阅读说明：本技术 一种轮足式移动式机器人的高适应性行走机构 (High-adaptability walking mechanism of wheel-foot type mobile robot ) 是由 丛佩超 张欣 冯新杰 刘俊杰 李健 高学山 于 2020-05-29 设计创作，主要内容包括：本发明公开了一种新型的轮足式移动式机器人的高适应性行走机构,包括底座、平动连杆、从动曲柄、第一传动曲柄、第一传动曲柄外伸连杆、第二传动曲柄、第二传动曲柄外伸连杆、三角平动连杆、驱动轮,其使用更少的电机控制,可实现更多的功能,同时机构采用平行四边型连杆机构,这不仅能提高底盘,满足驱动轮动力动力实时传递的同时,驱动电机布置方便,更有利于较大功率动力的远程传动。(The invention discloses a novel high-adaptability walking mechanism of a wheel-foot type mobile robot, which comprises a base, a translation connecting rod, a driven crank, a first transmission crank overhanging connecting rod, a second transmission crank overhanging connecting rod, a triangular translation connecting rod and a driving wheel.)

1. A high-adaptability walking mechanism of a wheel-foot type mobile robot is characterized by comprising a base, a translation connecting rod, a driven crank, a first transmission crank extending out connecting rod, a second transmission crank extending out connecting rod, a triangular translation connecting rod and a driving wheel, wherein a stepping motor, a direct current motor and a plurality of bearing seats are installed on the base; a crawling end pinion is connected to an output shaft of the direct current motor, a gearbox shaft is further mounted on the base, one end of the gearbox shaft is connected with a crawling end gearwheel, the other end of the gearbox shaft penetrates through a bearing arranged on a bearing block to be connected with a first transmission crank, and the crawling end pinion is meshed with the crawling end gearwheel; the first transmission crank penetrates through a bearing arranged on the translational connecting rod and is connected with the first transmission crank extending out connecting rod; one end of the second transmission crank is connected with the bearing seat, the other end of the second transmission crank penetrates through a bearing arranged on the translational connecting rod and is connected with a second transmission crank extending connecting rod, the first transmission crank extending connecting rod and the second transmission crank extending connecting rod are both connected with a triangular translational connecting rod, and a driven wheel is arranged at the lower end of the triangular translational connecting rod; the output shaft of the stepping motor is connected with a drive end pinion, the translational connecting rod is further provided with a drive end shaft, one end of the drive end shaft is connected with a drive end gearwheel, the other end of the drive end shaft penetrates through the translational connecting rod and is connected with a small belt wheel, the drive wheel is installed at the rear lower end of the translational connecting rod, a drive wheel shaft of the drive wheel penetrates through the translational connecting rod and is connected with a large belt wheel, the small belt wheel is connected with the large belt wheel through a synchronous belt, and the drive end pinion is meshed with the drive end.

2. The high-adaptability walking mechanism of the wheel-foot type mobile robot according to claim 1, wherein bearings are arranged on the driving end shaft and the driving wheel shaft of the driving wheel, and the driving end shaft and the driving wheel shaft are mounted on the translational connecting rod through the bearings.

3. The high-adaptability traveling mechanism of the wheel-foot type mobile robot according to claim 1, wherein the center distance between the connecting positions at the two ends of the transmission crank is equal to the center distance between the connecting positions at the two ends of the driven crank, and the center distance between the connecting positions at the two ends of the transmission crank is equal to the distance from the center of the large gear at the driving end to the center of the small gear at the driving end; the center distance of the connecting positions at the two ends of the overhanging connecting rod of the transmission crank is twice of the center distance of the connecting positions at the two ends of the transmission crank.

4. The high-adaptability walking mechanism of wheeled mobile robot in claim 1, 2 or 3, wherein the structure of the translational connecting rod is similar to a truss structure.

5. The high-adaptability walking mechanism of the wheel-foot mobile robot as claimed in claim 1, 2 or 3, wherein the first transmission crank is connected with the first transmission crank extending connecting rod, and the second transmission crank is connected with the second transmission crank extending connecting rod, so as to form a device similar to a crankshaft.

6. The high-adaptability walking mechanism of the wheel-foot type mobile robot according to claim 1, 2 or 3, wherein the first transmission crank overhanging connecting rod and the second transmission crank overhanging connecting rod are connected with the triangular translation connecting rod in a plug screw and nut connection mode; and the second transmission crank, the driven crank and the bearing seat are connected in a connection mode of screwing a screw and a nut.

7. The high-adaptability walking mechanism of wheeled mobile robot in claim 6, wherein the screw is a ramming screw.

8. The high-adaptability traveling mechanism of a wheeled mobile robot according to claim 1, 2 or 3, wherein a reinforcing rib is provided under the base; and reinforcing ribs are arranged on the driven crank, the first transmission crank extending connecting rod, the second transmission crank and the second transmission crank extending connecting rod.

9. The high-adaptability walking mechanism of the wheeled-foot mobile robot as claimed in claim 1, 2 or 3, wherein the output shaft of the DC motor is connected with the crawling end pinion by using an expansion ring; and an output shaft of the stepping motor is connected with the drive end pinion by adopting an expansion ring.

Technical Field

The invention relates to the technical field of mobile robots, in particular to a high-adaptability walking mechanism of a wheel-foot type mobile robot.

Background

The traveling mechanisms of the mobile robots are divided into four categories, namely wheel type, foot type, crawler type and hybrid type, and the wheel type still occupies a large market of the traveling mechanisms of the robots due to the advantages of low cost, simple structure, easiness in operation and the like at present. Crawler-type and foot-type are often found in the context of various special tasks due to their advantage of high adaptability to terrain. The hybrid type is a novel mobile walking mechanism designed by mixing the advantages of wheel type, foot type and crawler type, the mechanism has strong functions generally, but the control and structure are complex, and the hybrid type walking mechanism is gradually becoming the mainstream research direction of the high-adaptability robot walking mechanism at present.

Different from a common wheel type walking mechanism, the mixed walking terrain is mostly complex road conditions of non-flat ground and non-slope, such as mountainous regions, swamps, broken stones, stairs and the like, and the development of a mobile robot in the future can not be limited to the common road surfaces of the flat ground and the slope. With the development of mobile communication 5G and artificial intelligence, one of the difficulties of mobile robots is: the part of trajectory planning and navigation positioning can be well solved, and under the coordination of positioning with a powerful background control algorithm and some sensors, the range of the motion trajectory of the mobile robot can be greatly leaped, and the mobile robot is not limited to the motion of a single place any more, for example, the food delivery robot does not appear in a restaurant any more, and can directly appear at a door of the house. Therefore, in summary, the highly adaptive traveling mechanism of the mobile robot will have a large development space in the future, and the requirements for the highly adaptive traveling mechanism of the mobile robot are more and more abundant and strict.

In recent decades, highly adaptable traveling mechanisms have become more and more diverse, and can be classified into the following categories according to their mechanism components:

the first is a high-adaptability walking mechanism based on a crawler type with single crawler type, double crawler type or multiple crawler type. For example, a single-track fire-fighting robot applied to a fire scene or a multi-track rescue robot with good self-adaptive capacity in desert and marsh environment.

The second type is a wheel-track transformation (composite) type high-adaptability walking mechanism mainly comprising a deformation wheel structure. The structure is characterized in that the wheel-track structure is changed, and the form of wheels with different functions is used to make the mechanism aim at two or more terrains in different environments, thereby achieving certain adaptability.

The third is a wheel-foot/wheel-leg type high-adaptability walking mechanism. The type of the wheel leg mechanism is different in the aimed terrains and complex in structure according to the structure of the wheel leg portion, and the connecting rod mechanism is light in weight compared with the high-adaptability traveling mechanism of the same type and is also commonly used in various special work occasions such as lunar vehicles, mars, crossing robots and the like.

Compared with a crawler-type based high-adaptability travelling mechanism on the market, the wheel-foot type travelling mechanism is lighter in weight and more flexible. Compared with a wheel-track transformation (composite) type high-adaptability travelling mechanism mainly adopting a deformed wheel structure, the wheel-foot type travelling mechanism has higher adaptability to the terrain and stronger universality. However, the existing wheel-foot type walking mechanism (as shown in fig. 17) can only place a motor beside the wheel as a drive because of the relative complexity of the motion track of the connecting rod. The number of motors required is large and the arrangement is inconvenient.

Disclosure of Invention

In view of the above, the technical problem to be solved by the present invention is to provide a novel high-adaptability traveling mechanism of a wheel-foot mobile robot, which uses less motor control and can realize more functions, and meanwhile, the mechanism adopts a parallel four-sided link mechanism, which not only can improve a chassis, meet the requirement of real-time transmission of driving wheel power, but also is convenient for arrangement of a driving motor, and is more beneficial to remote transmission of larger power.

The invention adopts the specific technical scheme that:

a high-adaptability walking mechanism of a wheel-foot type mobile robot comprises a base, a translation connecting rod, a driven crank, a first transmission crank overhanging connecting rod, a second transmission crank overhanging connecting rod, a triangular translation connecting rod and a driving wheel, wherein a stepping motor, a direct current motor and a plurality of bearing seats are installed on the base; a crawling end pinion is connected to an output shaft of the direct current motor, a gearbox shaft is further mounted on the base, one end of the gearbox shaft is connected with a crawling end gearwheel, the other end of the gearbox shaft penetrates through a bearing arranged on a bearing block to be connected with a first transmission crank, and the crawling end pinion is meshed with the crawling end gearwheel; the first transmission crank penetrates through a bearing arranged on the translational connecting rod and is connected with the first transmission crank extending out connecting rod; one end of the second transmission crank is connected with the bearing seat, the other end of the second transmission crank penetrates through a bearing arranged on the translational connecting rod and is connected with a second transmission crank extending connecting rod, the first transmission crank extending connecting rod and the second transmission crank extending connecting rod are both connected with a triangular translational connecting rod, and a driven wheel is arranged at the lower end of the triangular translational connecting rod; the output shaft of the stepping motor is connected with a drive end pinion, the translational connecting rod is further provided with a drive end shaft, one end of the drive end shaft is connected with a drive end gearwheel, the other end of the drive end shaft penetrates through the translational connecting rod and is connected with a small belt wheel, the drive wheel is installed at the rear lower end of the translational connecting rod, a drive wheel shaft of the drive wheel penetrates through the translational connecting rod and is connected with a large belt wheel, the small belt wheel is connected with the large belt wheel through a synchronous belt, and the drive end pinion is meshed with the drive end.

Preferably, the driving end shaft and the driving wheel shaft of the driving wheel are provided with bearings and are mounted on the translational connecting rod through the bearings.

Preferably, the center distance between the connecting positions at the two ends of the transmission crank is equal to the center distance between the connecting positions at the two ends of the driven crank, and the center distance between the connecting positions at the two ends of the transmission crank is equal to the distance from the center of the large gear at the driving end to the center of the small gear at the driving end; the center distance of the connecting positions at the two ends of the overhanging connecting rod of the transmission crank is twice of the center distance of the connecting positions at the two ends of the transmission crank. On the basis, the driven crank, the translational connecting rod, the base and the first transmission crank are combined into a second parallelogram mechanism. And on the basis, the translational connecting rod, the first transmission crank extending connecting rod, the second transmission crank extending connecting rod and the triangular translational connecting rod are combined into a third parallelogram mechanism.

Preferably, the translational linkage is similar in structure to the truss structure.

Preferably, the first transmission crank is connected to a first transmission crank extension link, the same second transmission crank is connected to a second transmission crank extension link, relative rotation is limited by means of a key connection, and axial displacement is limited by means of a bushing, so that a device similar to a crankshaft is formed.

Preferably, the first transmission crank overhanging connecting rod, the second transmission crank overhanging connecting rod and the triangular translation connecting rod are connected in a plug screw and nut connection mode; and the second transmission crank, the driven crank and the bearing seat are connected in a connection mode of screwing a screw and a nut.

More preferably, the screw is a ramming screw.

Preferably, a reinforcing rib is arranged below the base; and reinforcing ribs are arranged on the driven crank, the first transmission crank extending connecting rod, the second transmission crank and the second transmission crank extending connecting rod.

Preferably, an output shaft of the direct current motor is connected with a crawling end pinion by adopting an expansion ring; and an output shaft of the stepping motor is connected with the drive end pinion by adopting an expansion ring.

The invention has the beneficial effects that:

firstly, the method comprises the following steps: the invention has simple structure, and compared with the prior walking mechanism, the mechanism has the characteristic of low energy consumption by using a wheel-foot type middle wheel type, and can greatly reduce the energy consumption of the common movement of the flat ground. Compared with a common wheel-foot type walking mechanism, the mechanism has the advantages that the number of motors used is small, the cost can be saved, and meanwhile, the control is simpler.

Secondly, the method comprises the following steps: the design of a multi-parallelogram link mechanism in space enables the walking mechanism to have a higher chassis, and simultaneously has great advantages compared with the structure that the driving motor of the existing wheel-foot type mechanism directly drives the wheels. The common wheel-foot type mechanism is directly driven by a common motor, the motor is limited in selection, the driving power is small, the arrangement of the driving motor is difficult, and the transmission design of the walking mechanism is favorable for the transmission of high-power.

Thirdly, the method comprises the following steps: the posture and the gravity center of the mechanism can be controlled by controlling the parallelogram link mechanism, so that the mechanism has larger adaptability to the terrain.

Fourthly: the movement of the linkage through the control mechanism can traverse terrain in which most human cities live, including stairs, plateaus, and the like. And the obstacle-crossing capability of the mechanism in a crossing mode is stronger than that of most walking mechanisms in the market.

Drawings

FIG. 1 is a schematic structural diagram of a high-adaptability walking mechanism;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a schematic structural view of a translation link;

FIG. 5 is a schematic view of the structure of the driven crank;

FIG. 6 is a schematic view of the structure of the drive crank;

FIG. 7 is a schematic view of the structure of the drive crank extending link;

FIG. 8 is a schematic structural diagram of a triangular translation link;

FIG. 9 is a schematic view of the construction of the gearbox shaft;

FIG. 10 is a schematic view of the construction of the drive end shaft;

FIG. 11 is a schematic view of the construction of the drive axle of the drive wheel;

FIG. 12 is an illustration of the quadrant angle of the drive crank;

FIG. 13 is a schematic view of the parallelogram mechanism in four-wheel drive mode;

FIG. 14 is a structural view of a high-adaptability walking mechanism in a crawling obstacle crossing mode;

FIG. 15 is a schematic diagram of the crawling of the high-adaptability walking mechanism in the crawling obstacle crossing mode;

FIG. 16 is an obstacle crossing illustration of the high-adaptability walking mechanism in the crossing mode;

FIG. 17 is a prior art wheel-foot type walking mechanism;

in the figure: 1. a driven crank; 2. a bearing support; 3. a direct current motor; 4. a crawling end pinion; 5. a crawling end gearwheel; 61. a first drive crank extending outwardly; 62. a second drive crank extending outwardly; 71. a first drive crank; 72. a second drive crank; 8. a triangular translational connecting rod; 9. a driving end gearwheel; 10. a drive end pinion; 11. a universal wheel; 12. a translational connecting rod; 13. a driven wheel; 14. a small belt pulley; 15. a drive wheel; 16. a large belt pulley; 17. a stepping motor; 18. a base.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1-3, the present embodiment discloses a high-adaptability walking mechanism for a wheel-foot mobile robot, including a base 18, a translation connecting rod 12 (fig. 4, the structure of the translation connecting rod is similar to a quilting frame structure), a driven crank 1 (fig. 5), a first transmission crank 71 (fig. 6), a first transmission crank overhanging connecting rod 61 (fig. 7), a second transmission crank 72 (fig. 6), a second transmission crank overhanging connecting rod 62 (fig. 7), a triangular translation connecting rod 8 (fig. 8), and a driving wheel 15, wherein a stepping motor 17, a dc motor 3, and a plurality of bearing seats are installed on the base 18, a universal wheel 11 (adopting the existing connection manner, which is not described in detail in the present embodiment) is installed at the front lower end of the translation connecting rod 12, a plurality of bearings are installed on the translation connecting rod 12, one end of the driven crank 1 is connected with the bearing seats by a plug screw and nut connection manner, the other end of the connecting rod passes through a bearing arranged on the translational connecting rod 12 and is connected with the translational connecting rod 12 (the shaft is limited by an elastic retainer ring); an output shaft of the direct current motor 3 is connected with a crawling end pinion 4, the output shaft of the direct current motor 3 is connected with the crawling end pinion 4 through an expansion ring, a gearbox shaft (shown in figure 9) is further mounted on the base 18, one end of the gearbox shaft is connected with a crawling end gearwheel 5, the other end of the gearbox shaft penetrates through a bearing arranged on a bearing seat and is connected with a first transmission crank 71, and the crawling end pinion 4 is meshed with the crawling end gearwheel 5; the first transmission crank 71 penetrates through a bearing arranged on the translational connecting rod 12 and is connected with the first transmission crank extending out connecting rod 61; one end of the second transmission crank 72 is connected with the bearing seat, the other end of the second transmission crank passes through a bearing arranged on the translational connecting rod 12 and is connected with the second transmission crank extending connecting rod 62, the first transmission crank extending connecting rod 61 and the second transmission crank extending connecting rod 62 are both connected with the triangular translational connecting rod 8 (connected by adopting a plug screw and nut connection mode), and a driven wheel is arranged at the lower end of the triangular translational connecting rod 8 (the existing connection mode is adopted, and detailed description is omitted in the embodiment); the output shaft of the stepping motor 17 is connected with a drive end pinion 10, the output shaft of the stepping motor 17 is connected with the drive end pinion 10 by adopting an expansion ring, the translational connecting rod 12 is also provided with a driving end shaft (figure 10), the driving end shaft is provided with a bearing and is arranged on the translational connecting rod 12 through the bearing, one end of the driving end shaft is connected with a driving end large gear 9, the other end of the driving end shaft passes through a translational connecting rod 12 and is connected with a small belt wheel 14, the driving wheel 15 is arranged at the rear lower end of the translational connecting rod 12, a driving wheel shaft of the driving wheel 15 passes through the translational connecting rod 12 and is connected with a large belt wheel 16, a bearing is arranged on the driving wheel shaft (figure 11) of the driving wheel 15 and is arranged on the translational connecting rod 12 through the bearing, the small belt wheel 14 is connected with the large belt wheel 16 through a synchronous belt, and the driving end small gear 10 is meshed with the driving end large gear 9.

In the embodiment, the center distance between the connecting positions at the two ends of the transmission crank is equal to the center distance between the connecting positions at the two ends of the driven crank 1, and the center distance between the connecting positions at the two ends of the transmission crank is equal to the distance from the center of the large gear 9 at the driving end to the center of the small gear 10 at the driving end; the center distance of the connecting positions at the two ends of the overhanging connecting rod of the transmission crank is twice of the center distance of the connecting positions at the two ends of the transmission crank. The base, the first transmission crank, the second transmission crank and the translational connecting rod are combined into a parallelogram mechanism. On the basis, the driven crank, the translational connecting rod, the base and the first transmission crank are combined into a second parallelogram mechanism. And on the basis, the translational connecting rod, the first transmission crank extending connecting rod, the second transmission crank extending connecting rod and the triangular translational connecting rod are combined into a third parallelogram mechanism. The power transmission mode of the driving wheel of the whole high-adaptability traveling mechanism is a power transmission mode which has the advantages that the position of a driving source is constantly changed, the transmission distance in the vertical direction is longer, and the power is transmitted through an externally-hung gear and a synchronous belt wheel.

As a preferable scheme of this embodiment, a reinforcing rib is provided below the base 18; reinforcing ribs are arranged on the driven crank 1, the first transmission crank 71, the first transmission crank extending connecting rod 61, the second transmission crank 72 and the second transmission crank extending connecting rod 62.

The transmission line of the high-adaptability walking mechanism provided by the embodiment is divided into a driving part controlled by a stepping motor and a creeping part controlled by a direct current motor when the high-adaptability walking mechanism works, and each part can generate different functions when a walking floor walks in different modes.

The driving part is responsible for main power output, and the driving force is produced by a stepping motor, is transmitted to a driving end large gear by a driving end small gear, is transmitted to a small belt wheel by a shaft, is transmitted to a large belt wheel by the small belt wheel through a synchronous belt, and transmits the power to a driving wheel by the large belt wheel through the shaft. The steering is completed by controlling different rotating speeds by two stepping motors.

The control part is mainly controlled by a direct current motor, power is generated by a stepping motor, and the power is transmitted to the small gear at the crawling end through the connection of the expansion ring; the speed is reduced by the first stage of meshing of the large gear at the creeping end and is transmitted to the first transmission crank through a shaft and a key; the first transmission crank is connected with the first transmission crank overhanging connecting rod through a shaft and a key, and then is sequentially transmitted to the triangular translation connecting rod, the second transmission crank overhanging connecting rod and the second transmission crank, and at the moment, the transmission crank and the transmission crank overhanging connecting rod are fixed into a part similar to a crankshaft. Meanwhile, the power of the transmission crank is transmitted to the translational connecting rod in a mode of penetrating through the bearing, and if the base is regarded as a fixed rack, the translational connecting rod can perform translational motion.

Meanwhile, for convenience of explanation, as shown in fig. 12, the motion forms of the transmission cranks in fig. 12 are all represented by the positions of the transmission cranks, and as shown in fig. 12, the positions of the transmission cranks are in the third quadrant (the upper right is the first quadrant, the upper left is the second quadrant, the lower left is the third quadrant, and the lower right is the fourth quadrant), and the quadrant angle is 225 °.

When the terrain is mainly wide and flat, the walking floor can mainly walk in a four-wheel drive mode. In this mode, for convenience of explanation, it is assumed that the driving part does not work, the driving wheels are locked, and the translation connecting rod is opposite to the ground and can be regarded as a fixed frame. The output of the link mechanism power at this time is the rotation output by the direct current motor. Corresponding to the parallelogram mechanism as shown in fig. 13: the translational connecting rod is a crank which is fixed by the frame, the transmission crank and the outward extending connecting rod of the transmission crank, and the base is a connecting rod which does translational motion. The direct current motor rotates to adjust the position of the base, and the stepping motor rotates to drive the driving wheel to enable the mechanism to advance.

When the multi-relief terrain appears and the conventional four-wheel drive walking is difficult to use, or the four-wheel walking range of activity is limited by steps, the climbing obstacle-crossing mode can be adopted for passing. The climbing obstacle-crossing mode is that the left first transmission crank and the second transmission crank are symmetrically arranged at 180 degrees with the right first transmission crank and the second transmission crank as shown in figure 14. The left first and second drive cranks are now in the first quadrant and the right first and second drive cranks are in the third quadrant, 180 apart. The direct current motor can make the translational connecting rod/the triangular translational connecting rod alternately used as a frame as long as the direct current motor rotates all the time, and 6 wheels are always supported by 3 wheel pairs. The state in the creep mode is shown in fig. 15 (climbing stairs).

The climbing obstacle crossing mode is generally used for terrains with small ground fluctuation, however, a plateau (such as 400mm of ground height) or a single large-fluctuation step is common in real life, and the climbing obstacle crossing mode can be used for crossing obstacles. The state in the climbing mode is as shown in fig. 16 (high platform climbing), and the maximum characteristic of the climbing mode is that different wheels are respectively used for contacting the ground through controlling the connecting rod and the gravity center, and the wheels and the vehicle body are conveyed to the high place by repeatedly changing the support on the ground step by step.

First to second steps: the preparation action is that the direct current motor drives the two transmission cranks to the starting position simultaneously.

Second to third steps: the direct current motor continuously drives the two transmission cranks, the triangular translation connecting rod is driven by the transmission cranks to support the base, and the front wheel is lifted according to the gravity center position of the mechanism and the lever principle.

The third step to the fourth step: the stepping motor rotates to drive the driving wheel to make the mechanism advance and the front wheel is lapped on the high platform.

Fourth to fifth steps: the direct current motor rotates to drive the triangular translational connecting rod to lift the middle wheel, and the front wheel continues to be used as a support.

Fifth to sixth steps: the motor continues to drive the triangular translation connecting rod to rotate the driven wheel clockwise, and meanwhile, the rear wheel accelerates.

Sixth to seventh steps: the driven wheel is supported clockwise and downwards, and the gravity center falls on the supporting surfaces of the front wheel and the rear wheel, so that the rear wheel is supported high.

Seventh to eighth steps: after sliding a certain distance forward, the motor drives the translational connecting rod to put down the driving wheel, and the turning is finished.

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 terminal 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 terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.