阅读说明：本技术 顶升机构及机器人 (Climbing mechanism and robot ) 是由 聂碧涛 张喜斌 史弦立 李德权 马勇军 于 2021-08-27 设计创作，主要内容包括：本发明提供了一种顶升机构及机器人,顶升机构包括顶升组件和承载件,顶升组件与承载件连接,顶升组件可移动地设置,以带动承载件移动,顶升机构还包括：第一扫码器,第一扫码器的扫码端朝向承载件设置；第一扫码器与顶升组件连接,以使第一扫码器与顶升组件同步移动。本发明的顶升机构解决了现有技术中的顶升机构的扫码器扫码容易出现异常的问题。(The invention provides a jacking mechanism and a robot, wherein the jacking mechanism comprises a jacking assembly and a bearing part, the jacking assembly is connected with the bearing part, the jacking assembly is movably arranged to drive the bearing part to move, and the jacking mechanism also comprises: the code scanning end of the first code scanner is arranged towards the bearing piece; the first scanner is connected with the jacking assembly so as to enable the first scanner and the jacking assembly to move synchronously. The jacking mechanism solves the problem that a code scanning device of the jacking mechanism in the prior art is easy to be abnormal in code scanning.)

1. The utility model provides a climbing mechanism, includes jacking subassembly (10) and holds carrier (20), jacking subassembly (10) with it connects to hold carrier (20), jacking subassembly (10) movably sets up, in order to drive it removes to hold carrier (20), its characterized in that, climbing mechanism still includes:

a first scanner (30), a scanning end of the first scanner (30) being disposed towards the carrier (20); the first scanner (30) is connected with the jacking assembly (10) so that the first scanner (30) and the jacking assembly (10) move synchronously.

2. The jacking mechanism of claim 1, further comprising:

the connecting piece (40) comprises a first connecting part (41) and a second connecting part (42) connected with the first connecting part (41), the first connecting part (41) is connected with the jacking assembly (10), and the second connecting part (42) is connected with the first scanner (30);

the jacking assembly (10) is rotatably arranged, and the first connecting part (41) and the second connecting part (42) are relatively rotatably arranged; the jacking mechanism further comprises a guide rod (50) and a guide part (60), the guide part (60) is provided with a guide hole extending along the moving direction of the jacking assembly (10), and the guide rod (50) is inserted into the guide hole;

the guide rod (50) is connected with the second connecting part (42); or

The guide portion (60) is connected to the second connecting portion (42).

3. The climbing mechanism according to claim 2, characterized in that the first connection (41) is an outer swivel ring and the second connection (42) is an inner swivel ring, which is arranged around the inner swivel ring.

4. The jacking mechanism according to claim 2, wherein the connecting member (40) is a toothless slewing bearing, the first connecting portion (41) is an outer race of the toothless slewing bearing, and the second connecting portion (42) is an inner race of the toothless slewing bearing.

5. The jacking mechanism according to any one of claims 2 to 4, wherein the jacking assembly (10) comprises a first gear (11); the climbing mechanism still includes:

and the second gear (70) is meshed with the first gear (11), and the second gear (70) is rotatably arranged to drive the first gear (11) to rotate.

6. The jacking mechanism of claim 5, further comprising:

a support plate (80);

the ball screw (90) comprises a transmission screw rod (91) and a transmission nut (92), and the transmission screw rod (91) is arranged on the support plate (80) in a penetrating mode and can be rotatably arranged relative to the support plate (80); the transmission nut (92) is sleeved on the transmission screw rod (91) so that when the transmission screw rod (91) rotates, the transmission nut (92) moves along the extension direction of the transmission screw rod (91); the transmission nut (92) is connected with the first gear (11).

7. Jacking mechanism according to claim 6, wherein the first gear (11) is arranged around the drive screw (91), the drive screw (91) having a communication hole (911), the communication hole (911) extending in the extension direction of the drive screw (91), the connection (40) and the first scanner (30) both being arranged within the communication hole (911).

8. The jacking mechanism according to claim 6, wherein the jacking assembly (10) further comprises a transition connection part (12) and an annular connection plate (13), the transition connection part (12) is a barrel-shaped structure, the transmission screw (91) is arranged around the transition connection part (12), the connection part (40) and the first scanner (30) are both arranged in the transition connection part (12), and the first connection part (41) is connected with the transition connection part (12);

the transition connecting part (12) is connected with the first gear (11) through the annular connecting plate (13).

9. The jacking mechanism of claim 6, further comprising:

the first driving assembly (100) is arranged on the supporting plate (80), and the first driving assembly (100) is connected with the transmission screw rod (91) to drive the transmission screw rod (91) to rotate.

10. The jacking mechanism of claim 5, further comprising:

and the second driving component (110) is connected with the second gear (70) so as to drive the second gear (70) to rotate.

11. The jacking mechanism of any one of claims 2 to 4, further comprising:

a mounting seat (120);

a second code scanner (130) arranged on the mounting seat (120), wherein the second code scanner (130) is positioned on the side of the first code scanner (30) far away from the bearing piece (20), and the code scanning end of the second code scanner (130) is arranged towards the direction far away from the bearing piece (20);

wherein the guide portion (60) is provided to the mounting seat (120) when the guide bar (50) is connected to the second connecting portion (42); when the guide portion (60) is connected to the second connecting portion (42), the guide bar (50) is provided to the mounting seat (120).

12. A robot comprising a jacking mechanism and a vehicle body (140), the jacking mechanism being arranged on a chassis of the vehicle body (140), characterized in that the jacking mechanism is the jacking mechanism of any one of claims 1 to 11.

Technical Field

The invention relates to the field of logistics storage, in particular to a jacking mechanism and a robot.

Background

At present, a jacking robot comprises a vehicle body, a jacking mechanism, an upper code scanner and a lower code scanner, wherein the jacking mechanism is arranged on a chassis of the vehicle body and comprises a top bearing plate and a ball screw, and the jacking mechanism adopts the ball screw to jack the top bearing plate; the upper code scanner and the lower code scanner are fixed on a chassis of the vehicle body and are positioned in the middle of a hollow lead screw of the ball screw, and the lower code scanner needs to scan a ground two-dimensional code to play a navigation role; go up the two-dimensional code on the goods shelves that the bar code scanner scanned the top loading board and bore, read goods information.

However, the fixed mode of upper and lower bar code scanners among the prior art is rigid connection, can't remove along with the jacking height, but goods shelves are along with the loading board by the jacking, and the two-dimensional code distance bar code scanner distance on the goods shelves is constantly drawn big, and it is more and more vague to sweep a yard information, leads to sweeping yard distance overlength and can't discern the two-dimensional code, and jacking robot reports to the police.

Disclosure of Invention

The invention mainly aims to provide a jacking mechanism and a robot, and aims to solve the problem that a code scanning device of the jacking mechanism in the prior art is easy to be abnormal in code scanning.

In order to achieve the above object, according to an aspect of the present invention, there is provided a jacking mechanism, including a jacking assembly and a bearing member, the jacking assembly is connected to the bearing member, the jacking assembly is movably disposed to drive the bearing member to move, the jacking mechanism further includes: the code scanning end of the first code scanner is arranged towards the bearing piece; the first scanner is connected with the jacking assembly so as to enable the first scanner and the jacking assembly to move synchronously.

Further, climbing mechanism still includes: the connecting piece comprises a first connecting part and a second connecting part connected with the first connecting part, the first connecting part is connected with the jacking assembly, and the second connecting part is connected with the first scanner; the jacking assembly is rotatably arranged, and the first connecting part and the second connecting part are relatively rotatably arranged; the jacking mechanism further comprises a guide rod and a guide part, the guide part is provided with a guide hole extending along the moving direction of the jacking assembly, and the guide rod is inserted into the guide hole; the guide rod is connected with the second connecting part; alternatively, the guide portion is connected to the second connecting portion.

Furthermore, the first connecting portion is a rotary outer ring, the second connecting portion is a rotary inner ring, and the rotary outer ring is arranged around the rotary inner ring.

Further, the connecting piece is a toothless rotary bearing, the first connecting part is an outer ring of the toothless rotary bearing, and the second connecting part is an inner ring of the toothless rotary bearing.

Further, the jacking assembly comprises a first gear; the climbing mechanism still includes: and the second gear is meshed with the first gear and can be rotationally arranged to drive the first gear to rotate.

Further, climbing mechanism still includes: a support plate; the ball screw comprises a transmission screw rod and a transmission nut, and the transmission screw rod is arranged on the supporting plate in a penetrating way and can be rotatably arranged relative to the supporting plate; the transmission nut is sleeved on the transmission screw rod, so that when the transmission screw rod rotates, the transmission nut moves along the extension direction of the transmission screw rod; the drive nut is connected with the first gear.

Further, the first gear is arranged around the transmission screw rod, the transmission screw rod is provided with a communication hole, the communication hole extends along the extending direction of the transmission screw rod, and the connecting piece and the first code scanner are arranged in the communication hole.

Furthermore, the jacking assembly also comprises a transition connecting part and an annular connecting plate, the transition connecting part is of a barrel-shaped structure, the transmission screw is arranged around the transition connecting part, the connecting piece and the first scanner are both arranged in the transition connecting part, and the first connecting part is connected with the transition connecting part; the transition connecting part is connected with the first gear through an annular connecting plate.

Further, climbing mechanism still includes: the first driving assembly is arranged on the supporting plate and connected with the transmission screw rod to drive the transmission screw rod to rotate.

Further, climbing mechanism still includes: and the second driving component is connected with the second gear to drive the second gear to rotate.

Further, climbing mechanism still includes: a mounting seat; the second code scanner is arranged on the mounting seat, is positioned on one side of the first code scanner, which is far away from the bearing piece, and the code scanning end of the second code scanner faces to the direction far away from the bearing piece; when the guide rod is connected with the second connecting part, the guide part is arranged on the mounting seat; when the guide part is connected with the second connecting part, the guide rod is arranged on the mounting seat.

According to another aspect of the invention, a robot is provided, which includes a jacking mechanism and a vehicle body, the jacking mechanism is arranged on a chassis of the vehicle body, wherein the jacking mechanism is the jacking mechanism.

The jacking mechanism comprises a jacking assembly and a bearing part, wherein the bearing part is used for bearing a goods shelf; the jacking assembly is connected with the bearing piece and can be movably arranged so as to drive the bearing piece to move; the jacking mechanism further comprises a first code scanner, and the code scanning end of the first code scanner is arranged towards the bearing piece so as to scan the two-dimensional code of the goods shelf on the bearing piece; the first code scanner of the jacking mechanism is connected with the jacking assembly so that the first code scanner and the jacking assembly can move synchronously, the distance between the code scanning end of the first code scanner and the bearing piece is in a constant state, and further the distance between the code scanning end of the first code scanner and the goods shelf bearing the bearing piece is in a constant state, so that the two-dimensional code information can be well identified by the first code scanner, abnormal scanning of the first code scanner is avoided, and the jacking mechanism gives an alarm.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

figure 1 shows a partial cross-sectional view of an embodiment of a robot according to the invention;

FIG. 2 shows a partial cross-sectional view of a jacking mechanism according to the present invention;

FIG. 3 shows an isometric view of a jacking mechanism according to the present invention;

FIG. 4 shows a cross-sectional view of a portion of the structure of the jacking mechanism of FIG. 2;

fig. 5 shows an isometric view of a partial structure of the jacking mechanism in fig. 2.

Wherein the figures include the following reference numerals:

10. a jacking assembly; 11. a first gear; 12. a transition connection; 13. an annular connecting plate; 20. a carrier; 30. a first code scanner; 40. a connecting member; 41. a first connection portion; 42. a second connecting portion; 50. a guide bar; 60. a guide portion; 70. a second gear; 80. a support plate; 90. a ball screw; 91. a drive screw; 911. a communicating hole; 92. a drive nut; 100. a first drive assembly; 110. a second drive assembly; 120. a mounting seat; 130. a second code scanner; 140. a vehicle body; 150. and (7) mounting the plate.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The present invention provides a jacking mechanism, please refer to fig. 1 to 5, including a jacking assembly 10 and a bearing member 20, the jacking assembly 10 is connected with the bearing member 20, the jacking assembly 10 is movably disposed to drive the bearing member 20 to move, the jacking mechanism further includes: a first scanner 30, a scanning end of the first scanner 30 being disposed toward the carrier 20; the first scanner 30 is connected to the lift assembly 10 such that the first scanner 30 moves in synchronization with the lift assembly 10.

The jacking mechanism comprises a jacking assembly 10 and a bearing part 20, wherein the bearing part 20 is used for bearing a goods shelf; the jacking assembly 10 is connected with the bearing member 20, and the jacking assembly 10 is movably arranged to drive the bearing member 20 to move; the lift mechanism further comprises a first scanner 30, a scanning end of the first scanner 30 being disposed towards the carrier 20 to scan a two-dimensional code of a shelf on the carrier 20; the first scanner 30 of this climbing mechanism is connected with jacking subassembly 10 to make first scanner 30 and jacking subassembly 10 synchronous motion, make the distance between the yard end of sweeping of first scanner 30 and the carrier 20 be in the constant state, and then be in the constant state with the distance between the goods shelves that the carrier 20 bore, make the fine discernment two-dimensional code information of first scanner 30, avoid first scanner 30 to scan unusually, the climbing mechanism reports to the police.

It should be noted that the carrier 20 can carry goods, products, and other objects besides the shelf; the first scanner 30 can scan a pattern such as a bar code in addition to the two-dimensional code.

Specifically, the jacking assembly 10 moves along the vertical direction to drive the bearing member 20 to move along the vertical direction, and the first scanner 30 is connected with the jacking assembly 10 and can ascend and descend along with the jacking assembly 10.

In this embodiment, the climbing mechanism further includes: the connecting piece 40 comprises a first connecting part 41 and a second connecting part 42 connected with the first connecting part 41, the first connecting part 41 is connected with the jacking assembly 10, and the second connecting part 42 is connected with the first scanner 30; the jacking assembly 10 is rotatably arranged, and the first connecting part 41 and the second connecting part 42 are relatively rotatably arranged; the jacking mechanism further comprises a guide rod 50 and a guide part 60, wherein the guide part 60 is provided with a guide hole extending along the moving direction of the jacking assembly 10, and the guide rod 50 is inserted into the guide hole; the guide rod 50 is connected with the second connecting part 42; alternatively, the guide portion 60 is connected to the second connecting portion 42.

In specific implementation, when the jacking assembly 10 moves, because the first connecting portion 41 is connected with the jacking assembly 10, the first connecting portion 41 is connected with the second connecting portion 42, and the second connecting portion 42 is connected with the first scanner 30, the whole connecting member 40 and the first scanner 30 move along with the jacking assembly 10 under the driving of the jacking assembly 10; when the jacking assembly 10 rotates, the jacking assembly 10 drives the first connecting part 41 to rotate, and the second connecting part 42 cannot rotate due to the limiting effect of the guide rod 50 and the guide part 60 on the second connecting part 42, namely the second connecting part 42 is not moved; wherein, when the second connecting part 42 moves along with the jacking assembly 10, the guide rod 50 and the guide part 60 guide the second connecting part 42. Specifically, the first code scanner 30 is connected to the jacking assembly 10 in a constant code scanning distance, and then ascends along with the jacking assembly 10, but the first code scanner is directly fixed to the jacking assembly 10 to generate a winding phenomenon, so that the winding phenomenon is easy to break, and the problem is solved by setting the position.

Specifically, the jacking assembly 10 rotates about a center of rotation that extends in a vertical direction.

Optionally, the guide 60 is a bushing. Specifically, the guide portion 60 is an oilless bushing.

Specifically, the guide bar 50 and the guide part 60 are provided in pairs, and the jacking mechanism includes two pairs of the guide bar 50 and the guide part 60.

In the present embodiment, the first connection portion 41 is an outer slewing ring, and the second connection portion 42 is an inner slewing ring, which is disposed around the inner slewing ring.

Alternatively, the connecting member 40 is a toothless slew bearing, the first connecting portion 41 is an outer race of the toothless slew bearing, and the second connecting portion 42 is an inner race of the toothless slew bearing. The outer ring of the slewing bearing is divided into two conditions of toothless and toothed, the inner ring of the slewing bearing is divided into two conditions of toothless and toothed, and the toothless slewing bearing refers to the condition that the outer ring of the slewing bearing is toothless and the inner ring of the slewing bearing is toothless.

To enable rotation of the jacking assembly 10, the jacking assembly 10 comprises a first gear 11; the climbing mechanism still includes: the second gear 70 is engaged with the first gear 11, and the second gear 70 is rotatably disposed to rotate the first gear 11.

In order to realize the movement of the jacking assembly 10, the jacking mechanism further comprises: a support plate 80; the ball screw 90 comprises a transmission screw 91 and a transmission nut 92, wherein the transmission screw 91 is arranged on the support plate 80 in a penetrating way and can be rotatably arranged relative to the support plate 80; the transmission nut 92 is sleeved on the transmission screw 91, so that when the transmission screw 91 rotates, the transmission nut 92 moves along the extending direction of the transmission screw 91; the drive nut 92 is connected to the first gear 11.

In the present embodiment, the first gear 11 is disposed around the drive screw 91, the drive screw 91 has a communication hole 911, the communication hole 911 extends in the extending direction of the drive screw 91, and the link 40 and the first scanner 30 are both disposed in the communication hole 911.

In this embodiment, the jacking assembly 10 further includes a transition connection portion 12 and an annular connection plate 13, the transition connection portion 12 is a barrel-shaped structure, the transmission screw 91 is disposed around the transition connection portion 12, the connection member 40 and the first scanner 30 are both disposed in the transition connection portion 12, and the first connection portion 41 is connected to the transition connection portion 12; the transition connection 12 is connected to the first gear wheel 11 via an annular connecting plate 13.

Specifically, the annular connecting plate 13 is connected with the top of the transition connecting part 12, and the annular connecting plate 13 is connected with the top of the first gear 11; the carrier 20 is connected to the jacking assembly 10 by an annular connecting plate 13.

In this embodiment, the climbing mechanism further includes: the first driving assembly 100 is disposed on the supporting plate 80, and the first driving assembly 100 is connected to the driving screw 91 to drive the driving screw 91 to rotate.

In order to realize the rotation of the transmission screw 91, the first driving assembly 100 includes a first motor, a first speed reducer, a third gear and a fourth gear, the first motor is connected with the first speed reducer, the first speed reducer is connected with the third gear, the third gear is engaged with the fourth gear, and the fourth gear is connected with the transmission screw 91.

In this embodiment, the climbing mechanism further includes: the second driving assembly 110 is connected to the second gear 70 to drive the second gear 70 to rotate.

Specifically, the second driving assembly 110 includes a second motor and a second speed reducer, the second motor is connected to the second speed reducer, and the second speed reducer is connected to the second gear 70 to drive the second gear to rotate.

In this embodiment, the climbing mechanism further includes: a mounting base 120; a second scanner 130 disposed on the mounting base 120, the second scanner 130 being located on a side of the first scanner 30 away from the carrier 20, a scanning end of the second scanner 130 being disposed toward a direction away from the carrier 20; wherein, when the guide rod 50 is connected with the second connecting part 42, the guide part 60 is arranged on the mounting seat 120; when the guide portion 60 is coupled to the second coupling portion 42, the guide bar 50 is disposed on the mounting seat 120.

In this embodiment, the jacking mechanism further comprises a mounting plate 150, the mounting plate 150 is spaced from the support plate 80, and the mounting plate is used for connecting with a chassis of the vehicle body 140; the mount 120 is disposed on the mounting plate 150.

Specifically, the mounting plate 150 and the mounting base 120 are located below the first scanner 30, and the second scanner 130 is located below the first scanner 30.

Specifically, the support plate 80 is connected to the vehicle body 140.

In this embodiment, the first scanner is mounted on the second connecting portion 42 by a first mounting bracket, and the second scanner is mounted on the mounting base by a second mounting bracket.

Specifically, the subaerial two-dimensional code of second bar code scanner scanning, the two-dimensional code on the first bar code scanning goods shelves, this application can make second bar code scanner and subaerial two-dimensional code, the two-dimensional code on first bar code and the goods shelves all be in the constant distance state for the two-dimensional code is discerned to the recognition that first bar code, second bar code can be fine, and can not produce the wire winding phenomenon.

During specific implementation, the first code scanner and the second code scanner are installed on the upper side and the lower side of the toothless slewing bearing, the second code scanner is fixed on a chassis of a vehicle body through the installation plate 150 and is connected and positioned with an inner ring of the toothless slewing bearing through the guide rod, and the guide rod is inserted into the guide sleeve. The first code scanner is also fixed with the inner ring of the toothless slewing bearing, and the outer ring of the toothless slewing bearing is fixedly connected with the ball screw. The inner ring of the toothless slewing bearing only has a rising state and no rotating state. Therefore, the first scanner is always at a constant distance from the carrier 20, and the problem that the first scanner cannot recognize the two-dimensional code is solved without generating winding.

During specific implementation, when the jacking mechanism jacks up the goods, the first driving assembly 100 drives the transmission screw 91 to rotate, the fourth gear of the first driving assembly 100 is fixedly connected with the transmission screw 91, and the transmission screw 91 rotates to drive the transmission nut 92 and the first gear 11 to ascend. The driving nut 92 is fixedly connected with the first gear 11. The transition connection 12 is mounted on the first gear 11, so as to lift the first scanner 30, and the distance between the first scanner 30 and the carrier 20 is constant. When the goods need to rotate, the second driving assembly 110 drives the first gear 11 and the transition connecting portion 12 to rotate, because the outer ring of the toothless slewing bearing is installed on the transition connecting portion 12, the outer ring of the toothless slewing bearing rotates together. However, the inner ring of the toothless slewing bearing is in a static state and cannot rotate, and the first scanner connecting line cannot be wound in the rotating process because the guiding rod 50 and the guiding part 60 are matched for limiting. By the structure, the first gear 11 drives the first code scanner 30 to ascend together in the jacking and rotating processes, and the inner ring of the toothless slewing bearing is limited by the mounting seat 120, so that even if the first gear 11 drives the outer ring of the toothless slewing bearing to rotate, the first code scanner 30 only ascends and cannot rotate, and the winding phenomenon can be avoided.

It should be noted that when the jacking mechanism jacks the goods, the first gear 11 makes jacking movement; when the cargo needs to be rotated, the first gear 11 performs the jacking motion and the rotating motion at the same time.

The invention further provides a robot, as shown in fig. 5, including a jacking mechanism and a vehicle body 140, where the jacking mechanism is arranged on a chassis of the vehicle body 140, and the jacking mechanism is the jacking mechanism in the above embodiments.

In prior art, the robot is at the working process, hollow lead screw jacking goods shelves, and four truckles of goods shelves need the jacking to reach and hang empty state, make two-dimensional code on the goods shelves and first scanner scanning distance change like this, exceed reasonable scanning range even. And the first scanner can not read the cargo information, and the equipment generates an alarm prompt to influence system management and scheduling distribution.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

the jacking mechanism comprises a jacking assembly 10 and a bearing part 20, wherein the bearing part 20 is used for bearing a goods shelf; the jacking assembly 10 is connected with the bearing member 20, and the jacking assembly 10 is movably arranged to drive the bearing member 20 to move; the lift mechanism further comprises a first scanner 30, a scanning end of the first scanner 30 being disposed towards the carrier 20 to scan a two-dimensional code of a shelf on the carrier 20; the first scanner 30 of this climbing mechanism is connected with jacking subassembly 10 to make first scanner 30 and jacking subassembly 10 synchronous motion, make the distance between the yard end of sweeping of first scanner 30 and the carrier 20 be in the constant state, and then be in the constant state with the distance between the goods shelves that the carrier 20 bore, make the fine discernment two-dimensional code information of first scanner 30, avoid first scanner 30 to scan unusually, the climbing mechanism reports to the police.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.