阅读说明：本技术 钢筋弯曲机用自动抓取式上料装置及钢筋弯曲机组件 (Automatic grabbing type feeding device for steel bar bender and steel bar bender component ) 是由 陈振东 其他发明人请求不公开姓名 于 2020-06-10 设计创作，主要内容包括：本发明公开了一种钢筋弯曲机用自动抓取式上料装置及钢筋弯曲机组件,属于建筑材料加工技术领域,为解决现有人工搬运钢筋导致劳动强度大等问题而设计。本发明钢筋弯曲机用自动抓取式上料装置包括用于驱动上料装置移动至设定位置的移动驱动装置、连接在移动驱动装置上的固定基座、连接至固定基座的电磁铁安装座、用于吸住待上料钢筋的电磁铁以及至少一组抓取装置,抓取装置包括分别设置在电磁铁两侧的两根夹爪,两根夹爪能相向运动直至抱住被吸在电磁铁上的待上料钢筋。本发明钢筋弯曲机用自动抓取式上料装置及钢筋弯曲机组件实现了待上料钢筋的自动化搬运,操作灵活快捷；整机结构紧凑,安全可靠,自动化程度高,工作平稳,劳动强度低。(The invention discloses an automatic grabbing type feeding device for a steel bar bender and a steel bar bender assembly, belongs to the technical field of building material processing, and is designed for solving the problems of high labor intensity and the like caused by manual steel bar carrying in the prior art. The automatic grabbing type feeding device for the steel bar bender comprises a moving driving device, a fixed base, an electromagnet mounting seat, an electromagnet and at least one group of grabbing devices, wherein the moving driving device is used for driving the feeding device to move to a set position, the fixed base is connected to the moving driving device, the electromagnet mounting seat is connected to the fixed base, the electromagnet is used for sucking steel bars to be fed, the grabbing devices comprise two clamping jaws which are respectively arranged on two sides of the electromagnet, and the two clamping jaws can move oppositely until the steel bars to be fed which are sucked on the electromagnet are embraced. The automatic grabbing type feeding device for the steel bar bender and the steel bar bender component realize automatic transportation of steel bars to be fed, and are flexible and quick to operate; the whole machine has compact structure, safety, reliability, high automation degree, stable work and low labor intensity.)

1. The utility model provides a formula loading attachment is grabbed with automation to angle bending machine which characterized in that includes:

the moving driving device (1) is used for driving the feeding device to move to a set position;

a fixed base (2) connected to the mobile drive device (1);

the electromagnet mounting base (3) is connected to the fixed base (2);

the electromagnet (4) is used for sucking the steel bar (100) to be fed, and the electromagnet (4) is arranged on the electromagnet mounting seat (3); and the number of the first and second groups,

at least a set of grabbing device, grabbing device is including setting up respectively two clamping jaws (51) of electro-magnet (4) axis both sides, two clamping jaw (51) can move in opposite directions until embracing be inhaled on electro-magnet (4) treat material loading reinforcing bar (100).

2. The automatic grabbing and feeding device for the steel bar bender as claimed in claim 1, wherein said grabbing device further comprises a grabbing cylinder (52) and a rack (53), said rack (53) is connected to the output end of said grabbing cylinder (52); the top end of the clamping jaw (51) is provided with a gear (54), the gear (54) is arranged on the clamping jaw mounting seat through a hinge shaft (55), the rack (53) is meshed with the gear (54), and when the rack (53) moves in a reciprocating mode, the two clamping jaws (51) can be driven to open or close.

3. The automatic grabbing type feeding device for the steel bar bender as claimed in claim 2, wherein a one-way bearing (56) is arranged at the bottom end of the clamping jaw (51), and a one-way rotating hand wheel (57) is sleeved outside the one-way bearing (56).

4. The automatic grabbing type feeding device for the steel bar bender is characterized in that a plurality of guide shafts (31) are arranged on the electromagnet mounting seat (3), and a first direction damping spring (32) is sleeved on the outer side of each guide shaft (31); the automatic grabbing type feeding device for the steel bar bender further comprises a buffer frame (6) positioned above the electromagnet mounting seat (3), one end of the first direction damping spring (32) is connected to the electromagnet mounting seat (3), and the other end of the first direction damping spring is connected to the buffer frame (6); the buffer frame (6) is provided with a through hole for allowing the guide shaft (31) to pass through.

5. The automatic grabbing and feeding device for the steel bar bender as claimed in claim 4, wherein a receiving groove is formed on the plane of the buffer frame (6) facing the fixed base (2), and a second direction damping spring (61) is arranged in the receiving groove.

6. The automatic grabbing and feeding device for the steel bar bender as claimed in claim 5, wherein said buffer frame (6) and said fixed base (2) are hinged by a pin (7), and said buffer frame (6) can rotate around the axis of said pin (7).

7. The automatic grabbing and feeding device for the steel bar bender as claimed in any one of claims 1 to 6, further comprising a detection switch (81) for detecting whether the electromagnet (4) has attracted the steel bar (100) to be fed, wherein the detection switch (81) is mounted on a detection switch frame (82).

8. An automatic grabbing and feeding device for a steel bar bender as claimed in any one of claims 1 to 6, wherein said mobile driving device (1) comprises a mechanical arm (11) and a mobile driving motor (12), said mechanical arm (11) is connected to the output end of said mobile driving motor (12).

9. A steel bar bender component, characterized by comprising a raw material bin for loading steel bars (100) to be fed, a steel bar bender (300) for bending the steel bars, and the automatic grabbing type feeding device for the steel bar bender according to any one of claims 1 to 8, wherein the electromagnet (4) and the grabbing device of the automatic grabbing type feeding device for the steel bar bender can be driven by a mobile driving device (1) to convey the steel bars (100) to be fed in the raw material bin to a working position of the steel bar bender (300).

10. The steel bar bender assembly according to claim 9, wherein the raw material bin comprises a bin body (201), a moving wheel (202) disposed at the bottom of the bin body (201), and a bin main body (203) for driving the moving wheel (202) to rotate, wherein the moving wheel (202) is mounted on a moving track (204) and can move along the moving track (204).

Technical Field

The invention relates to the technical field of building material processing, in particular to an automatic grabbing type feeding device for a steel bar bender and a steel bar bender assembly comprising the feeding device.

Background

A steel bar bender is a mechanical device for bending steel bars. When the steel bar bender works, the steel bar to be bent needs to be sent to a feeding position of the steel bar bender, and then the bending processing can be carried out.

At present, the steel bar bender needs to be manually fed, namely, an operator manually conveys the steel bar to be bent to a feeding position of the steel bar bender from a movable raw material bin, so that the labor intensity is high, the labor and the time are wasted, the product quality is high, and the production efficiency is low.

Disclosure of Invention

One purpose of the invention is to provide an automatic grabbing type feeding device for a steel bar bender, which is low in labor intensity.

Another object of the present invention is to provide a bar bender assembly that is efficient and labor intensive.

To achieve the purpose, on one hand, the invention adopts the following technical scheme:

the utility model provides a formula loading attachment is grabbed with automation to angle bending machine, includes: the moving driving device is used for driving the feeding device to move to a set position; the fixed base is connected to the mobile driving device; the electromagnet mounting seat is connected to the fixed base; the electromagnet is used for sucking the steel bars to be fed and is arranged on the electromagnet mounting seat; and the gripping device comprises two clamping jaws which are respectively arranged on two sides of the axis of the electromagnet, and the two clamping jaws can move in opposite directions until the clamping jaws clamp the steel bar to be fed which is absorbed on the electromagnet.

Particularly, the grabbing device further comprises a grabbing cylinder and a rack, and the rack is connected to the output end of the grabbing cylinder; the top end of the clamping jaw is provided with a gear, the gear is arranged on the clamping jaw mounting seat through a hinged shaft, the rack is meshed with the gear, and when the rack moves in a reciprocating mode, the rack can drive the two clamping jaws to be opened or closed.

Particularly, the bottom of clamping jaw is provided with one-way bearing, the outside cover of one-way bearing is equipped with the unidirectional rotation hand wheel.

Particularly, a plurality of guide shafts are arranged on the electromagnet mounting seat, and a first-direction damping spring is sleeved on the outer side of each guide shaft; the automatic grabbing type feeding device for the steel bar bender further comprises a buffer frame positioned above the electromagnet mounting seat, one end of the first direction damping spring is connected to the electromagnet mounting seat, and the other end of the first direction damping spring is connected to the buffer frame; the buffer frame is provided with a through hole for allowing the guide shaft to pass through.

Particularly, an accommodating groove is formed in the plane of the buffer frame facing the fixed base, and a second direction damping spring is arranged in the accommodating groove.

Particularly, the buffer frame is hinged with the fixed base through a pin shaft, and the buffer frame can rotate around the axis of the pin shaft.

Particularly, the automatic grabbing type feeding device for the steel bar bender further comprises a detection switch for detecting whether the electromagnet sucks the steel bar to be fed, and the detection switch is arranged on a detection switch frame.

In particular, the movement driving means includes a robot arm and a movement driving motor, the robot arm being connected to an output terminal of the movement driving motor.

On the other hand, the invention adopts the following technical scheme:

the utility model provides a steel bar bender subassembly, is used for loading the former feed bin of treating the material loading reinforcing bar, is used for the steel bar bender of the reinforcing bar of buckling and foretell steel bar bender is with automatic formula loading attachment of grabbing, steel bar bender is with automatic formula loading attachment's of grabbing electro-magnet and grabbing device can be under the drive of mobile drive device with in the former feed bin treat the material loading reinforcing bar and send to on the work position of steel bar bender.

Particularly, raw materials storehouse includes the storehouse body, sets up and is in the removal wheel of storehouse body bottom and be used for driving remove the rotatory feed bin host computer of wheel, remove the wheel and install on removing the track and can follow remove the track and remove.

The automatic grabbing type feeding device for the steel bar bender comprises the electromagnet and the grabbing device, the steel bar to be fed is attracted by the electromagnet, the steel bar to be fed which is attracted on the electromagnet is grabbed by the two clamping jaws of the grabbing device, automatic carrying of the steel bar to be fed is realized, and the operation is flexible and rapid; the whole machine has compact structure, safety, reliability, high automation degree, stable work and low labor intensity.

The steel bar bender component comprises the automatic grabbing type feeding device for the steel bar bender, and the electromagnet and the grabbing device are matched to fix the steel bars to be fed, so that the steel bars to be fed are smoothly and stably conveyed to a working position of the steel bar bender from a raw material bin, and the steel bar bender component is convenient to use, low in labor intensity and high in automation degree.

Drawings

FIG. 1 is a front view of a bar bender assembly according to an embodiment of the present invention;

fig. 2 is a side view of a bar bender assembly according to an embodiment of the present invention;

fig. 3 is a top view of a bar bender assembly according to an embodiment of the present invention;

fig. 4 is a schematic structural view of an automatic grabbing type feeding device for a steel bar bender according to an embodiment of the present invention;

FIG. 5 is a sectional view taken along line A-A of FIG. 4;

FIG. 6 is a cross-sectional view taken along line C-C of FIG. 4;

FIG. 7 is a schematic structural view of a grasping apparatus according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view taken along line D-D of FIG. 4, with the jaws in an open position;

FIG. 9 is a cross-sectional view taken along line D-D of FIG. 4, with the jaws closed;

FIG. 10 is a sectional view taken along line E-E in FIG. 4;

fig. 11 is a sectional view taken along line F-F in fig. 4.

In the figure:

1. a movement driving device; 2. a fixed base; 3. an electromagnet mounting base; 4. an electromagnet; 6. a buffer frame; 7. a pin shaft; 11. a mechanical arm; 12. a movement driving motor; 31. a guide shaft; 32. a first direction damper spring; 51. a clamping jaw; 52. a grabbing cylinder; 53. a rack; 54. a gear; 55. hinging a shaft; 56. a one-way bearing; 57. unidirectional rotation hand wheel; 61. a second direction damper spring; 81. a detection switch; 82. detecting a switch frame; 100. feeding steel bars; 201. a bin body; 202. a moving wheel; 203. a stock bin host; 204. a moving track; 300. provided is a steel bar bender.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

The embodiment discloses an automatic grabbing type feeding device for a steel bar bender and a steel bar bender component comprising the same. As shown in fig. 1 to 3, the bar bender assembly includes a raw material bin for loading the bars 100 to be loaded, a bar bender 300 for bending the bars, and an automatic grasping type loading device for the bar bender for carrying the bars 100 to be loaded in the raw material bin to the bar bender 300.

The raw material bin comprises a bin body 201, a moving wheel 202 arranged at the bottom of the bin body 201 and a bin main machine 203 used for driving the moving wheel 202 to rotate, and the moving wheel 202 is installed on a moving track 204 and can move along the moving track 204. During the use, feed bin host computer 203 drive removes the wheel 202 rotation, removes the wheel 202 and drives the storehouse body 201 that is equipped with to wait to expect feeding reinforcement bar 100 and remove to the position department that is close to angle bending machine 300 along removing track 204, and the angle bending machine of being convenient for will waiting that feeding reinforcement bar 100 snatchs and transfer to angle bending machine 300 with automatic grabbing formula loading attachment.

As shown in fig. 4 to 11, the automatic grabbing type feeding device for the steel bar bender comprises a mobile driving device 1, a fixed base 2, an electromagnet mounting base 3, an electromagnet 4 and two grabbing devices. Wherein, remove drive arrangement 1 and be used for driving loading attachment to remove to setting for the position, fixed baseplate 2 is connected on removing drive arrangement 1, electromagnet mount pad 3 is connected on fixed baseplate 2, an electromagnet 4 for holding treating feeding reinforcement 100 sets up on electromagnet mount pad 3, every grabbing device of group is including setting up two clamping jaws 51 in 4 axis both sides of electromagnet respectively, two clamping jaws 51 can move in opposite directions until embracing the treatment feeding reinforcement 100 of being inhaled on electromagnet 4, the steel bar bender is with treating that the feeding reinforcement 100 of treating in the raw materials storehouse is delivered to the work position of steel bar bender 300 with automatic grabbing formula loading attachment's removal drive arrangement 1 drive electromagnet 4 and grabbing device.

The automatic grabbing type feeding device for the steel bar bender uses the magnetic force of the electromagnet 4 to suck the steel bar 100 to be fed, and then uses the clamping jaw 51 of the grabbing device to hold the bottom of the steel bar 100 to be fed, so as to ensure that the steel bar 100 to be fed can be quickly and stably conveyed to the working position of the steel bar bender 300, thereby realizing the automatic feeding of the steel bar bender 300, saving time and labor and having high production efficiency; the placement position of the steel bar 100 to be fed is more accurate, and the processing quality of the bent product is improved.

The specific structure of the gripping device is not limited, and the gripping jaw 51 can hold the bottom of the steel bar 100 to be loaded after the steel bar 100 to be loaded is sucked by the electromagnet 4. Preferably, as shown in fig. 4 and fig. 7 to 9, the grasping apparatus further includes a grasping cylinder 52 and a rack 53, the rack 53 is connected to an output end of the grasping cylinder 52, and the rack 53 is driven to reciprocate when the output end of the grasping cylinder 52 rotates or moves; the top end of the clamping jaw 51 is provided with a gear 54, the gear 54 is arranged on the clamping jaw mounting seat through a hinge shaft 55, and the rack 53 is meshed with the gear 54 and can drive the two clamping jaws 51 to open or close when the rack 53 reciprocates.

Specifically, as shown in fig. 8, the grabbing cylinder 52 drives the rack 53 to move downward, and the rack 53 drives the gear 54 to rotate, so as to drive the two clamping jaws 51 to open, thereby leaving a space for the electromagnet 4 to suck the steel bar 100 to be fed; as shown in fig. 9, the grabbing cylinder 52 drives the rack 53 to move upwards, and the rack 53 drives the gear 54 to rotate, so as to drive the two clamping jaws 51 to fold and grab the steel bar 100 to be fed, which is sucked on the electromagnet 4. In order to solve the problem that there is the contained angle to lead to magnetism to inhale the effect poor in the extending direction of waiting to feed reinforcement 100 and electromagnet 4, can design into the arc recess form along its extending direction with electromagnet 4's bottom surface, electromagnet 4 inhales the in-process of waiting to feed reinforcement 100 and treats that feed reinforcement 100 can the automatic deflection direction, or loading attachment's fixed baseplate 2 can the automatic deflection direction, thereby eliminate the contained angle between the extending direction of waiting to feed reinforcement 100 and electromagnet 4's the extending direction, guarantee that magnetism suction can all obtain the application, magnetism suction effect is better.

Two sets of grabbing devices are installed respectively at the both ends of electro-magnet 4 to can firmly hold two positions of being inhaled treating material loading reinforcing bar 100 on electro-magnet 4, make treating material loading reinforcing bar 100 more stable in the in-process of being carried, can not fall down from electro-magnet 4 midway.

The specific installation manner of the gripping device is not limited, preferably, the gripping cylinder 52 is fixedly arranged at the end of the electromagnet installation base 3, the rack 53 is connected to the output end of the gripping cylinder 52 and is located on the axis extension line of the electromagnet 4, the two gripping jaws 51 are symmetrically arranged on the left side and the right side of the rack 53, the gear 54 is meshed with the rack 53, and when the gripping cylinder 52 drives the rack 53 to reciprocate up and down, the two gripping jaws 51 can be opened or closed.

On the basis of the structure, the bottom end of the clamping jaw 51 is provided with a one-way bearing 56, and the outer side of the one-way bearing 56 is sleeved with a one-way rotating hand wheel 57. Because of the function of the one-way bearing 56, the one-way rotating hand wheel 57 can only rotate in one direction (clockwise or counterclockwise), and as long as the stress direction of the steel bar 100 to be loaded when the clamping jaws 51 are adjusted to hold the steel bar 100 to be loaded is opposite to the rotating direction of the one-way rotating hand wheel 57, the clamping jaws 51 can be stable and reliable when clamping the steel bar 100 to be loaded.

The peripheral wall of unidirectional rotation hand wheel 57 designs into the arc, can more laminate on treating the outer peripheral face of material loading reinforcing bar 100 after holding together, treats that the fixed effect of material loading reinforcing bar 100 is better.

On the basis of the above structure, as shown in fig. 4 to 6 and 10 to 11, four guide shafts 31 are arranged on the electromagnet mounting base 3 in a central symmetry manner, and one first direction damper spring 32 is sleeved outside each guide shaft 31. A buffer frame 6 is arranged above the electromagnet mounting seat 3, one end of a first direction damping spring 32 is connected to the electromagnet mounting seat 3, and the other end of the first direction damping spring is connected to the buffer frame 6; the buffer frame 6 is provided with a through hole for allowing the guide shaft 31 to pass through.

In the process that the electromagnet 4 magnetically attracts the steel bar 100 to be fed, the steel bar 100 to be fed and the electromagnet 4 change from relative rest to relative motion at a certain speed, and when the steel bar 100 to be fed abuts against the bottom surface of the electromagnet 4, the two steel bars can restore to the relative rest state again. At the moment when the steel bar 100 to be fed abuts against the bottom surface of the electromagnet 4, the electromagnet 4 and the electromagnet mounting seat 3 can be subjected to large impact force, and the arrangement of the first direction damping spring 32 and the buffer frame 6 can well play a role in buffering. Specifically, when receiving impact force on the electromagnet 4, the first-direction damping spring 32 contracts or extends, the distance between the electromagnet mounting seat 3 and the buffer frame 6 becomes smaller or larger, the movement potential energy of the steel bar 100 to be fed is decomposed, and the electromagnet 4 and the electromagnet mounting seat 3 are prevented from being damaged by the impact force.

On the basis of the structure, the buffer frame 6 is provided with a containing groove on the plane facing the fixed base 2, a second direction damping spring 61 is arranged in the containing groove, the second direction damping spring 61 is utilized to reduce the impact generated by external force, and the feeding steel bar 100 is guaranteed to be rapidly and stably conveyed to the working position of the steel bar bender 300. The first direction damping spring 32 and the second direction damping spring 61 are different in extension direction, and can be perpendicular to each other or form an acute angle therebetween, and the design is carried out according to specific use conditions.

The specific shape, number and arrangement position of the accommodating groove are not limited, and the second direction damping spring 61 can be installed in a time-saving and labor-saving manner. Preferably, the two ends of the buffer frame 6 are respectively provided with three containing grooves at equal intervals close to the edges, so that the buffer effect on the impact force is best.

On the basis of the structure, the buffer frame 6 is hinged with the fixed base 2 through a pin shaft 7, and the buffer frame 6 can rotate around the axis of the pin shaft 7. In the process of holding up feeding reinforcing bar 100 at electro-magnet 4 magnetism, the impact force of holding up feeding reinforcing bar 100 production on electro-magnet 4 perhaps has deviated the center of electro-magnet mount pad 3 and buffer frame 6, and buffer frame 6 can be rotatory around round pin axle 7 this moment to the impact damage of waiting feeding reinforcing bar 100 to electro-magnet mount pad 3 and buffer frame 6 is decomposed.

On the basis of the structure, as shown in fig. 4 and 6, the automatic grabbing and feeding device for the steel bar bender further comprises a detection switch 81 for detecting whether the electromagnet 4 sucks the steel bar 100 to be fed, and the detection switch 81 is installed on the detection switch frame 82. After the detection switch 81 confirms that the electromagnet 4 has absorbed the steel bar 100 to be fed, the grabbing cylinder 52 is started, and the two clamping jaws 51 move relatively to each other so as to hold the steel bar 100 to be fed, thereby ensuring the stable transportation of the steel bar 100 to be fed.

On the basis of the above structure, the movement driving device 1 includes the robot arm 11 and the movement driving motor 12, and the robot arm 11 is connected to an output terminal of the movement driving motor 12. When there is an included angle or a distance between the extending direction of the electromagnet 4 and the extending direction of the steel bar 100 to be fed, the mechanical arm 11 is controlled to stretch or move by moving the driving motor 12, so that the electromagnet 4 and the steel bar 100 to be fed are aligned, and the steel bar 100 to be fed is conveniently and accurately magnetically attracted.

The working process of the automatic grabbing type feeding device for the steel bar bender is as follows:

in the first step, the reinforcing steel bar 100 to be loaded is loaded into the bin body 201, the bin main machine 203 is started, and the moving wheel 202 moves to the vicinity of the reinforcing steel bar bender 300 along the moving track 204.

Secondly, the grabbing cylinder 52 drives the rack 53 to move downwards, and the rack 53 drives the gear 54 to rotate, so that the two clamping jaws 51 are driven to open; the moving driving motor 12 adjusts the angle and the extension length of the mechanical arm 11 so that the gripping device and the electromagnet 4 are positioned above the reinforcing steel bar 100 to be fed.

And thirdly, the angle and the position of the electromagnet 4 are adjusted by moving the driving motor 12 through the mechanical arm 11, so that the extending direction of the electromagnet 4 is the same as the extending direction of the reinforcing steel bar 100 to be fed.

And fourthly, moving the driving motor 12 to drive the mechanical arm 11 to slowly press down, electrifying to start the electromagnet 4 when the bottom surface of the electromagnet 4 and the peripheral wall of the steel bar 100 to be fed are away from a proper induction distance, and starting to grab the steel bar 100 to be fed until the bottom surface of the electromagnet 4 and the peripheral wall of the steel bar 100 to be fed are abutted. Preferably, the automatic grabbing type feeding device is used for grabbing the position which is about 800mm away from the end of the steel bar 100 to be fed by the steel bar bender.

And fifthly, moving the driving motor 12 to drive the mechanical arm 11 to lift until the reinforcing steel bar 100 to be fed, which is magnetically attracted by the electromagnet 4, is lifted by about 100mm, driving the rack 53 to move upwards by the grabbing cylinder 52, driving the gear 54 to rotate by the rack 53, and driving the two clamping jaws 51 to fold to clamp the reinforcing steel bar 100 to be fed, which is attracted on the electromagnet 4.

Sixthly, the mechanical arm 11 is driven to transversely move by the movable driving motor 12 until the steel bar 100 to be fed is located right above the working position of the steel bar bender 300, the grabbing cylinder 52 drives the rack 53 to move downwards, the rack 53 drives the gear 54 to rotate, so that the two clamping jaws 51 are driven to be opened, the electromagnet 4 is powered off, the steel bar 100 to be fed falls into the conveying wheel of the steel bar bender 300, the conveying wheel clamps the steel bar 100 to be fed and then rotates, and the steel bar 100 to be fed is sent into a shearing and bending system of the steel bar bender 300.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.