阅读说明：本技术 一种盾牌快速展收机构 (Quick mechanism of receiving of opening up of shield ) 是由 龙知洲 李伟萍 马天 黄献聪 陈珺娴 卢秋红 于 2021-10-20 设计创作，主要内容包括：本发明公开了一种盾牌快速展收机构,包括盾牌旋转机构、盾牌翻转机构和盾牌平转机构；盾牌旋转机构安装在底盘上,盾牌翻转机构安装于盾牌旋转机构上,盾牌平转机构安装于盾牌翻转机构上；盾牌旋转机构包括旋转框架,旋转框架能够相对于底盘旋转；盾牌翻转机构包括翻转框架和翻转电动推杆；盾牌平转机构包括上盾牌和上盾牌缓冲架；上盾牌和上盾牌缓冲架能够相对于翻转框架旋转。本发明所设计的盾牌快速展收机构结构简单,自动化程度高,快速实现盾牌的自动收展,收展后节约空间,可同时进行旋转、翻转、平转3个动作,动作迅速精确,减轻人力,可靠性高,提高危险环境中的人员安全性,可广泛应用于城市反恐、安全保卫、训练演习等场合。(The invention discloses a rapid shield unfolding and folding mechanism which comprises a shield rotating mechanism, a shield overturning mechanism and a shield flat rotating mechanism, wherein the shield rotating mechanism is arranged on the shield; the shield rotating mechanism is arranged on the chassis, the shield overturning mechanism is arranged on the shield rotating mechanism, and the shield horizontal rotating mechanism is arranged on the shield overturning mechanism; the shield rotating mechanism comprises a rotating frame, and the rotating frame can rotate relative to the chassis; the shield turnover mechanism comprises a turnover frame and a turnover electric push rod; the shield flat-turning mechanism comprises an upper shield and an upper shield buffer frame; the upper shield and the upper shield buffer can rotate relative to the turnover frame. The rapid shield unfolding and folding mechanism designed by the invention has the advantages of simple structure, high automation degree, rapid shield automatic folding and unfolding, space saving after folding and unfolding, capability of simultaneously performing 3 actions of rotation, overturning and flat turning, rapid and accurate action, manpower reduction, high reliability, improvement of personnel safety in dangerous environment, and wide application in occasions of city anti-terrorism, security, training exercise and the like.)

1. A shield quick unfolding and folding mechanism is characterized by comprising a shield rotating mechanism, a shield overturning mechanism and a shield flat rotating mechanism;

the shield rotating mechanism is arranged on the chassis (16), the shield overturning mechanism is arranged on the shield rotating mechanism, and the shield horizontal rotation mechanism is arranged on the shield overturning mechanism;

the shield rotating mechanism comprises a rotating frame (12), the rotating frame (12) can rotate relative to a chassis (16);

the shield turning mechanism comprises a turning frame (6) and a turning electric push rod (10); the overturning frame (6), the rotating frame (12) and the overturning electric push rod (10) form a triangular structure hinged in pairs; the overturning electric push rod (10) can push the overturning frame (6) to rotate around the hinged position of the overturning frame (6) and the rotating frame (12);

the shield flat-turning mechanism comprises an upper shield (1), an upper shield buffer frame (2), a flat-turning slewing bearing (3), a flat-turning driving mechanism, a lower shield (7) and a lower shield buffer frame (8); the lower shield (7) is mounted at the lower end of the outer side of the turnover frame (6) through a lower shield buffer frame (8), the upper shield (1) is mounted at the first side of the horizontal rotation slewing bearing (3) through an upper shield buffer frame (2), the second side of the horizontal rotation slewing bearing (3) is mounted at the upper end of the turnover frame (6), and the upper shield (1) and the upper shield buffer frame (2) can rotate relative to the turnover frame (6); the flat-turning driving mechanism is arranged on the inner side of the turning frame (6) and drives the upper shield (1) and the upper shield buffer frame (2) to rotate.

2. The quick shield unfolding and folding mechanism of claim 1, wherein:

the shield turnover mechanism also comprises a first turnover articulated shaft (9), a second turnover articulated shaft (11) and a third turnover articulated shaft (13);

the overturning frame (6) is movably hinged with the rotating frame (12) through a second overturning hinge shaft (11);

the first end of the turnover electric push rod (10) is hinged to the inner side of the turnover frame (6) through the first turnover hinge shaft (9), and the first end of the turnover electric push rod (10) is hinged to the rotating frame (12) through the third turnover hinge shaft (13).

3. The quick shield unfolding and folding mechanism according to claim 1 or 2, characterized in that:

the shield rotation mechanism further comprises a rotary slewing bearing (14),

the lower part of the rotary slewing bearing (14) is arranged on a chassis (16), and the rotary frame (12) is arranged on the upper part of the rotary slewing bearing (14).

4. The quick shield unfolding and folding mechanism according to claim 1 or 2, characterized in that:

the flat-turning driving mechanism comprises a flat-turning driving shaft (4), a flat-turning speed reducing motor (5) and a transition plate (15);

the transition plate (15) is fixedly connected with the turnover frame (6), the transition plate (15) is provided with a through hole, a supporting shaft sleeve is arranged in the through hole, and the supporting shaft sleeve can rotate in the through hole; the flat rotating driving shaft (4) penetrates through the supporting shaft sleeve and is connected with the supporting shaft sleeve;

the flat-turning speed reducing motor (5) is arranged on the inner side of the turnover frame (6),

the output end of the flat-turning speed reducing motor (5) is fixedly connected with the first end of the flat-turning driving shaft (4), the flat-turning driving shaft (4) penetrates through the overturning frame (6), and the second end of the flat-turning driving shaft (4) is fixed with the upper shield buffer frame (2);

the flat-turning speed reduction motor (5) can drive the upper shield (1) and the upper shield buffer frame (2) to rotate through the flat-turning driving shaft (4).

5. The quick shield unfolding and folding mechanism of claim 4, wherein:

the flat-turning gear motor (5) is provided with a first self-locking mechanism,

the first self-locking mechanism can lock the flat-turning speed reduction motor (5);

when the first self-locking mechanism is locked, the flat-turning speed reduction motor (5) cannot drive the upper shield (1) and the upper shield buffer frame (2) to rotate through the flat-turning driving shaft (4).

6. The quick shield unfolding and folding mechanism of claim 5, wherein:

the flat-turning speed reducing motor (5) is of a turbine worm type.

7. The quick shield unfolding and folding mechanism according to claim 1 or 2, characterized in that:

a second self-locking mechanism is arranged in the turnover electric push rod (10),

when the second self-locking mechanism is locked, the overturning electric push rod (10) cannot extend or contract.

8. The quick shield unfolding and folding mechanism of claim 7, wherein:

the overturning electric push rod (10) is internally provided with a screw structure.

9. The quick shield unfolding and folding mechanism according to claim 1 or 2, characterized in that: the chassis (16) is a wheel type or crawler type bearing platform.

10. The quick shield unfolding and folding mechanism according to claim 1 or 2, characterized in that:

a detection assembly is arranged on the side surface of the chassis (16);

the upper shield (1) is provided with an observation window.

Technical Field

The invention belongs to the technical field of armored equipment, and particularly relates to a rapid shield unfolding and folding mechanism.

Background

The folding bulletproof shield has a large protection area when in use and a small volume when in carrying, and is widely applied to the field of military police in recent years. But current foldable shield is the fixed knot who can not automatic exhibition receive and constructs, need rely on the manual work to expand during the operation and draw in the operation in, increases the fighter exposure time. In particular, in the case of large shields, due to the heavy weight of the shield body, the fighter must disengage the weapon with his hands during operation, which makes it difficult to quickly deal with the particular situation. Therefore, how to realize the automatic folding and unfolding of the folding shield becomes a problem to be solved urgently in the field.

Disclosure of Invention

The invention provides a quick shield unfolding and folding mechanism, which comprises: a shield rotating mechanism, a shield turning mechanism and a shield flat rotating mechanism;

the shield rotating mechanism is arranged on the chassis, the shield overturning mechanism is arranged on the shield rotating mechanism, and the shield horizontal rotation mechanism is arranged on the shield overturning mechanism;

the shield rotating mechanism comprises a rotating frame, and the rotating frame can rotate relative to the chassis;

the shield turnover mechanism comprises a turnover frame and a turnover electric push rod; the overturning frame, the rotating frame and the overturning electric push rod form a triangular structure hinged in pairs; the turnover electric push rod can push the turnover frame to rotate around the hinged position of the turnover frame and the rotating frame;

the shield flat-turning mechanism comprises an upper shield, an upper shield buffer frame, a flat-turning slewing bearing, a flat-turning driving mechanism, a lower shield and a lower shield buffer frame; the lower shield is mounted at the lower end of the outer side of the turnover frame through a lower shield buffer frame, the upper shield is mounted at the first side of the flat-turning slewing bearing through an upper shield buffer frame, the second side of the flat-turning slewing bearing is mounted at the upper end of the turnover frame, and the upper shield buffer frame can rotate relative to the turnover frame; the flat-turning driving mechanism is arranged on the inner side of the turning frame and drives the upper shield and the upper shield buffer frame to rotate.

Furthermore, the shield turnover mechanism also comprises a first turnover hinge shaft, a second turnover hinge shaft and a third turnover hinge shaft;

the overturning frame is movably hinged with the rotating frame through a second overturning hinge shaft;

the first end of the turnover electric push rod is hinged to the inner side of the turnover frame through the first turnover hinge shaft, and the first end of the turnover electric push rod is hinged to the rotating frame through the third turnover hinge shaft.

Further, the shield rotating mechanism also comprises a rotary slewing bearing,

the lower part of the rotary slewing bearing is arranged on the chassis, and the rotary frame is arranged on the upper part of the rotary slewing bearing.

Further, the flat-turning driving mechanism comprises a flat-turning driving shaft, a flat-turning speed reduction motor and a transition plate;

the transition plate is fixedly connected with the overturning frame, a through hole is formed in the transition plate, a supporting shaft sleeve is arranged in the through hole, and the supporting shaft sleeve can rotate in the through hole; the flat rotating driving shaft penetrates through the supporting shaft sleeve and is connected with the supporting shaft sleeve;

the flat turning speed reducing motor is arranged at the inner side of the turnover frame,

the output end of the flat turning speed reducing motor is fixedly connected with the first end of the flat turning driving shaft, the flat turning driving shaft penetrates through the overturning frame, and the second end of the flat turning driving shaft is fixed with the upper shield buffer frame;

the flat-turning speed reduction motor can drive the upper shield and the upper shield buffer frame to rotate through the flat-turning driving shaft.

Further, the flat-turning speed reducing motor is provided with a first self-locking mechanism,

the first self-locking mechanism can lock the flat-turning speed reduction motor;

when the first self-locking mechanism is locked, the flat-turning speed reduction motor cannot drive the upper shield and the upper shield buffer frame to rotate through the flat-turning driving shaft.

Further, the flat-turning speed reduction motor is of a turbine worm type.

Further, a second self-locking mechanism is arranged in the overturning electric push rod,

when the second self-locking mechanism is locked, the turnover electric push rod cannot extend or shorten.

Further, the turning electric push rod is internally provided with a screw structure.

Further, the chassis is a wheel type or crawler type bearing platform.

Further, a detection assembly is arranged on the side face of the chassis;

the upper shield is provided with an observation window.

The rapid shield unfolding and folding mechanism designed by the invention has the advantages of simple structure, high automation degree and high reliability, can simultaneously rotate, overturn and horizontally rotate for 3 actions, and is rapid and accurate in action. The shield rotating mechanism adopts a slewing bearing, has large bearing capacity, can be driven to rotate by a motor, is matched with a conductive slip ring, is not limited by a cable, and realizes continuous infinite 360-degree continuous adjustable rotation.

The shield turnover mechanism is of a hinge structure, is driven by the electric push rod, can be adjusted by matching with feedback of a potentiometer, has a pitching function, is stable in the gravity center of the whole vehicle, and has protection capability when a fighter climbs a staircase or a gentle slope. The shield horizontal rotation mechanism adopts a slewing bearing, is matched with a speed reducing motor, and realizes two-section folding and unfolding in a plane rotation mode, and a driving structure can increase protection and strengthen. The unfolding and folding speeds are high, the unfolding and folding are divided into two independent actions of horizontal rotation and overturning, the horizontal rotation and the overturning can be carried out simultaneously, and the action efficiency is improved.

The rapid shield unfolding and folding mechanism has the advantages of space saving, strong concealment, large freedom of shield movement and capability of folding the shield to the smallest volume, thereby improving the overall passability of the shield mechanism.

The rapid shield unfolding and folding mechanism has the advantages that no structural part is exposed out of the shield bullet-facing surface, and the shield is provided with the buffer frame to avoid being damaged by live ammunition; the structure has the buffer frame to isolate the local destructive power and the impact force of live ammunition, and is not easy to damage, effectively reduces the impact on the whole mechanism, and has strong reliability. The shield is convenient to replace, the shield does not participate in actions as a structural part, the shield can be detached or replaced at any time, and the shield can be replaced after being knocked to be damaged to guarantee continuous operation.

Drawings

FIG. 1 is a schematic structural diagram of a shield quick unfolding and folding mechanism according to an embodiment of the invention;

FIG. 2 is a schematic structural diagram illustrating a shield quick unfolding and folding mechanism according to an embodiment of the present invention;

FIG. 3 is a structural diagram illustrating an overlapped closing posture of an upper shield and a lower shield of a rapid shield unfolding and folding mechanism according to an embodiment of the present invention;

FIG. 4 is a structural diagram illustrating a mutual unfolding posture of an upper shield and a lower shield of a rapid shield unfolding and folding mechanism according to an embodiment of the present invention;

fig. 5 shows a partial structural schematic diagram of a shield quick unfolding and folding mechanism according to an embodiment of the invention.

In the figure: 1. an upper shield; 2. an upper shield buffer frame; 3. a horizontal rotation slewing bearing; 4. a translational drive shaft; 5. a horizontal rotation speed reducing motor; 6. turning over the frame; 7. a lower shield; 8. a lower shield buffer frame; 9. a first turnover hinge shaft; 10. turning over the electric push rod; 11. a second turnover hinge shaft; 12. a rotating frame; 13. a third turnover hinged shaft; 14. rotating the slewing bearing; 15. a transition plate; 16. a chassis.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The invention provides a quick shield unfolding and folding mechanism which is shown in figure 1, saves space after being folded as shown in figure 2, is strong in concealment, and has the total height of a vehicle body of about 640mm in a completely folded state. The shield has large freedom of movement, and can be folded into the smallest volume, so that the integral passability of the shield mechanism is improved.

The invention discloses a rapid shield unfolding and folding mechanism which comprises a shield rotating mechanism, a shield turning mechanism and a shield flat rotating mechanism.

The shield rotating mechanism is arranged on the chassis 16, the shield overturning mechanism is arranged on the shield rotating mechanism, and the shield horizontal rotating mechanism is arranged on the shield overturning mechanism.

The rapid shield unfolding and folding mechanism designed by the invention can simultaneously perform 3 actions of rotation, overturning and flat turning, and the actions are rapid and accurate. The shield rotating mechanism comprises a rotating frame 12, wherein the rotating frame 12 can freely rotate relative to a chassis 16, so that the shield rotating mechanism can rotate relative to the chassis 16. The shield turnover mechanism comprises a turnover frame 6 and a turnover electric push rod 10; the overturning frame 6, the rotating frame 12 and the overturning electric push rod 10 form a triangular structure hinged in pairs; the overturning electric push rod 10 can push the overturning frame 6 to rotate around the hinged position of the overturning frame 6 and the rotating frame 12, so that the shield overturning mechanism can do overturning motion relative to the shield rotating mechanism. The shield flat turning mechanism comprises an upper shield component and a lower shield component; the lower shield assembly is arranged at the lower end of the outer side of the turnover frame 6, and the upper shield assembly is arranged at the upper end of the outer side of the turnover frame 6; the upper shield component can freely rotate horizontally relative to the turnover frame 6, so that the upper shield component can do horizontal rotation relative to the shield turnover mechanism.

The shield rotating mechanism further comprises a rotating slewing bearing 14, the lower part of the rotating slewing bearing 14 is installed on a chassis 16, and the rotating frame 12 is arranged on the upper part of the rotating slewing bearing 14.

The quick mechanism of receiving of opening of shield still includes the controller, and the controller sets up inside the quick mechanism of receiving of opening of shield, and the controller can be chip, circuit board, electric control system etc.. The controller is connected with the motor, the flat-turning speed reducing motor 5, the electric push rod 10, the detection assembly and other circuits.

Preferably, the rotating slewing bearing 14 of the shield rotating mechanism has high bearing capacity and can be driven to rotate by a motor controlled by the controller. The motor is supplied with power through the conductive slip ring, is not limited by a cable, and can continuously and infinitely rotate in a 360-degree adjustable manner.

The shield turnover mechanism also comprises a first turnover hinge shaft 9, a second turnover hinge shaft 11 and a third turnover hinge shaft 13; the overturning frame 6 is movably hinged with the rotating frame 12 through a second overturning hinge shaft 11; the first end of the turnover electric push rod 10 is hinged to the inner side of the turnover frame 6 through the first turnover hinge shaft 9, and the first end of the turnover electric push rod 10 is hinged to the rotating frame 12 through the third turnover hinge shaft 13. The turning frame 6, the rotating frame 12 and the turning electric push rod 10 form a two-two hinged triangular structure, so that the controller controls the stretching of the turning electric push rod 10 to realize the angle adjustment of the turning frame 6 and the rotating frame 12. And a second self-locking mechanism is arranged in the turnover electric push rod 10, and when the second self-locking mechanism is locked, the turnover electric push rod 10 cannot extend or shorten. When the length of the turning electric push rod 10 is fixed, the shield turning mechanism cannot turn due to the stability of the triangle, and the shield rapid unfolding and folding mechanism can still keep the original shield state after the shield is stressed, so that the safety of rear personnel and equipment is protected. The turnover electric push rod 10 is internally provided with a screw structure, and the turnover electric push rod 10 is stretched by using a screw inside the turnover electric push rod. The screw in the reversible electric putter 10 has various designs, such as similar to CN207588631U, CN207039367U, etc. In one design mode, a motor, a planetary reduction gear set and a screw are arranged inside the overturning electric push rod 10; the power output shaft of the motor is meshed with a sun gear in the planetary reduction gear set, a planetary gear in the planetary reduction gear set is meshed with a screw rod, and the screw rod is used for driving the overturning electric push rod 10 to stretch. The screw rod structure can realize mechanical self-locking, the mechanical self-locking safety is high, and the danger brought by the structure is reduced.

The shield turnover mechanism adopts a hinge structure, is driven by a turnover electric push rod, can be matched with feedback of a potentiometer, realizes 0-120-degree random adjustment, can incline forwards by 30 degrees at most, has a pitching function, is stable in the gravity center of the whole vehicle, has protective capacity when climbing stairs or gentle slopes along with fighters, and can meet the requirement of climbing and erecting the shield when turning up by 120 degrees.

The shield flat-turning mechanism also comprises a flat-turning slewing bearing 3; the upper shield assembly comprises an upper shield 1 and an upper shield buffer frame 2; the lower shield assembly comprises a lower shield 7 and a lower shield buffer 8.

Lower shield 7 is installed through lower shield buffer 86 outside lower extreme of upset frame, go up shield 1 through last shield buffer 2 install in the 3 first sides of flat-turn slewing bearing, the 3 second sides of flat-turn slewing bearing install in 6 upper ends of upset frame, go up shield 1 with go up shield buffer 2 can for 6 free rotations of upset frame.

The shield flat rotating mechanism also comprises a flat rotating driving mechanism; the flat-turning driving mechanism is arranged on the inner side of the turning frame 6 and drives the upper shield 1 and the upper shield buffer frame 2 to rotate. Thereby realizing two postures of mutual unfolding and overlapping folding between the upper shield 1 and the lower shield 7. The overlapping and folding are shown in fig. 3, and the mutual unfolding is shown in fig. 4.

The flat-turning driving mechanism comprises a flat-turning driving shaft 4, a flat-turning speed reducing motor 5 and a transition plate 15; as shown in fig. 5, the transition plate 15 is fixedly connected with the turnover frame 6, the transition plate 15 is provided with a through hole, a supporting shaft sleeve is arranged in the through hole, and the supporting shaft sleeve can rotate in the through hole; the flat rotating driving shaft 4 passes through the supporting shaft sleeve and is connected with the supporting shaft sleeve; the flat turning speed reducing motor 5 is arranged on the inner side of the turnover frame 6, the output end of the flat turning speed reducing motor 5 is fixedly connected with the first end of the flat turning driving shaft 4, the flat turning driving shaft 4 penetrates through the turnover frame 6, and the second end of the flat turning driving shaft 4 is fixed with the upper shield buffer frame 2; the flat-turning speed reduction motor 5 can drive the upper shield 1 and the upper shield buffer frame 2 to rotate through the flat-turning driving shaft 4, so that 2 postures of mutual unfolding and overlapping folding with the lower shield 7 are realized.

The flat turning speed reducing motor 5 is provided with a first self-locking mechanism, and the first self-locking mechanism can lock the flat turning speed reducing motor 5; when the first self-locking mechanism is locked, the flat-turning speed reduction motor 5 cannot drive the upper shield 1 and the upper shield buffer frame 2 to rotate through the flat-turning driving shaft 4. The flat-turning speed reduction motor 5 is of a worm gear type, and can realize mechanical self-locking if a worm gear speed reducer is adopted, the mechanical self-locking safety is high, and the danger brought by the structure is reduced.

The shield flat rotating mechanism adopts a slewing bearing, is matched with a flat rotating speed reducing motor, and realizes two-section folding and unfolding in a plane rotating mode, and the driving structure can increase protection and strengthen. The overturning electric push rod 10 and the rotating speed reducing motor 5 are controlled by the controller, and the automation degree is high. The unfolding and folding speeds are high, the unfolding and folding are divided into two independent actions of horizontal rotation and overturning, the horizontal rotation and the overturning can be carried out simultaneously, and the action efficiency is improved.

According to the shield quick unfolding and folding mechanism, no structural part is exposed out of the shield bullet-facing surface, the shield is provided with the buffer frame, and the upper shield buffer frame 2 and the lower shield buffer frame 8 have a buffer function, so that the shield is prevented from being damaged by live ammunition; the structure has the buffer frame to isolate the local destructive power and the impact force of live ammunition, and is not easy to damage, effectively reduces the impact on the whole mechanism, and has strong reliability. The shield is convenient to replace, the shield does not participate in actions as a structural part, the shield can be detached or replaced at any time, and the shield can be replaced after being knocked to be damaged to guarantee continuous operation.

Further, the panning slewing bearing 3 can move in the direction of the panning drive shaft 4 and can be locked. After the upper shield 1 and the upper shield buffer frame 2 rotate horizontally for 180 degrees, the horizontal rotation slewing bearing 3 drives the upper shield 1 and the upper shield buffer frame 2 to move towards the direction of the horizontal rotation driving shaft 4, so that the bullet-facing surface of the upper shield 1 and the bullet-facing surface of the lower shield 7 are positioned on the same plane, and the combination forms a complete shield, so that the shield is firmer.

The chassis 16 is a wheeled or tracked load-bearing platform. The upper shield 1 is provided with an observation window. A detection assembly is arranged on the side surface of the chassis 16; the detection component is connected with the controller circuit, so that the detection is convenient to control. Preferably, the detection assembly is composed of one or more of a camera, an infrared camera, a radar and the like.

The quick shield unfolding and folding mechanism further comprises a power supply assembly and/or a battery assembly, and the power supply assembly and/or the battery assembly are used for supplying power to the quick shield unfolding and folding mechanism.

The quick mechanism of receiving and opening of shield still includes wireless device, and the information that the detection subassembly surveyed passes through the controller, finally conveys operating personnel through wireless device.

A quick exhibition of shield is received and is constructed still includes wireless control equipment, and operating personnel can pass through wireless control equipment control quick exhibition of shield is received and is constructed and exhibition is received, realizes the flat action of rotatory upset.

The rapid shield unfolding and folding mechanism is simple in structure and high in automation degree, can rapidly realize automatic shield unfolding and folding, saves space after folding and unfolding, can simultaneously rotate, turn and rotate horizontally for 3 actions, is rapid and accurate in action, reduces manpower, is high in reliability, improves personnel safety in dangerous environments, and can be widely applied to occasions such as city anti-terrorism, security, training exercise and the like.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.