阅读说明：本技术 锚杆输送机械手和锚杆钻车 (Anchor rod conveying mechanical arm and anchor rod drill carriage ) 是由 朱振天 米雄伟 吕继双 韩鹏程 车利明 贾建文 鲁鹤鸣 刘长龙 马钊宁 郑吉� 于 2021-08-27 设计创作，主要内容包括：本发明公开一种锚杆输送机械手和锚杆钻车,所述锚杆输送机械手包括第一安装座、第一伸缩杆、第一抓取组件和第二抓取组件,第一伸缩杆的底座适于安装在车体上,第一伸缩杆的自由端与第一安装座相连,第一伸缩杆伸缩运动以带动第一安装座移动,第一抓取组件和第二抓取组件间隔并行设在第一安装座上,第一抓取组件和第二抓取组件每一者包括第二安装座、第一爪和第二爪,第二安装座设在第一安装座上,第一爪和第二爪均可转动地设在第二安装座内。本发明的锚杆输送机械手具有结构紧凑、具有良好的加工工艺性,装配方便,便于井下维护等优点。(The invention discloses an anchor rod conveying manipulator and an anchor rod drill carriage, wherein the anchor rod conveying manipulator comprises a first mounting seat, a first telescopic rod, a first grabbing component and a second grabbing component, a base of the first telescopic rod is suitable for being mounted on a vehicle body, the free end of the first telescopic rod is connected with the first mounting seat, the first telescopic rod stretches and retracts to drive the first mounting seat to move, the first grabbing component and the second grabbing component are arranged on the first mounting seat at intervals in parallel, each of the first grabbing component and the second grabbing component comprises a second mounting seat, a first claw and a second claw, the second mounting seat is arranged on the first mounting seat, and the first claw and the second claw are both rotatably arranged in the second mounting seat. The anchor rod conveying manipulator has the advantages of compact structure, good processing manufacturability, convenience in assembly, convenience in underground maintenance and the like.)

1. An anchor rod conveying manipulator, comprising:

a first mounting seat;

the base of the first telescopic rod is suitable for being mounted on a vehicle body, the free end of the first telescopic rod is connected with the first mounting seat, and the first telescopic rod stretches and retracts to drive the first mounting seat to move;

the first grabbing component and the second grabbing component are arranged on the first mounting seat in parallel at intervals, each of the first grabbing component and the second grabbing component comprises a second mounting seat, a first claw and a second claw, the second mounting seat is arranged on the first mounting seat, the first claw and the second claw are rotatably arranged in the second mounting seat, each of the first claw and the second claw has a first position and a second position, the first claw and the second claw are opened in the first position, and the first claw and the second claw are closed to grab the anchor rod in the second position.

2. The anchor rod conveying manipulator of claim 1, wherein each of the first gripping assembly and the second gripping assembly further comprises a second telescoping rod disposed within the second mounting socket and a connecting member disposed at a free end of the second telescoping rod, each of the first jaw and the second jaw rotatably coupled to the connecting member, the second telescoping rod driving the connecting member to move between a third position in which the first jaw and the second jaw are in the first position and a fourth position in which the first jaw and the second jaw are in the second position.

3. The anchor rod conveying manipulator of claim 2, wherein the connecting part comprises a first connecting part and a second connecting part, one end of the first connecting part and one end of the second connecting part are both arranged at the free end of the second telescopic rod, an included angle is formed between the extending direction of the first connecting part and the extending direction of the second connecting part, the first connecting part is rotatably connected with the first claw, and the second connecting part is rotatably connected with the second claw.

4. The robot of claim 3, wherein the first jaw includes a first connection plate, a first plate and a second plate, the first plate and the second plate being spaced apart at one end of the first connection plate in a width direction of the first connection plate,

the second claw comprises a second connecting plate, a third plate and a fourth plate, the third plate and the fourth plate are arranged at one end of the second connecting plate at intervals along the width direction of the second connecting plate, the first plate is rotatably connected with the third plate, the second plate is rotatably connected with the fourth plate, one end of the first plate is rotatably arranged in the second mounting seat, and the fourth plate is rotatably arranged in the second mounting seat.

5. The mechanical arm for conveying anchor rods according to claim 4, wherein the first connecting plate comprises a first section and a second section which are connected, the extending direction of the first section and the extending direction of the second section form an included angle,

the second connecting plate comprises a third section and a fourth section which are connected, and the extending direction of the third section and the extending direction of the fourth section form an included angle.

6. The mechanical arm for conveying anchor rods according to claim 4, wherein the first claw further comprises a plurality of first protrusions which are arranged at intervals at the other end of the first connecting plate along the width direction of the first connecting plate, two adjacent first protrusions form a first groove,

the second claw further comprises a plurality of second protrusions, the second protrusions are arranged at the other end of the second connecting plate at intervals in the width direction of the second connecting plate, and two adjacent second protrusions form a second groove.

7. The rock bolt handling robot of claim 6, wherein the first projection is opposite the second recess and the second projection is opposite the first recess, and wherein in the second position the first projection is disposed within the second recess and the second projection is disposed within the first recess.

8. The mechanical arm for conveying the anchor rods is characterized by further comprising a mounting frame, wherein the mounting frame comprises a third connecting plate, a first connecting frame and a second connecting frame, one end of the first connecting frame and one end of the second connecting frame are arranged on the third connecting plate along the height direction of the third connecting plate, the first connecting frame and the second connecting frame are arranged at intervals, and the other end of the first connecting frame and the other end of the second connecting frame are arranged on the first mounting seat.

9. The anchor rod conveying manipulator of claim 7, further comprising a fourth connecting plate, one end of the fourth connecting plate being disposed on the mounting bracket, and a free end of the first telescoping rod being disposed on the mounting bracket.

10. A rock bolt drill carriage, comprising:

a fuselage assembly;

the anchor rod conveying manipulator is the anchor rod conveying manipulator in any one of the claims 1-9, and the anchor rod conveying manipulator is arranged on the machine body assembly.

Technical Field

The invention relates to the field of anchor bolt support, in particular to an anchor bolt conveying manipulator and an anchor bolt drill carriage.

Background

The coal mine roadway is generally supported by the anchor rods, and the main functions of the support are to control the discontinuous deformation of the surrounding rock separation layer, the sliding, the crack opening, the new crack generation and the like in the anchoring area and keep the integrity and the continuity of the coal rock mass.

In the correlation technique, the stock needs artifical transport, and the speed of strutting is slow, and is efficient, and workman's operational environment is poor.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the embodiment of the invention provides the anchor rod conveying manipulator which is simple in structure and high in conveying efficiency.

The embodiment of the invention provides the anchor rod drill carriage which is low in cost and convenient to use.

The anchor rod conveying manipulator according to the embodiment of the invention comprises: a first mounting seat; the base of the first telescopic rod is suitable for being mounted on a vehicle body, the free end of the first telescopic rod is connected with the first mounting seat, and the first telescopic rod stretches and retracts to drive the first mounting seat to move; the first grabbing component and the second grabbing component are arranged on the first mounting seat in parallel at intervals, each of the first grabbing component and the second grabbing component comprises a second mounting seat, a first claw and a second claw, the second mounting seat is arranged on the first mounting seat, the first claw and the second claw are rotatably arranged in the second mounting seat, each of the first claw and the second claw has a first position and a second position, the first claw and the second claw are opened in the first position, and the first claw and the second claw are closed to grab the anchor rod in the second position.

According to the anchor rod conveying manipulator disclosed by the embodiment of the invention, the anchor rod can be stably and firmly grabbed through the arrangement of the first grabbing component and the second grabbing component, and the rod cannot fall off in the grabbing process, so that the labor intensity of workers is reduced, and the supporting efficiency is improved.

In some embodiments, each of the first and second grasping assemblies further includes a second telescopic rod disposed in the second mounting seat, and a connecting member disposed at a free end of the second telescopic rod, each of the first and second jaws being rotatably connected to the connecting member, the second telescopic rod driving the connecting member to move between a third position in which the first and second jaws are in the first position and a fourth position in which the first and second jaws are in the second position.

In some embodiments, the connecting member includes a first connecting member and a second connecting member, one end of the first connecting member and one end of the second connecting member are disposed at the free end of the second telescopic rod, an included angle is formed between the extending direction of the first connecting member and the extending direction of the second connecting member, the first connecting member is rotatably connected to the first jaw, and the second connecting member is rotatably connected to the second jaw.

In some embodiments, the first jaw includes a first connecting plate, a first plate and a second plate, the first plate and the second plate are spaced apart from each other at one end of the first connecting plate along a width direction of the first connecting plate, the second jaw includes a second connecting plate, a third plate and a fourth plate, the third plate and the fourth plate are spaced apart from each other at one end of the second connecting plate along a width direction of the second connecting plate, the first plate is rotatably connected with the third plate, the second plate is rotatably connected with the fourth plate, one end of the first plate is rotatably disposed in the second mounting seat, and the fourth plate is rotatably disposed in the second mounting seat.

In some embodiments, the first connecting plate includes a first section and a second section connected to each other, an extending direction of the first section and an extending direction of the second section form an included angle, and the second connecting plate includes a third section and a fourth section connected to each other, and an extending direction of the third section and an extending direction of the fourth section form an included angle.

In some embodiments, the first claw further includes a plurality of first protrusions disposed at intervals in a width direction of the first connection plate at the other end of the first connection plate, adjacent two of the first protrusions forming a first groove, the second claw further includes a plurality of second protrusions disposed at intervals in a width direction of the second connection plate at the other end of the second connection plate, adjacent two of the second protrusions forming a second groove.

In some embodiments, the first projection is opposite the second recess and the second projection is opposite the first recess, and in the second position, the first projection is disposed in the second recess and the second projection is disposed in the first recess.

In some embodiments, the mounting bracket further comprises a mounting bracket, the mounting bracket comprises a third connecting plate, a first connecting frame and a second connecting frame, one end of the first connecting frame and one end of the second connecting frame are arranged on the third connecting plate along the height direction of the third connecting plate, the first connecting frame and the second connecting frame are arranged at intervals, and the other end of the first connecting frame and the other end of the second connecting frame are arranged on the first mounting seat.

In some embodiments, the telescopic rod further comprises a fourth connecting plate, one end of the fourth connecting plate is arranged on the mounting frame, and the free end of the first telescopic rod is arranged on the mounting frame.

A rock bolt drill carriage according to an embodiment of the invention comprises: a fuselage assembly; the anchor rod conveying manipulator is the anchor rod conveying manipulator in any one of the above embodiments, and the anchor rod conveying manipulator is arranged on the machine body assembly.

Drawings

Fig. 1 is a schematic structural view of the anchor rod conveying manipulator of the embodiment of the invention, wherein the first claw and the second claw are extended to grab the anchor rod.

Fig. 2 is a schematic structural view of a first gripper assembly of the bolt conveying robot in an embodiment of the invention.

Fig. 3 is a schematic structural view of the first jaw and the second jaw of the anchor rod conveying manipulator of the embodiment of the invention.

Fig. 4 is a schematic structural diagram of the second mounting seat, the second telescopic rod and the connecting part of the anchor rod conveying manipulator according to the embodiment of the invention.

Fig. 5 is a view of the bolt grasping condition of the first grasping assembly of the bolt conveying robot in accordance with the embodiment of the present invention.

Fig. 6 is a view of the retrieval position of the first gripper assembly of the bolt delivery robot of an embodiment of the present invention.

An anchor rod conveying robot 100;

a first mounting base 1; a first telescopic rod 2; a first grasping assembly 3; a second mount 31; a first jaw 32; a first connection plate 321; a first segment 3211; a second segment 3212; a first plate 322; a second plate 323; a first protrusion 324; a second claw 33; the second connecting plate 331; a third segment 3311; a fourth segment 3312; a third plate 332; a fourth plate 333; a second protrusion 334; a second telescoping rod 34; a connecting member 35; a first connecting member 351; a second connector 352; a second grasping assembly 4; a mounting frame 5; a third connecting plate 51; a first connecting frame 52; the second link frame 53; a fourth connecting plate 6; an anchor rod 7.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

An anchor bar conveying robot according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

As shown in fig. 1 to 6, the anchor rod conveying robot according to the embodiment of the present invention includes a first mounting seat 1, a first telescopic rod 2, a first grabbing assembly 3 and a second grabbing assembly 4.

The base of the first telescopic rod 2 is suitable for being installed on a vehicle body, the free end of the first telescopic rod 2 is connected with the first installation seat 1, and the first telescopic rod 2 can move in a telescopic mode to drive the first installation seat 1 to move. Specifically, as shown in fig. 1, the first telescopic rod 2 is a hydraulic telescopic rod, the lower end of the first telescopic rod 2 can be arranged on the fixed support or the vehicle body, and the upper end of the first telescopic rod 2 is connected with the first mounting seat 1, so as to drive the first mounting seat 1 to move up and down.

The first grabbing component 3 and the second grabbing component 4 are arranged on the first mounting seat 1 in parallel at intervals, each of the first grabbing component 3 and the second grabbing component 4 comprises a second mounting seat 31, a first claw 32 and a second claw 33, the second mounting seat 31 is arranged on the first mounting seat 1, the first claw 32 and the second claw 33 are both rotatably arranged in the second mounting seat 31, each of the first claw 32 and the second claw 33 has a first position and a second position, in the first position, the first claw 32 and the second claw 33 are opened, and in the second position, the first claw 32 and the second claw 33 are closed to grab the anchor rod 7.

Specifically, as shown in fig. 1-2 and 5-6, the first grasping assembly 3 is disposed at the upper end of the first mounting seat 1, the second grasping assembly 4 is disposed at the lower end of the first mounting seat 1, and each of the first grasping assembly 3 and the second grasping assembly 4 includes a second mounting seat 31, a first claw 32, and a second claw 33, the first claw 32 and the second claw 33 being disposed within the second mounting seat 31, as shown in fig. 6, in a first position, the first claw 32 and the second claw 33 can be moved away from each other so that the first claw 32 and the second claw 33 are opened, as shown in fig. 5, and in a second position, the first claw 32 and the second claw 33 are moved closer to each other to grasp the anchor rod 7.

According to the anchor rod conveying manipulator 100 provided by the embodiment of the invention, through the arrangement of the first grabbing component 3 and the second grabbing component 4, the first grabbing component 3 and the second grabbing component 4 are large in clamping range and can be suitable for clamping anchor rods 7 of various specifications, time waste caused by replacement of clamping claws is avoided, the cost and the time are saved, the anchor rods 7 can be quickly grabbed and pushed accurately, and the clamping is stable and firm.

In some embodiments, each of the first and second grasping assemblies 3 and 4 further includes a second telescopic rod 34 and a connecting member 35, the second telescopic rod 34 is disposed in the second mounting seat 31, the connecting member 35 is disposed at a free end of the second telescopic rod 34, each of the first and second claws 32 and 33 is rotatably connected to the connecting member 35, the second telescopic rod 34 moves the connecting member 35 between a third position in which the first and second claws 32 and 33 are in the first position and a fourth position in which the first and second claws 32 and 33 are in the second position.

Specifically, as shown in fig. 1 to 6, the second telescopic rod 34 is a hydraulic telescopic rod, the left end of the second telescopic rod 34 is a base and is arranged in the second mounting rod, the right end of the second telescopic rod 34 is a free end and penetrates through the second mounting seat 31 and is connected with the connecting component 35, the first jaw 32 and the second jaw 33 are both hinged with the connecting component 35, the second telescopic rod 34 drives the component to move in the left-right direction at the third position and the fourth position, when the connecting member 35 is in the third position, the first jaw 32 and the second jaw 33 are open, and when the connecting member 35 is in the fourth position, the first jaw 32 and the second jaw 33 are closed, thereby leading the first grabbing component 3 and the second grabbing component 4 to have compact structure and small occupied space, meeting the miniaturization requirement, and can complete the function of opening and closing the first claw 32 and the second claw 33, form effective clamping, stable and firm clamping, and can not drop the rod.

In some embodiments, the connecting member 35 includes a first connecting member 351 and a second connecting member 352, one end of the first connecting member 351 and one end of the second connecting member 352 are disposed at the free end of the second telescopic rod 34, the extending direction of the first connecting member 351 and the extending direction of the second connecting member 352 form an included angle, the first connecting member 351 is rotatably connected with the first jaw 32, and the second connecting member 352 is rotatably connected with the second jaw 33. Specifically, as shown in fig. 4, the first connecting member 351 and the second connecting member 352 are disposed at the upper and lower sides of the free end of the second telescopic rod 34, and the extending direction of the first connecting member 351 and the extending direction of the second connecting member 352 form an included angle, so that the first connecting member 351 and the first jaw 32 are conveniently connected, and the second connecting member 352 and the second jaw 33 are connected, so that the connecting member 35 is more reasonably disposed.

In some embodiments, the first jaw 32 includes a first connection plate 321, a first plate 322, and a second plate 323, and the first plate 322 and the second plate 323 are along a width direction (up-down direction, as shown in fig. 3) of the first connection plate 321 at one end of the first connection plate 321. Specifically, as shown in fig. 3, the first connecting plate 321 is provided at the left side thereof with a first plate 322 and a second plate 323, and the first plate 322 and the second plate 323 are spaced apart in the up-down direction.

In some embodiments, the second claw 33 includes a second connecting plate 331, a third plate 332 and a fourth plate 333, the third plate 332 and the fourth plate 333 are spaced apart from each other at one end of the second connecting plate 331 in a width direction (up-down direction as shown in fig. 3) of the second connecting plate 331, the first plate 322 is rotatably connected to the third plate 332, the second plate 323 is rotatably connected to the fourth plate 333, one end of the first plate 322 is rotatably disposed in the second mounting seat 31, and the fourth plate 333 is rotatably disposed in the second mounting seat 31.

Specifically, as shown in fig. 3, the right side of the second connecting plate 331 is provided with a third plate 332 and a fourth plate 333, the first plate 322 is provided with a first hole and a second hole penetrating the first plate 322 in the up-down direction, the first hole is provided adjacent to the free end of the first plate 322, the second plate 323 is provided with a third hole and a fourth hole penetrating the second plate 323 in the up-down direction, the third hole is provided adjacent to the free end of the second plate 323, the third plate 332 is provided with a fifth hole and a sixth hole penetrating the third plate 332 in the up-down direction, the fifth hole is provided adjacent to the free end of the third plate 332, the fifth plate 332 is provided with a fifth hole and an eighth hole penetrating the fourth plate 333 in the up-down direction, the seventh hole is provided adjacent to the free end of the third plate 332, the first plate 322 and the third plate 332 are hinged together by penetrating the first rotating shaft (not shown) into the first hole and the fifth hole 332, the second plate 323 and the fourth plate 333 are hinged by a second rotating shaft (not shown) penetrating through the third hole and the seventh hole, the second plate 323 and the first connecting plate 321 are hinged by a third rotating shaft (not shown) penetrating between the fourth hole and the first connecting plate 321, the third plate 332 and the second connecting plate 331 are hinged by a fourth rotating shaft penetrating through the sixth hole and the second connecting plate 331, the first plate 322 is hinged on the second mounting seat 31 by a fifth rotating shaft (not shown) penetrating through the second hole and the second mounting seat 31, and the fourth plate 333 is hinged on the second mounting seat 31 by a sixth rotating shaft (not shown) penetrating through the eighth hole and the second mounting seat 31, so that the second telescopic rod 34 drives the first claw 32 and the second claw 33 to move between the first position and the second position.

In some embodiments, the first connecting plate 321 includes a first segment 3211 and a second segment 3212 connected to each other, the first segment 3211 extends at an angle to the second segment 3212, the second connecting plate 331 includes a third segment 3311 and a fourth segment 3312 connected to each other, and the third segment 3311 extends at an angle to the fourth segment 3312. Specifically, as shown in fig. 3, an included angle between the first segment 3211 and the second segment 3212 is 30 ° to 60 °, and an included angle between the third segment 3311 and the fourth segment 3312 is 30 ° to 60 °, thereby facilitating the first jaw 32 and the second jaw 33 to grasp the anchor rod 7.

In some embodiments, the first claw 32 further includes a plurality of first protrusions 324, the plurality of first protrusions 324 are disposed at intervals at the other end of the first connection plate 321 along the width direction (up-down direction, as shown in fig. 3) of the first connection plate 321, adjacent two first protrusions 324 form a first groove, the second claw 33 further includes a plurality of second protrusions 334 (up-down direction, as shown in fig. 3), the plurality of second protrusions 334 are disposed at intervals at the other end of the second connection plate 331 along the width direction of the second connection plate 331, and adjacent two second protrusions 334 form a second groove. Thereby, the arrangement of the first claw 32 and the second claw 33 is made more rational.

The first protrusion 324 is opposite the second recess and the second protrusion 334 is opposite the first recess, and in the second position, the first protrusion 324 is disposed in the second recess and the second protrusion 334 is disposed in the first recess. Thereby, the first claw 32 and the second claw 33 tightly grasp the anchor rod 7 by the cooperation of the first protrusion 324 and the second groove and the cooperation of the second protrusion 334 and the first groove.

In some embodiments, the anchor conveying robot 100 further includes a mounting bracket 5, the mounting bracket 5 includes a third connecting plate 51, a first connecting frame 52 and a second connecting frame 53, one end of the first connecting frame 52 and one end of the second connecting frame 53 are disposed on the third connecting plate 51 along a height direction of the third connecting plate 51, the first connecting frame 52 and the second connecting frame 53 are disposed at an interval, and the other ends of the first connecting frame 52 and the second connecting frame 53 are connected to the first mounting seat 1. From this, adopt four connecting rods both arms drive form through mounting bracket 5, realize stock conveying manipulator 100 steady operation, can improve manipulator handling efficiency, compact structure, reliability height, the maintenance of being convenient for by a wide margin.

In some embodiments, the anchor rod conveying robot 100 further comprises a fourth connecting plate 6, one end of the fourth connecting plate 6 is arranged on the mounting frame 5, and the free end of the first telescopic rod 2 is arranged on the mounting frame 5. From this, link to each other fourth connecting plate 6 and mounting bracket 5 through first telescopic link 2, first telescopic link 2 drives mounting bracket 5 through third mounting panel 5 and reciprocates.

It can be understood that the third mounting plate 5 can also be rotatably connected with the mounting frame 5, when the mounting frame 5 needs to be used, the third mounting plate 5 can be lifted away from the mounting frame 5, when the operation is not needed, the third mounting plate 5 can be buckled on the mounting frame 5, the size of the anchor rod conveying manipulator 100 is reduced, and the anchor rod conveying manipulator 100 can be conveniently folded.

It should be noted that the anchor rod conveying manipulator 100 of the embodiment of the present invention may also be installed in the middle of the anchor rod 7 bin main body frame, so as to realize quick grabbing of the anchor rod 7 and accurate positioning of pushing the anchor rod 7. The device is applied to the anchor rod 7 drill carriage, the safety coefficient of underground continuous operation is improved, the mechanical degree and the supporting work efficiency of roadway supporting are improved, and the labor intensity and the production cost are reduced.

A rock bolt 7 drill rig according to an embodiment of the present invention includes a body assembly (not shown) and a rock bolt feed robot 100.

The anchor rod conveying manipulator 100 is the anchor rod conveying manipulator 100 in any one of the above embodiments, and the anchor rod conveying manipulator 100 is arranged on the machine body assembly.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.