阅读说明：本技术 一种龙门吊装置及控制方法 (Gantry crane device and control method ) 是由 杨永帅 王浩吉 陈明豪 张向阳 张旭帆 陈斌杰 于 2021-06-25 设计创作，主要内容包括：本发明实施例提供了一种龙门吊装置及控制方法,包括底盘机构和龙门吊；龙门吊固定连接在底盘机构上,龙门吊用于供待运物挂接；底盘机构包括无人搬运小车,无人搬运小车用于供龙门吊固定连接；无人搬运小车设置有驱动单元,驱动单元控制无人搬运小车沿指定路径运动。(The embodiment of the invention provides a gantry crane device and a control method, wherein the gantry crane device comprises a chassis mechanism and a gantry crane; the gantry crane is fixedly connected to the chassis mechanism and used for hanging the object to be transported; the chassis mechanism comprises an unmanned carrying trolley, and the unmanned carrying trolley is used for fixedly connecting the gantry crane; the unmanned carrying trolley is provided with a driving unit, and the driving unit controls the unmanned carrying trolley to move along a specified path.)

1. A gantry crane device is characterized by comprising a chassis mechanism (1) and a gantry crane (2);

the gantry crane (2) is fixedly connected to the chassis mechanism (1), and the gantry crane (2) is used for hanging the object to be transported;

the chassis mechanism (1) comprises an unmanned carrying trolley (11), and the unmanned carrying trolley (11) is used for fixedly connecting the gantry crane (2);

the unmanned carrying trolley (11) is provided with a driving unit (12), and the driving unit (12) controls the unmanned carrying trolley (11) to move along a specified path so as to transfer the object to be transported to a specified area.

2. Device according to claim 1, characterized in that the drive mechanism comprises an electronic control unit (123) and a steering wheel unit (124);

the electric control unit (123) is connected with the steering wheel unit (124), the steering wheel unit (124) at least comprises two wheels which are positioned at two ends of the unmanned carrying trolley (11), and the electric control unit (123) is used for controlling the steering wheel unit (124) to move along the appointed path so that the unmanned carrying trolley (11) moves along the appointed path.

3. The device according to claim 2, characterized in that the unmanned carrying trolley (11) comprises at least two body units (13), and two sides of the gantry crane (2) are fixedly connected with the body units (13).

4. A device according to claim 3, characterised in that a safety unit (14) is arranged on the body unit (13), which safety unit (14) is connected to the drive mechanism;

and when the unmanned carrying trolley (11) moves along the specified path, the safety unit (14) is used for detecting the distance between an obstacle in the moving direction and the vehicle body unit (13), and when the distance is smaller than a set distance, the electric control unit (123) is used for controlling the unmanned carrying trolley (11) to stop moving.

5. The device according to claim 4, characterized in that the safety unit (14) comprises a plurality of sensors (141), the sensors (141) being either contactless sensors (141) or contact sensors (141).

6. The device according to claim 5, wherein the unmanned transport vehicle (11) is further provided with a navigation unit (15), the navigation unit (15) comprising any one or more of a laser navigation unit (15), an inertial navigation unit (15) and a magnetic strip navigation unit (15).

7. The device according to claim 5, characterized in that the unmanned trolley (11) is further provided with a power supply unit (16), the power supply unit (16) being electrically connected with the electronic control unit (123), the safety unit (14), the navigation unit (15) and the steering wheel unit (124), respectively, for supplying power to the electronic control unit (123), the safety unit (14), the navigation unit (15) and the steering wheel unit (124).

8. The device according to claim 2, characterized in that a plurality of auxiliary support wheels (17) are arranged at the bottom of the unmanned carrying trolley (11), and the auxiliary support wheels (17) are symmetrically arranged at two sides of the steering wheel unit (124); the auxiliary supporting wheel (17) is elastically connected with the frame unit through an elastic piece (171),

when the steering wheel unit (124) abuts against a contact surface, the auxiliary support wheel (17) also abuts against the abutment surface, and the elastic member (171) is compressed.

9. The device according to claim 1, characterized in that said gantry crane (2) comprises a support bar (21), a crossbeam (22) and an electric block (23);

the support rods (21) are fixedly arranged on the unmanned carrying trolley (11), at least two support rods (21) are arranged, and the support rods (21) are used for connecting the cross beam (22) so as to suspend the cross beam (22);

the electric hoist (23) is movably connected to the beam (22), and the electric hoist (23) is used for hanging the object to be transported.

10. A gantry crane apparatus control method applied to the gantry crane apparatus of any one of claims 1 to 9, wherein the gantry crane apparatus includes an unmanned carrier provided with a driving unit, the gantry crane apparatus is communicatively connected with a control end device, and the method includes:

hanging an object to be transported on a gantry crane device, wherein the gantry crane device is positioned at an initial position;

and obtaining the working information from the control end equipment, and driving the unmanned carrying trolley (11) to move to a terminal position along the specified path by a driving unit (12) according to the working information instruction so as to transfer the object to be carried to a specified area.

Technical Field

The invention relates to the technical field of automatic transportation, in particular to a gantry crane device and a control method.

Background

In a factory or other scenes, a gantry crane is often used, and at present, the conventional gantry crane is of a fixed rail type and is often installed on a column beam of a workshop, and a remote control panel corresponding to the gantry crane is operated by an operator so as to enable the gantry crane to reach a destination.

Disclosure of Invention

The embodiment of the invention provides a gantry crane device and a control method, which have the function of automatically moving a gantry crane.

The embodiment of the invention provides a gantry crane device, which comprises a chassis mechanism and a gantry crane, wherein the gantry crane is fixedly connected to the chassis mechanism and is used for hanging an object to be transported; the chassis mechanism comprises an unmanned carrying trolley, and the unmanned carrying trolley is used for fixedly connecting the gantry crane; the unmanned carrying trolley is provided with a driving unit, and the driving unit controls the unmanned carrying trolley to move along a specified path.

In one embodiment, the driving mechanism comprises an electric control unit and a steering wheel unit; the electric control unit is connected with the steering wheel unit, the steering wheel unit at least comprises two wheels which are positioned at two ends of the unmanned carrying trolley, and the electric control unit is used for controlling the steering wheel unit to move along the appointed path so as to enable the unmanned carrying trolley to move along the appointed path.

In one embodiment, the unmanned carrying trolley comprises at least two body units, and two sides of the gantry crane are respectively and fixedly connected with the body units.

In one embodiment, a safety unit is arranged on the vehicle body unit and is connected with the driving mechanism; and when the distance is smaller than a set distance, the electric control unit is used for controlling the unmanned carrying trolley to stop moving.

In one embodiment, the security unit includes a plurality of sensors, which may be non-contact sensors or contact sensors.

In an embodiment, the unmanned carrying trolley is further provided with a navigation unit, and the navigation unit may be one or more of a laser navigation unit, an inertial navigation unit and a magnetic stripe navigation unit.

In an embodiment, the unmanned carrying trolley is further provided with a power supply unit, and the power supply unit is electrically connected with the electric control unit, the safety unit, the navigation unit and the steering wheel unit respectively and used for supplying power to the electric control unit, the safety unit, the navigation unit and the steering wheel unit.

In one embodiment, a plurality of auxiliary support wheels are arranged at the bottom of the unmanned carrying trolley and symmetrically arranged on two sides of the steering wheel unit; the auxiliary support wheel is elastically connected with the frame unit through an elastic piece, when the steering wheel unit abuts against the contact surface, the auxiliary support wheel also abuts against the abutment surface, and the elastic piece is compressed.

In one embodiment, the gantry crane comprises a support rod, a cross beam and an electric hoist; the support rods are fixedly arranged on the unmanned carrying trolley, at least two support rods are arranged, and the support rods are used for connecting the cross beams so as to suspend the cross beams in the air; the electric hoist is movably connected to the cross beam and used for hanging the object to be transported.

Another aspect of an embodiment of the present invention provides a method for controlling a gantry crane apparatus, which is applied to the gantry crane apparatus, the gantry crane apparatus includes an unmanned transport trolley provided with a driving unit, the gantry crane apparatus is communicatively connected to a control end device, and the method includes: hanging an object to be transported on a gantry crane device, wherein the gantry crane device is positioned at an initial position; and obtaining the working information from the control end equipment, and driving the unmanned carrying trolley to move to the end point position along the specified path by a driving unit according to the working information instruction so as to transfer the object to be carried to the specified area.

In the gantry crane device in the embodiment of the invention, the gantry crane is fixedly connected to the chassis mechanism, and the chassis mechanism comprises an unmanned carrying trolley for fixedly connecting the gantry crane; the driving unit arranged on the unmanned carrying trolley controls the unmanned carrying trolley to move along an appointed path, and the automatic transfer of the gantry crane is realized through the automatic transfer of the unmanned carrying trolley, so that the utilization rate of the gantry crane is improved.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Fig. 1 is a schematic structural diagram of a gantry crane apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of an unmanned carrying trolley of the gantry crane apparatus according to the embodiment of the present invention;

FIG. 3 is a schematic front view of an unmanned carrying trolley of the gantry crane apparatus according to the embodiment of the present invention;

FIG. 4 is a left side view of an unmanned carrying trolley of the gantry crane apparatus according to the embodiment of the present invention;

FIG. 5 is a schematic bottom view of an unmanned carrying cart for a gantry crane apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic top view of an unmanned carrying cart for a gantry crane apparatus according to an embodiment of the present invention;

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

fig. 8 is a schematic structural view of a gantry crane support bar of the gantry crane apparatus according to an embodiment of the present invention.

Wherein the reference numbers are as follows:

1. a chassis mechanism; 11. an unmanned carrying trolley; 12. a drive unit; 123. an electronic control unit; 124. a steering wheel unit; 13. a vehicle body unit; 131. a connecting portion; 14. a security unit; 141. a sensor; 15. a navigation unit; 16. a power supply unit; 17. an auxiliary support wheel; 171. an elastic member; 2. a gantry crane; 21. a support bar; 22. a cross beam; 23. an electric hoist; 24. and (4) hanging hooks.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a gantry crane apparatus according to an embodiment of the present invention; FIG. 2 is a schematic view of an unmanned carrying trolley of the gantry crane apparatus according to the embodiment of the present invention; (ii) a Please refer to fig. 1 and fig. 2;

the embodiment of the invention provides a gantry crane device, which comprises a chassis mechanism 1 and a gantry crane 2, wherein the gantry crane 2 is fixedly connected to the chassis mechanism 1, and the gantry crane 2 is used for hanging an object to be transported; the chassis mechanism 1 comprises an unmanned carrying trolley 11, and the unmanned carrying trolley 11 is used for fixedly connecting the gantry crane 2; the unmanned carrying vehicle 11 is provided with a driving unit 12, and the driving unit 12 controls the unmanned carrying vehicle 11 to move along a prescribed path.

In the gantry crane device in the embodiment of the invention, the gantry crane 2 is fixedly connected to the chassis mechanism 1, and the chassis mechanism 1 comprises an unmanned carrying trolley 11 for fixedly connecting the gantry crane 2; the driving unit 12 arranged on the unmanned carrying trolley 11 controls the unmanned carrying trolley 11 to move along an appointed path, and the automatic transfer of the gantry crane 2 is realized through the automatic transfer of the unmanned carrying trolley 11, so that the utilization rate of the gantry crane 2 is improved. The gantry crane 2 gets rid of the limitation of the track, and more flexible and convenient movement is realized.

In the present embodiment, the gantry crane 2 is a variant of a bridge crane, also called gantry crane. The device is mainly used for loading and unloading outdoor goods yards, stockyards and bulk goods. The gantry crane 2 is fixedly arranged on the chassis mechanism 1, the gantry crane 2 is provided with an electric hoist 23, the electric hoist 23 is used for controlling the hook 24 to move relative to the gantry crane 2, and the hook 24 is used for hooking the object to be transported; the chassis mechanism 1 can be an integral chassis or a chassis mechanism 1 consisting of a plurality of independent chassis; the chassis mechanism 1 can be composed of an unmanned carrying trolley 11, the unmanned carrying trolley 11 is also called an AGV trolley, the gantry crane 2 mechanism is fixed on the unmanned carrying trolley 11, the unmanned carrying trolley 11 comprises a trolley body unit 13, preferably, two unmanned carrying trolleys 11 can be adopted, and two sides of the gantry crane 2 are respectively fixedly connected with the trolley body unit 13. Specifically, the fixation can be realized by fastening with a fastener; the fixing can also be realized by adopting a welding mode. Wherein, guarantee that joint strength is the same makes, adopt the fastener to carry out the mode of fastening connection, when unmanned floor truck 11 breaks down, convenient maintenance to unmanned floor truck 11. The unmanned carrying trolley 11 is provided with a driving mechanism, the driving mechanism is used for driving the unmanned carrying trolley to move, so that the movement of the gantry crane is realized, specifically, the gantry crane can realize the operation modes of advancing, retreating, transverse moving, self-rotating around the central point of the diagonal of the two vehicles and the like, and further, the driving mechanism can drive the unmanned carrying trolley to move along an appointed path, and the appointed path is set by a worker in advance.

In one embodiment, the driving mechanism comprises an electronic control unit 123 and a steering wheel unit 124; the electronic control unit 123 is connected to the steering wheel unit 124, the steering wheel unit 124 at least includes two wheels located at two ends of the automated guided vehicle 11, and the electronic control unit 123 is configured to control the steering wheel unit 124 to move along a specified path, so that the automated guided vehicle 11 moves along the specified path.

In this embodiment, the electronic control unit 123 is used to control the unmanned carrying vehicle 11, so as to ensure that the unmanned carrying vehicle 11 can safely and reliably operate. The electric control unit 123 may be connected to a control end device to receive the work information from the control end device, and then control the unmanned carrying trolley 11 to make corresponding movement according to the work information, and the steering wheel unit 124 is used to realize the movement of the unmanned carrying trolley 11, that is, the forward, backward, transverse, rotation and other operation modes, specifically, the steering wheel unit 124 may include two steering wheels, that is, two wheels, and then two unmanned carrying trolleys 11 are combined to form a set of four-steering wheel drive, thereby ensuring that the gantry crane device moves more stably.

FIG. 3 is a schematic front view of an unmanned carrying trolley of the gantry crane apparatus according to the embodiment of the present invention; please refer to fig. 2 and fig. 3;

in one embodiment, the vehicle body unit 13 is provided with a safety unit 14, and the safety unit 14 is connected with the driving mechanism; the safety unit 14 is configured to detect a distance between an obstacle in the moving direction and the body unit 13 in a case where the automated guided vehicle 11 moves along a predetermined path, and the electronic control unit 123 is configured to control the automated guided vehicle 11 to stop moving when the distance is smaller than a set distance.

In the present embodiment, the vehicle body unit 13 is further provided with a safety unit 14, the safety unit 14 is connected with the driving mechanism, and specifically, the safety unit 14 is connected with an electronic control unit 123 in the driving mechanism; in the case where the automated guided vehicle 11 moves along a specified path, the safety unit 14 is configured to detect a distance of the obstacle carbonless unit 13 in the moving direction, where the obstacle is an object in the moving direction of the automated guided vehicle 11, and may be a wall, an object to be transported, a vehicle, or the like; when there are two unmanned carrying trolleys 11, the unmanned carrying trolley 11 located at the front end of the moving direction can be determined as an obstacle of the unmanned carrying trolley 11 located at the rear end, so that the rear vehicle is driven by the electronic control unit 123 to adjust the speed, and the rear vehicle and the electric control unit are in a relatively static state, thereby ensuring the safety and stability of the gantry crane device. The safety unit 14 detects the distance between the obstacle and the vehicle body unit 13 in the moving direction in real time, generates a distance message and sends the distance message to the electric control device, and when the electric control device judges that the distance between the obstacle and the vehicle body unit 13 is smaller than a set distance through the distance message, the electric control unit 123 controls the unmanned carrying trolley 11 to stop moving. The set distance is set for a worker, further, an alarm distance smaller than the set distance can be set, when the distance between the obstacle and the vehicle body unit 13 is smaller than the alarm distance, the electronic control unit 123 generates an alarm instruction, the alarm instruction is used for enabling the gantry crane device to give an alarm, the alarm can be given out on a control end device connected with the gantry crane device, a warning sounding unit can be arranged on the gantry crane device and gives out a warning sound according to the alarm instruction to prompt the worker to move the obstacle away, and therefore the unmanned carrying trolley 11 continues to move to a destination along the designated path.

FIG. 4 is a left side view of an unmanned carrying trolley of the gantry crane apparatus according to the embodiment of the present invention; please refer to fig. 2 and 4;

the security unit 14 includes a plurality of sensors 141, and the sensor 141 may be a non-contact sensor 141 or a contact sensor 141. Among them, the non-contact sensor 141 may be a laser sensor 141, an infrared sensor 141, or the like; the touch sensor 141 may be a safety touch sensor 141; wherein sensor 141 can be a plurality of, sets up in unmanned floor truck 11's a plurality of directions, and preferred can set up on unmanned floor truck 11's four corners, so, no matter advance with a certain direction when unmanned floor truck 11, this sensor 141 can all detect the barrier in unmanned floor truck the place ahead to guarantee the security that unmanned floor truck 11 gos forward.

In one embodiment, the unmanned vehicle 11 is further provided with a navigation unit 15, and the navigation unit 15 may be one or more of a laser navigation unit 15, an inertial navigation unit 15, and a magnetic strip navigation unit 15.

In this embodiment, the unmanned transport vehicle 11 is provided with a navigation unit 15, the navigation unit 15 is connected to the electronic control unit 123, the navigation unit 15 is configured to cooperate with the electronic control unit 123 to guide the unmanned transport vehicle 11 to move along a specified path, and the navigation unit 15 may include one or more of a laser navigation unit 15, an inertial navigation unit 15, and a magnetic stripe navigation unit 15.

In an embodiment, the unmanned carrying cart 11 is further provided with a power supply unit 16, and the power supply unit 16 is electrically connected to the electronic control unit 123, the safety unit 14, the navigation unit 15 and the steering wheel unit 124 respectively, and is used for supplying power to the electronic control unit 123, the safety unit 14, the navigation unit 15 and the steering wheel unit 124.

In this embodiment, the unmanned transport vehicle 11 is provided with a power supply unit 16, and the power supply unit 16 may be a rechargeable battery, thereby ensuring that the unmanned transport vehicle 11 can be used for a long period of time. The power supply unit 16 is used for supplying power to the power consumption unit on the automated guided vehicle 11, which may be the electronic control unit 123, the safety unit 14, the navigation unit 15, and the steering wheel unit 124. To ensure the normal operation of the power unit.

FIG. 5 is a schematic bottom view of a gantry in accordance with an embodiment of the present invention; please refer to fig. 2 and 5;

in an embodiment, the bottom of the unmanned carrying trolley 11 is provided with a plurality of auxiliary supporting wheels 17, and the auxiliary supporting wheels 17 are symmetrically arranged on two sides of the steering wheel unit 124; the auxiliary support wheel 17 and the frame unit are elastically connected by the elastic member 171, and when the steering wheel unit 124 abuts on the contact surface, the auxiliary support wheel 17 also abuts on the abutment surface, and the elastic member 171 is compressed.

In this embodiment, the bottom of the unmanned carrying cart 11 is provided with the auxiliary support wheels 17, preferably, the number of the auxiliary support wheels 17 is twice that of the wheels in the steering wheel unit 124, and when there are two wheels in the steering wheel unit 124, the number of the auxiliary support wheels 17 is four, and the auxiliary support wheels are respectively arranged on two sides of the wheels; the bearing capacity of the unmanned carrying trolley 11 is improved, and the steering wheel unit 124 is protected, wherein the auxiliary supporting wheel 17 is elastically connected with the frame unit through an elastic member 171, specifically, a spring mechanism can be adopted for connection, when the steering wheel unit 124 abuts against a contact surface, the auxiliary supporting wheel 17 also abuts against the abutment surface, and the elastic member 171 is compressed; thereby realizing the shock-absorbing function and prolonging the service life of the unmanned carrying trolley 11. Correspondingly, when the steering wheel unit 124 does not abut against the contact surface, the auxiliary support wheel 17 is lower than the steering wheel unit 124, and when the unmanned transport vehicle 11 is placed on the contact surface, the auxiliary support wheel 17 comes into contact with the contact surface before the steering wheel unit 124.

FIG. 6 is a schematic top view of an unmanned carrying cart for a gantry crane apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a gantry crane of the gantry crane apparatus according to the embodiment of the present invention; fig. 8 is a schematic structural view of a gantry crane support bar of the gantry crane apparatus according to an embodiment of the present invention, please refer to fig. 6, fig. 7, and fig. 8;

in one embodiment, the gantry crane 2 comprises a support bar 21, a beam 22 and an electric hoist 23; the support rods 21 are fixedly arranged on the unmanned carrying trolley 11, at least two support rods 21 are arranged, and the support rods 21 are used for connecting the cross beam 22 so as to suspend the cross beam 22; the electric hoist 23 is movably connected to the cross beam 22, and the electric hoist 23 is used for hanging the object to be transported.

In the embodiment, a frame body structure of the gantry crane 2 is obtained by welding the support rod 21 and the beam 22, the electric hoist 23 is mounted on the beam 22, the electric hoist 23 comprises a hook 24, the electric hoist 23 is used for controlling the hook 24 to move relative to the gantry crane 2, and the hook 24 is used for hooking an object to be transported; under the condition of ensuring the rigidity of the cross beam 22, the cross beam 22 adopts a telescopic structure, and under the condition of not using the gantry crane 2, the mechanism of the cross beam 22 is shortened by the driving of the unmanned carrying trolley 11, so as to save the storage space. Wherein, the chassis load of a single AGV is 5T, and the load of 2 AGV sets is 10T. The gantry crane 2 is further connected with a power supply unit 16, and the power supply unit 16 is used for supplying power to the gantry crane 2. The two sides of the supporting rod 21 are also provided with auxiliary supporting rods 21, the supporting rods and the unmanned carrying trolley 11 are arranged in a triangular shape, the bottom of the supporting rod 21 is also provided with a connecting plate, the supporting rod 21 and the auxiliary supporting rods 21 are welded with the connecting plate, the connecting plate is connected with the unmanned carrying trolley 11, installation can be achieved, correspondingly, the frame unit is provided with connecting parts 131 corresponding to the connecting plate, and the connecting parts 131 are located on the upper surface of the frame unit.

The embodiment of the invention also provides a control method of the gantry crane device, which is applied to the gantry crane device, the gantry crane device comprises an unmanned carrying trolley provided with a driving unit, the gantry crane device is in communication connection with control end equipment, and the method comprises the following steps: hanging the object to be transported on a gantry crane device, wherein the gantry crane device is positioned at an initial position; and the driving unit 12 drives the unmanned carrying trolley 11 to move to the end position along the specified path according to the work information instruction so as to transfer the object to be transported to the specified area.

In this embodiment, the control end device may be a computer, a server, a remote control device, and the like; the control end equipment is provided with a dispatching system which is a software system used for managing, issuing and changing tasks of the unmanned carrying trolleys 11 in the system, and the dispatching system sends work information to the unmanned carrying trolleys 11 so as to orderly execute the tasks of the unmanned carrying trolleys 11 and avoid the condition that each unmanned carrying trolley 11 conflicts or crashes in the process of the tasks. Specifically, the control end device sends the working information to the electronic control unit 123, the electronic control unit 123 generates a movement instruction according to the working information to instruct the steering wheel unit 124 to move, and the steering wheel unit 124 moves at a designated speed in a designated direction according to the instruction of the movement instruction.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. 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.

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 two or more unless specifically defined otherwise.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.