阅读说明：本技术 一种压电驱动三维微定位平台 (A kind of Piezoelectric Driving three-dimensional mini positioning platform ) 是由 黄�俊 邹磊 李凯 于 2019-07-05 设计创作，主要内容包括：本发明提供一种压电驱动三维微定位平台,包括旋转框架结构、延长杆、位移放大装置、压电叠堆、表面受力板和底板；所述旋转框架结构的一端与表面受力板连接,另一端与位移放大装置连接；所述位移放大装置安装在底板上；所述压电叠堆与位移放大装置连接；所述延长杆位于旋转框架结构内,延长杆的一端与位移放大装置连接,另一端与表面受力板连接。通过压电叠堆驱动,对旋转框架结构施加作用力,旋转框架结构受力产生扭曲变形,实现定位平台的旋转运动。本发明通过控制压电叠堆的输出位移大小,进而实现定位平台的法向位移大小和水平面转动角度大小的精准控制。(The present invention provides a kind of Piezoelectric Driving three-dimensional mini positioning platform, including rotating frame structure, extension rod, displacement amplification device, piezoelectric stack, surface stressed plate and bottom plate；One end of the rotating frame structure is connect with surface stressed plate, and the other end is connect with displacement amplification device；The displacement amplification device is mounted on bottom plate；The piezoelectric stack is connect with displacement amplification device；The extension rod is located in rotating frame structure, and one end of extension rod is connect with displacement amplification device, and the other end is connect with surface stressed plate.It is driven by piezoelectric stack, active force is applied to rotating frame structure, rotating frame structure stress generates torsional deformation, realizes the rotary motion of locating platform.The present invention realizes the Normal Displacement size of locating platform and being precisely controlled for horizontal plane rotational angle size by controlling the output displacement size of piezoelectric stack.)

1. a kind of Piezoelectric Driving three-dimensional mini positioning platform, which is characterized in that including rotating frame structure (1), extension rod (2), position Move amplifying device (3), piezoelectric stack (4), surface stressed plate (5) and bottom plate (6)；

One end of the rotating frame structure (1) is connect with surface stressed plate (5), and the other end is connect with displacement amplification device (3)； The displacement amplification device (3) is mounted on bottom plate (6)；The piezoelectric stack (4) connect with displacement amplification device (3)；It is described Extension rod (2) is located in rotating frame structure (1), and one end of extension rod (2) is connect with displacement amplification device (3), the other end and Surface stressed plate (5) connection.

2. Piezoelectric Driving three-dimensional mini positioning platform according to claim 1, which is characterized in that the rotating frame structure (1) include several superpositions rotating frame frame body (14)；

Each rotating frame frame body (14) includes five hollow out ellipsoidal structures (15)；Each hollow out ellipsoidal structure (15) ellipse for respectively including hollow out stretches foot (16) with four；Described four one end for stretching foot (16) respectively with the ellipse of hollow out Shape is tangent；Four hollow out ellipsoidal structures (15) are mutually perpendicular to surround a cavity, adjacent hollow out ellipsoidal structure (15) two-by-two Four stretch foot (16) interconnection, the bottom of the cavity connects a remaining hollow out ellipsoidal structure (15).

3. Piezoelectric Driving three-dimensional mini positioning platform according to claim 2, which is characterized in that the inclination for stretching foot (16) Angle [alpha] is 45 °.

4. Piezoelectric Driving three-dimensional mini positioning platform according to claim 2, which is characterized in that rotate clockwise the rotation When frame body (14), the oval inclined direction of each hollow out ellipsoidal structure (15) is identical.

5. Piezoelectric Driving three-dimensional mini positioning platform according to claim 1, which is characterized in that the displacement amplification device It (3) include shell (13) and Multi-stage transmission lever group；

The Multi-stage transmission lever group is mounted in shell (13)；The power output end of the piezoelectric stack (4) with connect lever (7) one end connection, the other end of connection lever (7) are connect with one end of Multi-stage transmission lever group, Multi-stage transmission lever group The other end is connect with the one end of extension rod (2).

6. Piezoelectric Driving three-dimensional mini positioning platform according to claim 5, which is characterized in that the Multi-stage transmission lever group Including more transmission levers；More transmission levers form ring-shaped lever group structure, realize the amplification of displacement.

7. Piezoelectric Driving three-dimensional mini positioning platform according to claim 6, which is characterized in that the Multi-stage transmission lever group It is passed including the first transmission levers (8), the second transmission levers (9), third transmission levers (10), the 4th transmission levers (11) and the 5th Dynamic lever (12)；

The shell (13) is tetragonal body；The other end of connection lever (7) is placed in the lower section of the first transmission levers (8), shape At the fulcrum of the first transmission levers (8)；One end of first transmission levers (8) and the shell (13) hinge, the first transmission levers (8) the other end is placed in the lower section of the second transmission levers (9), forms the fulcrum of the second transmission levers (9)；Second transmission levers (9) one end and shell (13) hinge, the second transmission levers (9) other end are placed in the lower section of third transmission levers (10), form the The fulcrum of three transmission levers (10)；Third transmission levers (10) one end and shell (13) hinge, third transmission levers (10) are another End is placed in the lower section of the 4th transmission levers (11), forms the fulcrum of the 4th transmission levers (11)；The one of 4th transmission levers (11) End and shell (13) hinge, the other end of the 4th transmission levers (11) are placed in the lower section of the 5th transmission levers (12), form the 5th The fulcrum of transmission levers (12)；5th transmission levers (12) one end and shell (13) hinge, the 5th transmission levers (12) other end It is placed in the lower section of the extension rod (2), and is connect with extension rod (2).

8. Piezoelectric Driving three-dimensional mini positioning platform according to claim 1, which is characterized in that the one of the extension rod (2) End uses adhering with epoxy resin with displacement amplification device (3), and the other end and surface stressed plate (5) use adhering with epoxy resin.

Technical field

The invention belongs to microscope equipment technical fields, and in particular to a kind of Piezoelectric Driving three-dimensional mini positioning platform.

Background technique

Piezoelectric material exports stabilization, electromagnetism interference, fast response time because having many advantages, such as, is widely used.Wherein press Though it is small that electricity stacks output displacement, cooperation displacement amplifier is used, and be can ensure that and is provided stable displacement output.

Positioning table most at present is mostly based on the linear movement of X-axis and Y direction, and precision is low, high production cost, It is suitble to big stroke more.In terms of micro-displacement platform, the linear motion of platform tends not to match with rotary motion, the rotation of platform Turn, structuring and the function that by the active force additionally applied, need to be also unfavorable for locating platform are integrated.

In biology and medicine, observation and manipulation microorganism need microscope equipment, and microscope equipment then needs determining for loading Bit platform cooperative movement is accurately positioned with reaching.When being observed microorganism, being manipulated, as the movement of locating platform is difficult to Obtain optimal observation and manipulation effect.Existing platform is mostly cooperated with gear, and the gap and friction between gear are unfavorable for result Accuracy.Meanwhile existing platform is mostly based on linear motion, accurately rotary motion is less.

Summary of the invention

In view of the above technical problems, the present invention provides a kind of Piezoelectric Driving three-dimensional mini positioning platform, is driven by piezoelectric stack It is dynamic, active force is applied to rotating frame structure, hollow out ellipsoidal structure four on four faces of rotating frame structure are stretched foot stress Unevenness generates change in displacement, causes rotating frame structure to generate torsional deformation, and then realize the rotary motion of locating platform, and By controlling the output displacement size of piezoelectric stack, and then realize the Normal Displacement size and horizontal plane rotational angle of locating platform Size is precisely controlled.

The technical solution adopted by the present invention to solve the technical problems is: a kind of Piezoelectric Driving three-dimensional mini positioning platform, packet Include rotating frame structure, extension rod, displacement amplification device, piezoelectric stack, surface stressed plate and bottom plate；

One end of the rotating frame structure is connect with surface stressed plate, and the other end is connect with displacement amplification device；It is described Displacement amplification device is mounted on bottom plate；The piezoelectric stack is connect with displacement amplification device；The extension rod is located at rotating frame In frame structure, one end of extension rod is connect with displacement amplification device, and the other end is connect with surface stressed plate.

In above scheme, the rotating frame structure includes the rotating frame frame body of several superpositions；

Each rotating frame frame body includes five hollow out ellipsoidal structures；Each hollow out ellipsoidal structure difference Ellipse including hollow out stretches foot with four；Described four one end for stretching foot are tangent with the ellipse of hollow out respectively；Four hollow outs Ellipsoidal structure is mutually perpendicular to surround a cavity two-by-two, and four of adjacent hollow out ellipsoidal structure stretch foot interconnection, described The bottom of cavity connects a remaining hollow out ellipsoidal structure.

Further, the inclination angle alpha for stretching foot is 45 °.

Further, when rotating clockwise the rotating frame frame body, the oval inclination side of each hollow out ellipsoidal structure To identical.

In above scheme, the displacement amplification device includes shell and Multi-stage transmission lever group；

The Multi-stage transmission lever group installation is inside the shell；The power output end of the piezoelectric stack with connect the one of lever End connection, the other end for connecting lever connect with one end of Multi-stage transmission lever group, the other end of Multi-stage transmission lever group with prolong One end of stock connects.

In above scheme, the Multi-stage transmission lever group includes more transmission levers；More transmission levers form annular thick stick Bar group structure, realizes the amplification of displacement.

Further, the Multi-stage transmission lever group includes the first transmission levers, the second transmission levers, third transmission bar Bar, the 4th transmission levers and the 5th transmission levers；

The shell is tetragonal body；The other end of the connection lever is placed in the lower section of the first transmission levers, forms first The fulcrum of transmission levers；One end of first transmission levers and the shell hinge, the other end of the first transmission levers are placed in second The lower section of transmission levers forms the fulcrum of the second transmission levers；Second transmission levers one end and shell hinge, the second transmission levers The other end is placed in the lower section of third transmission levers, forms the fulcrum of third transmission levers；Third transmission levers one end and shell are cut with scissors Chain, the third transmission levers other end are placed in the lower section of the 4th transmission levers, form the fulcrum of the 4th transmission levers；4th transmission bar One end of bar and shell hinge, the other end of the 4th transmission levers are placed in the lower section of the 5th transmission levers, form the 5th transmission bar The fulcrum of bar；5th transmission levers one end and shell hinge, the 5th transmission levers other end are placed in the lower section of the extension rod, and It is connect with extension rod.

In above scheme, one end of the extension rod and displacement amplification device use adhering with epoxy resin, the other end and table Face stressed plate uses adhering with epoxy resin.

Compared with prior art, the beneficial effects of the present invention are: the present invention is driven by piezoelectric stack, to rotating frame knot Structure applies active force, and hollow out ellipsoidal structure four on four faces of rotating frame structure are stretched foot unbalance stress, generates displacement and becomes Change, cause rotating frame structure to generate torsional deformation, and then realize the rotary motion of locating platform, and passes through control piezoelectric stack Output displacement size, and then realize the Normal Displacement size of locating platform and being precisely controlled for horizontal plane rotational angle size. The present invention replaces the compliant structure in traditional mini positioning platform with rotating frame structure, can provide bigger rotating range and displacement Variation.Location platform arrangement of the present invention is simple, easy to carry, and integrated level is high, easy to process, drives without additional. Locating platform of the present invention is small in size, can use with microscopes, can be placed directly in microscope carrier, is used for cell Manipulation and observation.Locating platform of the present invention had both been able to achieve the variation of normal direction straight-line displacement, was also able to achieve on platform level Rotary motion.

Detailed description of the invention

Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:

Fig. 1 is the overall structure diagram of an embodiment of the present invention；

Fig. 2 is the displacement amplification device structural schematic diagram of an embodiment of the present invention；

Fig. 3 is the displacement amplification device internal multi-stage lever group structural schematic diagram of an embodiment of the present invention；

Fig. 4 is the rotating frame structural schematic diagram of an embodiment of the present invention；

Fig. 5 is the rotating frame frame body structural schematic diagram of an embodiment of the present invention；

Fig. 6 is the hollow out ellipsoidal structure schematic diagram of an embodiment of the present invention；

Fig. 7 is the hollow out ellipsoidal structure stress diagram of an embodiment of the present invention；

Fig. 8 is that the stress of the single layer rotating frame structure of an embodiment of the present invention changes schematic diagram.

In figure, 1. rotating frame structures；2. extension rod；3. displacement amplification device；4. piezoelectric stack；5. surface stressed plate； 6. bottom plate；7. connecting lever；8. the first transmission levers；9. the second transmission levers；10. third transmission levers；11. the 4th transmission bar Bar；12. the 5th transmission levers；13. shell；14. rotating frame frame body；15. hollow out ellipsoidal structure；16. stretching foot.

Specific embodiment

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.

In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", The orientation or positional relationship of the instructions such as " thickness ", "upper", "lower", " axial direction ", " radial direction ", "vertical", "horizontal", "inner", "outside" To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as Limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply phase To importance or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be with Explicitly or implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or Two or more, unless otherwise specifically defined.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc. Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be Concrete meaning in bright.

Fig. 1 show a kind of better embodiment of Piezoelectric Driving three-dimensional mini positioning platform of the present invention, the piezoelectricity Driving three-dimensional mini positioning platform includes rotating frame structure 1, extension rod 2, displacement amplification device 3, piezoelectric stack 4, surface stress Plate 5 and bottom plate 6；One end of the rotating frame structure 1 is connect with surface stressed plate 5, and the other end and displacement amplification device 3 connect It connects；The displacement amplification device 3 is mounted on bottom plate 6；The piezoelectric stack 4 is connect with displacement amplification device 3；The extension rod 2 are located in rotating frame structure 1, and one end of extension rod 2 is connect with displacement amplification device 3, and the other end and surface stressed plate 5 connect It connects.

As shown in Figures 2 and 3, according to the present embodiment, it is preferred that the displacement amplification device 3 includes shell 13 and Multi-stage transmission Dynamic lever group；It can be realized the transmitting and amplification of displacement.The Multi-stage transmission lever group is mounted in shell 13；The piezo stack Heap 4 is used as driving source, provides output displacement, and by the power output end metal top cap of piezoelectric stack 4 and the surface that connect lever 7 Fixed fitting；It connects and is equipped with fulcrum in the middle part of lever 7, so that connection 7 one end of lever tilts and withstands piezoelectric stack 4, connection lever 7 The other end is connect with one end of Multi-stage transmission lever group, and the other end of Multi-stage transmission lever group is connect with one end of extension rod 2.It will Connection lever 7, displacement amplification device 3 and piezoelectric stack 4 combine, and are able to achieve the amplification to piezoelectric stack displacement.The displacement Amplifying device 3 undertakes the function of displacement conveying and the support of 1 pedestal of rotating frame structure simultaneously.

According to the present embodiment, it is preferred that the Multi-stage transmission lever group includes the first transmission levers 8, the second transmission levers 9, third transmission levers 10, the 4th transmission levers 11 and the 5th transmission levers 12；The shell 13 is tetragonal body；The connection thick stick The other end of bar 7 is placed in the lower section of the first transmission levers 8, forms the fulcrum of the first transmission levers 8；The one of first transmission levers 8 End and the 13 inner wall hinge of shell, the other end of the first transmission levers 8 are placed in the lower section of the second transmission levers 9, form second The fulcrum of transmission levers 9；Second transmission levers, 9 one end and 13 inner wall hinge of shell, 9 other end of the second transmission levers are placed in third The lower section of transmission levers 10 forms the fulcrum of third transmission levers 10；10 one end of third transmission levers and 13 inner wall hinge of shell, 10 other end of third transmission levers is placed in the lower section of the 4th transmission levers 11, forms the fulcrum of the 4th transmission levers 11；4th passes One end of dynamic lever 11 and 13 inner wall hinge of shell, the other end of the 4th transmission levers 11 are placed under the 5th transmission levers 12 Side forms the fulcrum of the 5th transmission levers 12；5th transmission levers, 12 one end and 13 inner wall hinge of shell, the 5th transmission levers 12 The other end is placed in the lower section of the extension rod 2, and connect with extension rod 2.Extension rod 2 is driven with the movement of the 5th transmission levers 12 Up and down motion；The other end of extension rod 2 is Nian Jie with 5 surface of surface stressed plate, while 1 lower end of rotating frame structure and shell 13 Upper surface bonding, upper end are Nian Jie with 5 surface of surface stressed plate；And guarantee rotating frame structure 1 and surface stressed plate 5 and shell 13 assembly when, to extension rod 2, multi-grade lever group, connection lever 7 and piezoelectric stack 4 between apply pretightning force, guarantee each component it Between be completely embedded, gapless, convenient for the transmitting of micro-displacement.As shown in Fig. 2, every grade of transmission levers of Multi-stage transmission lever group are adopted It is fixed on the angle of inside four of crust of the device 13 with flexible hinge, forms ring-shaped lever group structure and realizes displacement equations, reduces flat The space possessive volume of platform.The transmitting of Multi-stage transmission lever group intrinsic displacement is that rear stage transmission is placed in by previous stage transmission levers Below lever, the fulcrum as rear stage transmission levers.

According to the present embodiment, it is preferred that one end of the extension rod 2 and displacement amplification device 3 use adhering with epoxy resin, The other end and surface stressed plate 5 use adhering with epoxy resin, reduce assembly difficulty.

Electric signal excitation is applied to piezoelectric stack 4, piezoelectric stack 4 generates change in displacement, by connecting lever, displacement equations Device 3 and extension rod 2 carry out displacement equations and transmitting.Meanwhile displacement is passed to surface stressed plate 5 by extension rod 2, and to rotation Frame structure 1 applies active force, and 1 stress of rotating frame structure rotates movement.The present invention is realized using the driving of piezoelectric stack 4 Control to locating platform rotation angle.In conjunction with the performance of piezoelectric stack, locating platform output is stablized, and the linearity is good, anti-electricity Magnetic disturbance, and structure is simple, small in size, function is integrated, accurate positioning.

The working principle of the invention:

Electric signal is applied to the piezoelectric stack 4, piezoelectric ceramics generates inverse piezoelectric effect, and piezoelectric stack 4 generates micro-displacement Variation, and displacement is passed into connection lever 7；Due to lever principle, the first transmission levers 8 will be lifted by connecting lever 7, and first passes Dynamic lever 8 lifts the second transmission levers 9, and the second transmission levers 9 lift third transmission levers 10, and third transmission levers 10 lift the Four transmission levers 11, the 4th transmission levers 11 lift the 5th transmission levers 12；5th transmission levers 12 lift extension rod 2, in turn It realizes the amplification of displacement, and amplified displacement is passed into extension rod 2；Since extension rod 2 and surface stressed plate 5 are adhesively fixed Fitting, extension rod 2 are driven the up and down motion of surface stressed plate 5 by change in displacement；Due to surface stressed plate 5 and rotation Frame structure 1 is bonded, and rotating frame structure (1) is Nian Jie with 13 upper surface of shell, and the up and down motion of surface stressed plate 5 is to rotating frame Frame structure 1 applies active force；15 4 angle unbalance stress of hollow out ellipsoidal structure in 1 four faces of rotating frame structure generate inclined Phenomenon is moved, causes rotating frame structure 1 that can generate horizontal revolving motion；Due to fixing the influence of fitting, rotating frame structure 1 Rotary motion can feed back to surface stressed plate 5, realize the rotary motion of surface stressed plate 5.

As shown in Fig. 4,5 and 6, according to the present embodiment, it is preferred that the rotating frame structure 1 includes the rotation of several superpositions It is as shown in Figure 4 to turn frame body 14；Each rotating frame frame body 14 includes that five hollow out ellipsoidal structures 15 are as shown in Figure 5； Each hollow out ellipsoidal structure 15 respectively includes the ellipse of hollow out and four are stretched foot 16 as shown in Figure 6；Described four are stretched One end of foot 16 is tangent with the ellipse of hollow out respectively；Four hollow out ellipsoidal structures 15 are mutually perpendicular to surround a sky two-by-two Chamber, four of adjacent hollow out ellipsoidal structure 15 stretch the interconnection of foot 16, and the bottom of the cavity connects a remaining hollow out Ellipsoidal structure 15.When rotating clockwise the rotating frame frame body 14, the oval inclination side of each hollow out ellipsoidal structure 15 To identical.As shown in fig. 6, the inclination angle alpha for stretching foot 16 is 45 °.

As shown in fig. 6, hollow out ellipsoidal structure 15 can regard the square-shaped planar structure that length is w as, wherein variable a is indicated Internal hollow out ellipse short axle, b indicates internal hollow out ellipse long axis, when increase is stretched 16 stress of foot by the structure of inner elliptical shape Change in displacement, increase the rotational angle of rotating frame.Four, which are stretched foot 16, is done from square four vertex to hollow out ellipse Tangent line show that variable l indicates four length for stretching foot 16, and variable h indicates to stretch the width of 16 square section of foot.Stretch the length of foot 16 Degree and width size can be controlled according to the quantity and size requirements of practical rotating frame structure.Since hollow out ellipsoidal structure 15 can To regard square-shaped planar structure as, in assembly, each hollow out ellipsoidal structure 15 is orthogonal, and keeps rotating clockwise When rotating frame structure 1, the oval inclined direction on each face is identical, between adjacent surface stretch foot 16 with stretch foot 16 and be mutually connected It connects, and then forms rotating frame structure 1.As shown in figure 4, in multi-layer rotating frame structure, upper one layer of rotating frame frame body 14 Upper bottom surface of the bottom surface as next layer of rotating frame frame body 14, and keep on each face of upper and lower two layers of rotating frame frame body 14 Oval inclined direction is consistent.In Fig. 7, a solid black lines be non-stress when hollow out ellipsoidal structure 15, dotted line be by power Hollow out ellipsoidal structure 15 when effect.When the effect by power, four extended legs 16 be will receive along the power for stretching foot, and along Hollow out ellipse carries out the transmitting of power, and deformation occurs for hollow out ellipse, leads to four variations for stretching 16 position of foot.

Fig. 8 show 1 stress rotates effe figure of single layer rotating frame structure.Black wire frame is rotating frame before non-stress The position of structure 1, grey entity are the position of rotating frame structure 1 after stress.Due to the neighboar lists of rotating frame structure 1 Four of hollow out ellipsoidal structure 15 on face stretch foot 16 and are mutually connected to each other, when the effect by power, rotating frame knot It stretches 16 position of foot for four on each face of structure 1 to change, and change direction is identical.Come from the entirety of rotating frame structure 1 It sees, distortion rotation has occurred in rotating frame structure 1.

The model of rotating frame structure 1 is generated by 3 d modeling software, and implementation model is processed.The locating platform utilizes Piezoelectric stack 4 drives, and performance is stablized, and structure is simple, and locating platform integrated level is high, is not necessarily to additional driving, is easily installed, and size It is small, it is easy to carry, it can be placed on microscope, carry out cell manipulation and observation with microscopes.And according to actual demand Difference can voluntarily select single layer rotating frame structure or multi-layer rotating frame structure.It machined with 3D printing technique having a size of 50 Three layers of rotating frame structure 1 of × 50 × 148mm show, power of the rotating frame structure 1 by 15N is generated by testing test 6 ° of maximum rotation angle, Normal Displacement changes 1.2mm.Experimental test confirm the rotating frame structure 1 can by change by Power size, the Normal Displacement variation of control rotating frame structure 1 and the variation of rotation angle, and then confirm that rotation positioning platform is set The feasibility of meter.

Although not each embodiment only includes one it should be appreciated that this specification describes according to various embodiments A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say As a whole, the technical solutions in the various embodiments may also be suitably combined for bright book, and forming those skilled in the art can be with The other embodiments of understanding.

The series of detailed descriptions listed above are illustrated only for possible embodiments of the invention, The protection scope that they are not intended to limit the invention, it is all without departing from equivalent embodiment made by technical spirit of the present invention or change It should all be included in the protection scope of the present invention.