4; one side edge of one end of the rotating frame 6 is fixedly connected with a protective column 9, and the protective columns 9 are positioned at two sides of the camera 7; a first mounting frame 10 is fixedly mounted at the top end of the box body 2, a second mounting frame 11 is fixedly mounted on the inner side of the first mounting frame 10, a driving motor 12 is fixedly mounted on the inner side of the second mounting frame 11, an output end of the driving motor 12 is fixedly connected with a lifting propeller 14, a third mounting frame 13 is fixedly mounted at the top end of the second mounting frame 11, and a protective cylinder with the lifting propeller 14 is fixed on the inner side of the third mounting frame 13; the top end of the first mounting frame 10 is fixedly connected with a rope connecting frame 15 through a connecting plate, and a rope body is connected to the rope connecting frame 15; the mechanical arm 16 comprises an installation base 161, a first rotating arm 162, a second rotating arm 163 and a rotating part 166, wherein the first rotating arm 162 is rotatably installed on the installation base 161, the other end of the first rotating arm 162 is rotatably connected with the second rotating arm 163, a first hydraulic cylinder 164 is fixedly installed between the second rotating arm 163 and the installation base 161, the rotating part 166 is rotatably connected with the other end of the second rotating arm 163, and a second hydraulic cylinder 165 is fixedly installed between the rotating part 166 and the second rotating arm 163; the mechanical claw 17 comprises a mounting part 171, both sides of the mounting part 171 are rotatably connected with rotating teeth 173, a third hydraulic cylinder 172 is mounted in the middle of the mounting part 171, and the output end of the third hydraulic cylinder 172 is fixedly connected to one end of the rotating teeth 173; the front end of the tool box 18 is provided with a plurality of notches 181, the middle part of the front end of the tool box 18 is fixedly provided with a movable handle 182, and scissors 19 and a knife 20 are arranged in the tool box 18; the bottom end inside the connecting frame 21 is provided with a plurality of through holes 211, and one end of the connecting frame 21 is fixedly provided with an inlet groove 212; connecting frame 21's bottom fixedly connected with fourth mounting bracket 23, the well fixed mounting of fourth mounting bracket 23 has oxygen supply jar 24, and there is oxygen supply mask 25 at the output of oxygen supply jar 24 through the pipe mounting, and oxygen supply mask 25 is located connecting frame 21's inboard, connecting frame 21's bottom fixedly connected with protection casing 26, and protection casing 26 is located oxygen supply jar 24's the outside.
When the robot works, firstly, the rope body is arranged on the rope connecting frame 15, then the robot is put into water, the lifting screw propeller 14 is driven by the driving motor 12 to dive, then the external motor is used for driving the pushing screw propeller 4 to rotate, the robot can be driven to move by pushing the screw propeller 4, the situation in water can be known by irradiating in water through the camera 7 by the illuminating lamp 8, when the robot finds that a trapped person is pressed by a stone and can not move, the second rotating arm 163 can be driven to swing through the first hydraulic cylinder 164, then the rotating part 166 is driven to swing through the second hydraulic cylinder 165 so as to adjust the direction, then the third hydraulic cylinder 172 is used for driving one end of the rotating tooth 173 to move, so that the purposes of opening and closing the rotating tooth 173 can be achieved, and the pressed covering on the trapped person can be removed more accurately, when stranded personnel twine by pasture and water and lead to can not breaking away from, can pull out toolbox 18 through removing handle 182, thereby take out instrument scissors 19 and knife 20, can be convenient help stranded personnel break away from the predicament, stranded personnel can get into inside the linking frame 21 through entrance slot 212 and take a rest after breaking away from the predicament, supply oxygen for stranded personnel through oxygen supply tank 24 through oxygen supply face guard 25, stranded personnel hide in linking frame 21 also can prevent the danger of aquatic animal attack simultaneously, can drive this robot through driving nitrogen gas propeller 5 and catch up fast after finding stranded personnel, also can break away from through nitrogen gas propeller 5 when stranded by the silt of robot, guarantee that the robot can not produce the condition of being stranded in water, can guarantee the mobility of robot in rescue in-process.
In conclusion, the robot can be driven to arrive quickly after a trapped person is found by driving the nitrogen thruster 5, and can also be separated by the nitrogen thruster 5 when the robot is trapped by silt, the camera 7 can be protected by the protection column 9, so as to prevent larger stones from impacting the lens, the lifting screw 14 can be driven to rotate by the driving motor 12, so as to drive the robot to sink and float in water, the protection cylinder of the lifting screw 14 is fixed by the third mounting frame 13, so as to ensure the stability of the lifting screw 14 in the operation process, the underwater robot can be assisted to float to the water surface by installing the rope body on the rope receiving frame 15, the second rotating arm 163 is driven to swing by the first hydraulic cylinder 164, and then the rotating piece 166 is driven to swing by the second hydraulic cylinder 165, so as to adjust the direction, then utilize third pneumatic cylinder 172 to drive the one end of rotating tooth 173 and remove, thereby can reach and rotate tooth 173 and open and closed purpose, stranded personnel can get into the inside rest that connects frame 21 through entry groove 212 after breaking away from the predicament, supply oxygen for stranded personnel oxygen suppliment through oxygen supply jar 24 through oxygen mask 25, stranded personnel hide in connecting frame 21 also can prevent the danger of being attacked by aquatic animal simultaneously, can pull out toolbox 18 through removing handle 182, thereby take out instrument scissors 19 and knife 20, can be convenient help stranded personnel break away from the predicament, can conveniently shift out connecting frame 21 from the aquatic through a plurality of through-hole 211.
Preferably, the robot further comprises: a status indicator and a controller, wherein the status indicator is connected to the controller,
the state indicator and the controller are respectively in wireless connection with the robot arm;
the state indicator is used for indicating the current working state of the robot arm and sending the current working state to the controller;
the controller sends a corresponding control instruction to the robot arm according to the current working state so as to control or adjust the current working state;
each lighting lamp of the two lighting lamps comprises a WIFI module, the WIFI module of each lighting lamp is in wireless connection with the controller, and the controller is used for controlling the working mode of each lighting lamp through the WIFI module of each lighting lamp, wherein the working mode comprises at least one of working time, working power, working color and color switching mode;
the two types of illumination lamps include: one or two types of infrared fill light lamps, proximity fill light lamps and white light lamps.
Through the status indicator lamp and the controller in the embodiment, the current working state of the robot arm can be accurately indicated by the status indicator lamp so as to prompt workers in time, and meanwhile, the current working state can be sent to the controller so as to control or adjust the current working state of the robot arm in time, so that the robot arm is ensured to work safely and is kept in an optimal working state in real time; and through setting up the WIFI module for the light, make the light realize the WIFI online, reduce WIFI signal dead angle, the coverage of increase WIFI signal also is favorable to improving the control efficiency to the light, be favorable to carrying out the illumination under water better, in addition, the type of two lights also can be same or a plurality of, can send different power when the illumination like this, it is suitable to guarantee near the light of robot, and then improve the robot and shoot the effect under water, this also is favorable to in time, carry out rescue under water fast.
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.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：一种用于海上安保的设备