阅读说明：本技术 一种管道清障机器人 (Pipeline obstacle clearing robot ) 是由 丁问司 宁盼 于 2020-11-30 设计创作，主要内容包括：本发明公开了一种管道清障机器人,包括清障机构、两个支撑机构、伸缩驱动机构和控制器,所述清障机构与一个支撑机构的一端连接,一个所述支撑机构的另一端通过第一弹性连接件与伸缩驱动机构连接,所述伸缩弹性机构通过第二弹性连接件与另一个支撑机构连接,所述清障机构、第一支撑机构、伸缩驱动机构和第二支撑机构与控制器连接。本发明能够提供足够大的驱动力和夹紧力,可以保证管道机器人工作过程更加平稳可靠,可以适应一定角度的弯曲管道,通用性强。(The invention discloses a pipeline obstacle clearing robot which comprises an obstacle clearing mechanism, two supporting mechanisms, a telescopic driving mechanism and a controller, wherein the obstacle clearing mechanism is connected with one end of one supporting mechanism, the other end of one supporting mechanism is connected with the telescopic driving mechanism through a first elastic connecting piece, the telescopic elastic mechanism is connected with the other supporting mechanism through a second elastic connecting piece, and the obstacle clearing mechanism, the first supporting mechanism, the telescopic driving mechanism and the second supporting mechanism are connected with the controller. The invention can provide enough driving force and clamping force, can ensure that the working process of the pipeline robot is more stable and reliable, can adapt to a bent pipeline with a certain angle, and has strong universality.)

1. The utility model provides a pipeline obstacle clearance robot, its characterized in that, includes obstacle clearance mechanism, two supporting mechanism, flexible actuating mechanism and controller, obstacle clearance mechanism is connected with a supporting mechanism's one end, one supporting mechanism's the other end is connected with flexible actuating mechanism through first elastic connecting piece, flexible elastic mechanism passes through the second elastic connecting piece and is connected with another supporting mechanism, obstacle clearance mechanism, first supporting mechanism, flexible actuating mechanism and second supporting mechanism are connected with the controller.

2. The pipeline obstacle clearing robot according to claim 1, wherein the supporting mechanism comprises a first sliding module, a supporting driving module and an opening and closing module, the supporting driving module comprises a supporting driving motor and a first lead screw, the supporting driving motor is mounted on a first sliding structure, the first sliding structure is connected with the opening and closing module through a first guide rod, the supporting driving motor is connected with the opening and closing module through the first lead screw, the supporting driving motor is connected with the controller, the supporting driving motor of one supporting mechanism is connected with the telescopic driving mechanism through a first elastic connecting piece, the opening and closing module of one supporting mechanism is connected with the obstacle clearing structure, and the supporting driving motor of the other supporting mechanism is connected with the telescopic driving mechanism.

3. The pipeline wrecker robot as claimed in claim 2, wherein the first sliding module comprises a first linear sliding sleeve and a first sliding sleeve positioning block, the support driving motor is installed in an inner cavity of the first sliding sleeve positioning block, the first linear sliding sleeve is in interference connection with the first sliding sleeve positioning block, and the first sliding sleeve positioning block is connected with the opening and closing module through a first guide rod.

4. The pipeline obstacle clearing robot according to claim 2, wherein the opening and closing module comprises a nut pushing block, a first limiting piece and an elastic clamping block, the first limiting piece is connected with the first sliding module through a first guide rod, the nut pushing block is installed on the first guide rod and is connected with a supporting driving motor through a first lead screw, the elastic clamping block is connected with one surface, close to the nut pushing block, of the first limiting piece, the first limiting piece of one supporting mechanism is connected with the obstacle clearing mechanism, and the first limiting piece of the other supporting mechanism is connected with a telescopic driving mechanism.

5. The pipeline wrecker robot as claimed in claim 1, wherein the telescopic driving mechanism comprises a telescopic driving module, a second sliding module and a telescopic module, the telescopic driving module comprises a telescopic driving motor and a second lead screw, the telescopic driving motor is mounted on the second sliding module, the second sliding module is connected with the telescopic module through a second guide rod, the telescopic driving motor is connected with the telescopic module through the second lead screw, the telescopic module is connected with one supporting mechanism through a first elastic connecting piece, the telescopic driving motor is connected with the other supporting mechanism through a second elastic connecting piece, and the telescopic driving motor is connected with the controller.

6. The pipeline wrecker robot as claimed in claim 5, wherein the second sliding module comprises a second sliding sleeve positioning block and a second linear sliding sleeve, the telescopic driving motor is installed in the inner cavity of the sliding sleeve positioning block, the second linear sliding sleeve is in interference connection with the second sliding sleeve positioning block, and the second sliding sleeve positioning block is connected with the telescopic module through a second guide rod.

7. The pipeline wrecker robot as claimed in claim 5, wherein the telescopic module comprises a telescopic advancing block, a support rod, a baffle and a second limit piece, the second limit piece is connected with the second sliding module through a second guide rod, the telescopic advancing block is connected with the telescopic driving motor through a second lead screw, one end of the support rod is connected with the telescopic advancing block, the other end of the support rod passes through the second limit piece to be connected with the baffle, and the baffle is connected with a support mechanism through a first elastic connecting piece.

8. The pipeline obstacle removing robot according to claim 1, wherein the obstacle removing mechanism comprises a grinding wheel and an obstacle removing motor, the grinding wheel is connected with an output shaft of the obstacle removing motor, the obstacle removing motor is connected with a supporting structure, and the obstacle removing motor is connected with the controller.

9. A pipe wrecker robot according to claim 1, wherein the resilient connecting members are replaced by universal joints.

Technical Field

The invention relates to the field of micro robots, in particular to a pipeline obstacle clearing robot.

Background

In the fields of metal 3D printing, military equipment, industry, life and the like, various micro pipelines are spread in various aspects of industry and life in modern society, pipeline problems include rusting, blockage, aging, generation of protruding support on the inner wall of the metal 3D printing pipeline and the like, and a micro pipeline robot is generated for solving the problems of the pipelines. Because many pipelines are all complicated curved pipelines and the internal environment is complicated, the design of the pipeline robot requires that the whole structure is relatively simple and the size is small enough, and the robot can flexibly move in the curved pipelines so as to meet the requirements of climbing and obstacle removal in the tiny curved pipelines. The micro-pipeline robot is an important direction in the research field of the micro-robot, has small volume and low energy consumption, and can process some obstacle clearing operations in the micro-pipeline which are difficult to solve by people.

At present, a great deal of research is carried out on pipeline robots at home and abroad, but the designed pipeline robot is difficult to be small enough and flexible enough to adapt to a tiny curved pipeline, and the problems encountered by the tiny curved pipeline with the diameter of less than 25mm are difficult to be effectively solved. For example, the peristaltic micro pipeline robot driving walking mechanism provided by Jiangsu science and technology university has a relatively complex structure because the supporting structure adopts a supporting leg tensioning mechanism with a relatively large size, and the pipeline robot is difficult to miniaturize. The peristaltic pneumatic micro pipeline robot provided by Zhejiang university adopts pneumatic driving for both the driving structure and the supporting structure, and the pipeline system is relatively complex and difficult to miniaturize.

Disclosure of Invention

The invention aims to overcome the defects of complex and inflexible structure in the prior art and provides a pipeline obstacle clearing robot.

The purpose of the invention is realized by the following technical scheme: the utility model provides a pipeline obstacle clearance robot, includes obstacle clearance mechanism, two supporting mechanism, flexible actuating mechanism and controller, obstacle clearance mechanism is connected with a supporting mechanism's one end, one supporting mechanism's the other end is connected with flexible actuating mechanism through first elastic connection spare, flexible elastic mechanism passes through the second elastic connection spare and is connected with another supporting mechanism, obstacle clearance mechanism, first supporting mechanism, flexible actuating mechanism and second supporting mechanism are connected with the controller.

More preferably, the supporting mechanism includes a first sliding module, a supporting driving module and an opening and closing module, the supporting driving module includes a supporting driving motor and a first lead screw, the supporting driving motor is installed on a first sliding structure, the first sliding structure is connected with the opening and closing module through a first guide rod, the supporting driving motor is connected with the opening and closing module through a first lead screw, the supporting driving motor is connected with the controller, one the supporting driving motor of the supporting mechanism is connected with the telescopic driving mechanism through a first elastic connecting piece, one the opening and closing module of the supporting mechanism is connected with the obstacle clearing structure, and the other the supporting driving motor of the supporting mechanism is connected with the telescopic driving mechanism.

Preferably, the first sliding module comprises a first linear sliding sleeve and a first sliding sleeve positioning block, the support driving motor is installed in an inner cavity of the first sliding sleeve positioning block, the first linear sliding sleeve is in interference connection with the first sliding sleeve positioning block, and the first sliding sleeve positioning block is connected with the opening and closing module through a first guide rod.

More preferred selection, it advances piece, first spacing piece and elasticity screens piece to open and shut the module including the nut, first spacing piece is connected with first slip module through first guide bar, the nut advances the piece and installs in first guide bar, the nut advances the piece and is connected with supporting driving motor through first lead screw, elasticity screens piece and first spacing piece are close to the nut and advance the one side of piece and be connected, one supporting mechanism's first spacing piece is connected with clearance barrier mechanism, another supporting mechanism's first spacing piece is connected with flexible actuating mechanism.

More preferred selection, flexible actuating mechanism includes flexible drive module, second slip module and flexible module, and flexible drive module includes flexible driving motor and second lead screw, flexible driving motor installs in second slip module, second slip module passes through the second guide bar and is connected with flexible module, flexible driving motor passes through the second lead screw and is connected with flexible module, flexible module is connected with a supporting mechanism through first elastic connection spare, flexible driving motor passes through second elastic connection spare and is connected with another supporting mechanism, flexible driving motor is connected with the controller.

Preferably, the second sliding module comprises a second sliding sleeve positioning block and a second linear sliding sleeve, the telescopic driving motor is installed in an inner cavity of the sliding sleeve positioning block, the second linear sliding sleeve is in interference connection with the second sliding sleeve positioning block, and the second sliding sleeve positioning block is connected with the telescopic module through a second guide rod.

More preferred selection, flexible module advances piece, bracing piece, baffle and the spacing piece of second including flexible, the spacing piece of second passes through the second guide bar and is connected with second slip module, flexible piece of advancing is connected with flexible driving motor through the second lead screw, the one end and the flexible piece of advancing of bracing piece are connected, the other end of bracing piece passes the spacing piece of second and is connected with the baffle, the baffle is connected with a supporting mechanism through first elastic connection spare.

Preferably, the obstacle removing mechanism comprises a grinding wheel and an obstacle removing motor, the grinding wheel is connected with an output shaft of the obstacle removing motor, the obstacle removing motor is connected with a supporting structure, and the obstacle removing motor is connected with the controller.

Preferably, the elastic connecting piece is replaced by a universal joint.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. according to the invention, through the obstacle clearing mechanism, the two supporting mechanisms, the telescopic driving mechanism and the controller, enough driving force and clamping force can be provided, the working process of the pipeline robot can be ensured to be more stable and reliable, the pipeline robot can adapt to a bent pipeline with a certain angle, and the universality is strong.

2. According to the invention, the first sliding module, the supporting driving module and the opening and closing module are adopted, and the supporting driving motor is adopted to drive the opening and closing module to be extruded, clamped and positioned with the inner wall of the pipeline, so that the structure is simple.

3. According to the invention, the first linear sliding sleeve is adopted to replace the supporting wheel through the first linear sliding sleeve and the first sliding sleeve positioning block, the structure is simple, and the size of the pipeline robot is effectively reduced.

4. The extension and the shortening of the pipeline obstacle clearing robot are controlled through the telescopic driving module, the second sliding module and the telescopic module, so that the forward and backward movement of the pipeline obstacle clearing robot is realized, and the grinding feed amount of the obstacle clearing function can be adjusted.

Drawings

FIG. 1 is a schematic view of a pipe clearing robot of the present invention;

FIG. 2 is a schematic diagram of an obstacle removing mechanism of the pipeline obstacle removing robot of the invention;

FIG. 3 is a schematic view of a telescopic driving mechanism of the pipe wrecker of the present invention;

FIG. 4 is a schematic view of a support mechanism of the pipe wrecker of the present invention;

FIG. 5 is a left side view of a support mechanism of a pipe wrecker of the present invention;

FIG. 6 is a top view of a support mechanism of a pipe wrecker of the present invention;

FIG. 7 is an opening and closing schematic view of a supporting mechanism of the pipe wrecker of the present invention;

FIG. 8 is a schematic view of the linear motion of a pipe wrecker of the present invention;

FIG. 9 is a schematic diagram of the curvilinear motion of a pipe wrecker robot of the present invention;

reference numbers for parts in the drawings: 1. an obstacle removing mechanism; 10. grinding the grinding wheel; 11. a barrier clearing motor; 2. a support mechanism; 20. supporting the driving motor; 21. a first linear sliding sleeve; 22. a nut pushing block; 23. a first guide bar; 24. an elastic clamping block; 25. a first limiting sheet; 26. a first lead screw; 27. a first sliding sleeve positioning block; 3. a telescopic driving mechanism; 30. a baffle plate; 31. a support bar; 32. a second limiting sheet; 33. a second guide bar; 34. a telescopic advancing block; 35. a second lead screw; 36. a second sliding sleeve positioning block; 37. a second linear sliding sleeve; 38. a telescopic driving motor; 4. a first elastic connecting member; 5. a second elastic connecting piece.

Detailed Description

The following describes the object of the present invention in further detail with reference to the drawings and specific examples, which are not repeated herein, but the embodiments of the present invention are not limited to the following examples.

As shown in fig. 1, a pipeline obstacle clearing robot comprises an obstacle clearing mechanism 1, two supporting mechanisms 2, a telescopic driving mechanism 3 and a controller, wherein the obstacle clearing mechanism 1 is connected with one supporting mechanism 2, one supporting mechanism 2 is connected with the telescopic driving mechanism 3 through a first elastic connecting piece 4, the telescopic elastic mechanism is connected with the other supporting mechanism 2 through a second elastic connecting piece 5, and the obstacle clearing mechanism 1, the first supporting mechanism 2, the telescopic driving mechanism 3 and the second supporting mechanism 2 are connected with the controller. The device can realize crawling in a micro pipeline at a certain angle and meet the requirements of obstacle clearing operation in the micro pipeline. The obstacle removing mechanism 1 is used for removing obstacles in the pipeline, and the supporting mechanism 2 can realize temporary fixation of the pipeline obstacle removing robot and the inner wall of the pipeline; the telescopic driving mechanism 3 can extend or shorten the pipeline obstacle clearing robot, so that the pipeline obstacle clearing robot can move forward or backward; the controller is a PLC controller and is used for controlling the obstacle clearing mechanism 1, the supporting mechanism 2 and the telescopic driving mechanism 3; the first elastic connecting piece 4 and the second elastic connecting piece 5 are both made of silica gel or rubber and have elastic deformable performance.

The diameter of the miniature pipeline in the embodiment is 8-25mm, and the pipeline obstacle clearing robot can be used in the miniature bent pipeline and can meet the requirement of obstacle clearing operation of the miniature bent pipeline.

As shown in fig. 4-6, there are 2 support mechanisms 2, which are a front support mechanism 2 and a rear support mechanism 2, respectively, the first limiting plate 25 of the front support mechanism is connected to the obstacle clearing motor 11 of the obstacle clearing mechanism 1, the support driving motor 20 of the front support mechanism is connected to the baffle 30 of the telescopic driving mechanism 3 through a first elastic connecting piece, and the support driving motor 20 of the rear support mechanism is connected to the telescopic driving motor 38 of the telescopic driving mechanism 3 through a second elastic connecting piece. The supporting mechanism 2 comprises a first sliding module, a supporting driving module and an opening and closing module, the supporting driving module comprises a supporting driving motor 20 and a first screw rod 26, the first sliding module comprises a first linear sliding sleeve 21 and a first sliding sleeve positioning block 27, and the opening and closing module comprises a nut pushing block 22, a first limiting piece 25 and an elastic clamping block 24. The supporting driving motor 20 is installed in the inner cavity of the first sliding sleeve positioning block 27, and the first linear sliding sleeve 21 is in interference sleeve joint with the first sliding sleeve positioning block 27, so that the first linear sliding sleeve 21 is effectively prevented from falling off. One end of each of the two first guide rods 23 is connected with the first sliding sleeve positioning block 27, the other end of each of the two first guide rods 23 passes through two through holes of the nut pushing block 22 and is connected with the first limiting piece 25, one surface, close to the nut pushing block 22, of the first limiting piece 25 is connected with the elastic clamping block 24, the nut pushing block 22 is connected with an output shaft of the supporting driving motor 20 through a first screw rod 26, and the supporting driving motor 20 is connected with the controller through an electric wire. The first limiting piece 25 of the front supporting mechanism 2 is connected with the obstacle clearing motor 11 of the obstacle clearing mechanism 1, the supporting driving motor 20 of the front supporting mechanism 2 is connected with one end of the telescopic driving mechanism 3 through the first elastic connecting piece 4, and the other end of the telescopic driving mechanism 3 is connected with the supporting driving motor 20 of the rear supporting mechanism 2 through the second elastic connecting piece 5. The support driving motor 20 is a stepping motor and provides power for the support mechanism 2; the first linear sliding sleeve 21 is used for the pipeline obstacle-removing robot to slide in the pipeline to play a role of a wheel; the first sliding sleeve positioning block 27 is used for installing and supporting the driving motor 20 and the first linear sliding sleeve 21, and plays a role of a bracket; the nut pushing block 22 adopts an inclined plane structure with a circular diameter from large to small in the direction towards the elastic clamping block 24, so that the elastic clamping block 24 is more easily and accurately squeezed; the elastic clamping block 24 is made of rubber or silica gel, is elastically deformable, adopts a hollow open cylinder type structure, and has an open shape with 4 grooves on one surface facing the nut pushing block, so that the nut pushing block can be conveniently stretched and clamped outwards; the first limiting sheet 25 is used for fixing the elastic clamping block 24 and connecting the obstacle clearing mechanism 1.

As shown in fig. 3, the telescopic driving mechanism 3 includes a telescopic driving module, a second sliding module and a telescopic module, the telescopic driving module includes a telescopic driving motor 38 and a second lead screw 35, the second sliding module includes a second sliding sleeve positioning block 36 and a second linear sliding sleeve 37, the telescopic module includes a telescopic advancing block 34, a support rod 31, a baffle 30 and a second limiting plate 32, the telescopic driving motor 38 is installed in an inner cavity of the second sliding sleeve positioning block 36, the second linear sliding sleeve 37 is in interference connection with the second sliding sleeve positioning block 36, therefore, the positioning of the second linear sliding sleeve 37 is realized, the second sliding sleeve positioning block 36 is connected with the second limiting piece 32 through the second guide rod 33, the output shaft of the telescopic driving motor 38 is connected with the telescopic advancing block 34 through the second lead screw 35, one end of the support rod 31 is connected with the telescopic advancing block 34, and the other end of the support rod 31 passes through the second limiting piece 32 and is connected with one surface of the baffle 30. The other side of the baffle 30 is connected with one support mechanism 2 through a first elastic connecting piece 4, is connected with the other support mechanism 2 through a second elastic connecting piece 5 through a telescopic driving motor 38, and the telescopic driving motor 38 is connected with a controller through an electric wire. The telescopic driving motor 38 is a stepping motor, and forward and reverse rotation of the stepping motor can realize that the telescopic advancing block 34 advances or retreats along the second guide rod 33, so that the extension or shortening of the pipeline obstacle clearing robot is controlled; the second sliding sleeve positioning block 36 is used for installing a telescopic driving motor 38 and a second linear sliding sleeve 37; the second linear sliding sleeve 37 is used for sliding of the telescopic driving mechanism 3 and plays a role of a wheel; the telescopic advancing block 34 can drive the baffle 30 to advance or retreat under the driving of the telescopic driving motor 38, thereby realizing the extension or shortening of the telescopic driving mechanism 3; the support rod 31 is used for connecting the telescopic advancing block 34 with the baffle 30; the baffle 30 is used for connecting the supporting mechanism 2; the second stopper piece 32 is used to limit the moving range of the telescopic advancing block 34.

As shown in fig. 2, the obstacle clearing mechanism 1 comprises a grinding wheel 10 and an obstacle clearing motor 11, the grinding wheel 10 is connected with an output shaft of the obstacle clearing motor 11, the obstacle clearing motor 11 is connected with a supporting mechanism 2, and the obstacle clearing motor 11 is connected with a controller through an electric wire. The grinding wheel 10 is used for clearing obstacles in a pipeline, the obstacle clearing motor 11 is a direct current motor 11 and provides power for the grinding wheel 10, the direct current motor 11 can drive the grinding wheel to rotate at a high speed, and the rotating speed can be adjusted to adjust the grinding speed. The grinding wheel 10 can move in the pipeline along with the pipeline obstacle clearing robot, and the adjustment of the movement range of the telescopic driving mechanism 3 can realize the adjustment of the grinding feed amount for obstacle clearing.

The wiring mode of clearance barrier mechanism 1, two supporting mechanism 2, flexible actuating mechanism 3 and controller: the wire harness has 8 wires, and the obstacle clearing motor 11 of the obstacle clearing mechanism 1, the supporting driving motors 20 of the two supporting mechanisms 2 and the telescopic driving motor 38 of the telescopic driving mechanism 3 are respectively connected with the 2 wires. 2 electric wires of the wire harness are connected with the obstacle clearing motor, and the wire harness penetrates through a wire hole of the elastic clamping position block 24 of the front supporting mechanism 2 and a wire hole of the first sliding sleeve positioning block 27. 2 electric wires of the wire harness are connected with the supporting driving motor 20 of the front supporting mechanism 2, sequentially pass through the wire buckle of the baffle 30 of the telescopic driving mechanism 3, the wire buckle of the telescopic advancing block 34 and the wire hole of the second sliding sleeve positioning block 36, and 2 electric wires of the wire harness are connected with the telescopic driving motor 38 of the telescopic driving mechanism 3. The last 2 electric wires of the wire harness are connected with a supporting driving motor 20 of the rear supporting mechanism 2, then sequentially pass through wire holes of an elastic clamping block 24 of the rear supporting mechanism 2 and a first sliding sleeve positioning block 27, and the wire harness is finally connected with a controller outside the pipeline.

The working principle is as follows: the utility model provides a pipeline clearance robot is realized the crawling motion of robot in miniature pipeline and the operation of removing obstacles, clearance of 11 drives realization direct current motor by three miniature step motor drives of group, and flexible actuating mechanism 3 is that step motor passes through the flexible piece 34 that advances of second lead screw 35 drive, all is the rotation with step motor and turns into the flexible piece 34 that advances and retreat movement that advances, has enough big drive power, makes the even more steady reliable of motion process. The support mechanism 2 drives the nut pushing block 22 to extrude the elastic clamping block 24 through the stepping motor so as to realize the loosening and clamping actions of the support mechanism 2. The forward and reverse rotation of the three groups of stepping motors are controlled according to a certain sequence, so that the creeping forward or backward movement is realized, and the obstacle clearing and removing operation of the bent pipelines with various angles is completed by controlling the obstacle clearing motors.

When in use, the following four states are adopted to respectively illustrate the forward movement of the pipeline obstacle clearing robot of the embodiment in the pipeline in the figure:

the method comprises the following steps: when the pipeline obstacle removing robot enters a pipeline, the stepping motor in the front supporting mechanism 2 drives the nut pushing block 22 to move forwards, and the nut pushing block 22 begins to extrude the elastic clamping block 24, so that the elastic clamping block 24 is in contact with the inner wall of the pipeline to generate enough friction force, and the clamping action of the front supporting mechanism 2 is realized.

Step two: the front supporting mechanism 2 is in a clamping state, the rear supporting mechanism 2 is in a loosening state, the stepping motor of the telescopic driving mechanism 3 positively rotates to push the rear supporting mechanism 2 and the obstacle clearing mechanism 1 to achieve forward movement, and in the process of forward movement, the direct current motor 11 of the obstacle clearing mechanism 1 is electrified to drive the grinding wheel 10 to rotate to achieve obstacle clearing operation.

Step three: the stepping motor of the rear supporting mechanism 2 drives the nut pushing block 22 to move forwards, and the nut pushing block 22 begins to extrude the elastic clamping block 24, so that the clamping action of the rear supporting mechanism 2 is realized. The stepping motor of the front support mechanism 2 rotates reversely to drive the nut pushing block 22 to retreat, so that the front support mechanism 2 is in a loose state.

Step four: the rear supporting mechanism 2 is in a clamping state, the front supporting mechanism 2 is in a loosening state, and the stepping motor of the telescopic driving mechanism 3 rotates reversely to drag the front supporting mechanism 2 to move forwards. Returning to the step one, the circulation can realize the advance in the pipeline.

The above-mentioned embodiments are preferred embodiments of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions that do not depart from the technical spirit of the present invention are included in the scope of the present invention.