CN112857630B - A three-dimensional convex flexible tactile sensor for a soft robotic hand and its manufacturing method - Google Patents
A three-dimensional convex flexible tactile sensor for a soft robotic hand and its manufacturing methodDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及柔性触觉传感器，尤其是涉及了一种软体机器人手的三维凸面柔性触觉传感器及制造方法。The invention relates to a flexible tactile sensor, in particular to a three-dimensional convex flexible tactile sensor of a soft robot hand and a manufacturing method.
背景技术Background technique
机器人技术的不断发展，智能机器人已成为制造领域、服务领域中的重要一员，柔性触觉传感器是智能机器人上用于感知的关键器件，为机器人提供力、振动、接触物体特性等触觉信息，软体机器人手是智能机器人实施抓取的关键部位，为机器人提供灵活抓取的能力。随着机器人需应用到越来越复杂的工况中，为进一步提高智能机器人的适用性与灵活性，具备复杂触觉信息（如曲率）采集能力的触觉传感器，与将柔性触觉传感器应用于软体机器人手受到了广泛关注。With the continuous development of robotics, intelligent robots have become an important member in the field of manufacturing and service. Flexible tactile sensors are the key devices used for perception on intelligent robots, providing robots with tactile information such as force, vibration, and the characteristics of contact objects. The robot hand is the key part for the intelligent robot to grasp, which provides the robot with the ability to grasp flexibly. As robots need to be applied to more and more complex working conditions, in order to further improve the applicability and flexibility of intelligent robots, tactile sensors with the ability to collect complex tactile information (such as curvature), and the application of flexible tactile sensors to soft robots The hand received a lot of attention.
传统的柔性触觉传感器为二维平面式，应用于机器人手时需要改变自身初始应力状态进行装配，如进行预拉伸、粘结剂粘合等，难以测量接触物体的曲率特性等触觉信息。同时，将这类触觉传感器应用于软体机器人手时，软体机器人手表面形貌会发生较大变化，使软体机器人位置难以精准监控。The traditional flexible tactile sensor is a two-dimensional plane. When applied to a robot hand, it needs to change its initial stress state for assembly, such as pre-stretching, adhesive bonding, etc. It is difficult to measure the tactile information such as the curvature characteristics of the contacting object. At the same time, when this type of tactile sensor is applied to the soft robot hand, the surface topography of the soft robot hand will change greatly, making it difficult to accurately monitor the position of the soft robot.
因此，当前应用于软体机器人手的柔性触觉传感器存在以下问题：1）结构为二维平面式，安装时与安装曲面作用产生较大应力应变，初始状态受到破坏，无法基于初始状态测量接触物体的曲率；2）软体机器人手表面形貌因与柔性触觉传感器装配发生变化，降低了软体机器人手的控制精确度，成为发展精细化作业智能机器人手的阻碍。Therefore, the current flexible tactile sensors used in soft robotic hands have the following problems: 1) The structure is a two-dimensional plane, and when installed, it interacts with the installation surface to generate large stress and strain, and the initial state is damaged, and it is impossible to measure the contact object based on the initial state. 2) The surface topography of the soft robot hand changes due to the assembly of the flexible tactile sensor, which reduces the control accuracy of the soft robot hand and becomes an obstacle to the development of intelligent robot hands for refined operations.
发明内容SUMMARY OF THE INVENTION
为了解决现有技术中存在的上述技术问题，本发明提供了一种软体机器人手的三维凸面柔性触觉传感器及制造方法，其具体技术方案如下。In order to solve the above technical problems existing in the prior art, the present invention provides a three-dimensional convex flexible tactile sensor of a soft robot hand and a manufacturing method, and the specific technical solutions are as follows.
一种软体机器人手的三维凸面柔性触觉传感器,包括从上到下依次层叠布置并通过加热固化依次粘合的具有三维凸面式结构的上封装层、公共电极层、传感阵列单元层、下电极层与下封装层；所述上封装层与下封装层组成封装层，形成封装膜；所述公共电极层由同等厚度的公共电极与公共电极基底嵌合构成；所述传感阵列单元层由同等厚度的传感单元与传感单元基底嵌合构成；所述下电极层由同等厚度的直线结构电极与直线电极基底嵌合构成。A three-dimensional convex flexible tactile sensor for a soft robotic hand, comprising an upper encapsulation layer with a three-dimensional convex structure, a common electrode layer, a sensing array unit layer, and a lower electrode, which are sequentially stacked from top to bottom and are sequentially bonded by heating and curing. layer and lower encapsulation layer; the upper encapsulation layer and the lower encapsulation layer form an encapsulation layer to form an encapsulation film; the common electrode layer is composed of a common electrode of the same thickness and a common electrode substrate fitted together; the sensing array unit layer is composed of The sensing unit of the same thickness is formed by fitting with the sensing unit substrate; the lower electrode layer is formed by fitting the linear structure electrode of the same thickness with the linear electrode substrate.
进一步的，所述公共电极由外圈半椭圆结构电极、同中心等距分布的内圈椭圆结构电极、十字结构电极组成，所述十字结构电极将被截断的外圈半椭圆结构电极与内圈椭圆结构电极连通，十字结构电极的左侧一端设有与外部导线相连的外部导线端。Further, the common electrode is composed of an outer circle semi-elliptical structure electrode, an inner circle elliptical structure electrode and a cross structure electrode distributed at the same center and equidistant, and the cross structure electrode combines the truncated outer circle semi-elliptical structure electrode with the inner circle structure electrode. The elliptical structure electrodes are connected, and the left end of the cross structure electrodes is provided with an external lead end connected with an external lead.
进一步的，公共电极各处的宽度均为300 μm。Further, the width of the common electrode is 300 μm everywhere.
进一步的，所述传感单元基底上设有传感单元分布椭圆虚线，所述传感单元分布椭圆虚线包括外圈传感单元分布椭圆虚线、内圈传感单元分布椭圆虚线，所述传感单元的横切面均为直径600μm的圆，每个传感单元的厚度为200μm，分布在外圈传感单元分布椭圆虚线、内圈传感单元分布椭圆虚线与曲面中心，内圈传感单元分布椭圆虚线同中心等距离分布。Further, the sensing unit base is provided with a sensing unit distribution ellipse dashed line, the sensing unit distribution ellipse dashed line includes an outer ring sensing unit distribution ellipse dashed line, an inner ring sensing unit distribution ellipse dashed line, and the sensing unit distribution ellipse dashed line. The cross-section of the unit is a circle with a diameter of 600 μm, and the thickness of each sensing unit is 200 μm. It is distributed in the outer ring sensing unit distribution ellipse dashed line, the inner ring sensing unit distribution ellipse dashed line and the center of the curved surface, and the inner ring sensing unit distribution ellipse The dotted lines are equidistant from the center.
进一步的，每一个传感单元的下方配对一个直线结构电极，每一个传感单元下表面都与直线结构电极上表面准确贴合，每一个传感单元上表面都与公共电极下表面准确贴合；传感单元所在的外圈传感单元分布椭圆虚线和内圈传感单元分布椭圆虚线分别与公共电极的外圈半椭圆结构电极和内圈椭圆结构电极重合。Further, a linear structure electrode is paired under each sensing unit, the lower surface of each sensing unit is accurately fitted with the upper surface of the linear structure electrode, and the upper surface of each sensing unit is accurately fitted with the lower surface of the common electrode. ; The outer circle sensing unit distribution ellipse dotted line and the inner circle sensing unit distribution ellipse dotted line where the sensing unit is located respectively coincide with the outer circle semi-elliptical structure electrode and the inner circle elliptical structure electrode of the common electrode.
进一步的，所述直线结构电极宽度为300μm，直线结构电极之间不交错串联，呈现拟轴线对称排布，在每一个直线结构电极的末端都连接有对应的外部导线。Further, the linear structure electrodes have a width of 300 μm, the linear structure electrodes are not staggered in series, and are arranged in a quasi-axis-symmetrical arrangement, and a corresponding external wire is connected to the end of each linear structure electrode.
进一步的，所述的封装层、公共电极基底、传感单元基底与直线结构电极基底厚度均为200μm，材料为柔性的聚二甲基硅氧烷，公共电极、直线结构电极的材料为硅橡胶与银纳米片混合物，传感单元的材料为硅橡胶、石墨烯与银纳米片混合物，材料的混合方式均为行星搅拌。Further, the thickness of the encapsulation layer, the common electrode substrate, the sensing unit substrate and the linear structure electrode substrate are all 200 μm, the material is flexible polydimethylsiloxane, and the material of the common electrode and the linear structure electrode is silicone rubber Mixed with silver nanosheets, the material of the sensing unit is a mixture of silicone rubber, graphene and silver nanosheets, and the materials are mixed by planetary stirring.
进一步的，所述三维凸面式结构通过激光扫描待安装面重构得到，所述传感单元以传感阵列单元层凸面中心为原点的初始位置坐标(x0,y0,z0)，通过将传感单元初始位置坐标(x0,y0,z0)、传感单元所测压力值F0、软体机器人手指主动感知的位移矢量(xH,yH,zH)与软体指尖刚度K联立计算，得到发生最大位移传感单元的位置坐标变化信息(xmax,ymax,zmax)与边缘接触物体传感单元的坐标信息(xedge-i,yedge-i,zedge-i)，在由最大位移传感单元坐标与边缘接触点坐标重构绘制出曲面形状或球面曲率半径，计算测量出接触物体的曲率；其中最大位移传感单元为电阻阻值最先发生变化的传感单元，边缘接触物体传感单元为电阻阻值处在变化的临界点且电阻变化值小于传感单元初始电阻R0的5%的传感单元。Further, the three-dimensional convex structure is obtained by reconstructing the surface to be installed by laser scanning, and the initial position coordinates (x0 , y0 , z0 ) of the sensing unit take the center of the convex surface of the sensing array unit layer as the origin, and pass The initial position coordinates of the sensing unit (x0 , y0 , z0 ), the pressure value F0 measured by the sensing unit, and the displacement vector (xH , yH , zH ) actively sensed by the soft robot finger are combined with the soft fingertip. The stiffness K is calculated simultaneously to obtain the position coordinate change information (xmax , ymax , zmax ) of the sensing unit with the maximum displacement and the coordinate information (xedge-i , yedge-i , z of the edge contact object sensing unit)edge-i ), reconstruct the shape of the surface or the radius of curvature of the spherical surface from the coordinates of the maximum displacement sensing unit and the coordinates of the edge contact point, and calculate and measure the curvature of the contacting object; wherein the maximum displacement sensing unit is the resistance value of the resistance that occurs first For the sensing unit that changes, the sensing unit of the edge contact object is a sensing unit whose resistance value is at the critical point of change and the resistance change value is less than 5% of the initial resistance R0 of the sensing unit.
一种软体机器人手的三维凸面柔性触觉传感器制作方法，包括如下步骤：A method for manufacturing a three-dimensional convex flexible tactile sensor for a soft robotic hand, comprising the following steps:
1）重构软体机器人手指尖曲面模型：1) Reconstruct the surface model of the fingertip of the soft robot:
将软体机器人手指尖放置在激光扫描装置上，通过激光扫描实现对软体机器人手指的曲面重构，并在软件Meshmatic中优化重构的三维模型；Place the fingertip of the soft robot on the laser scanning device, realize the surface reconstruction of the soft robot finger through laser scanning, and optimize the reconstructed 3D model in the software Meshmatic;
2）制备凸面模具：2) Prepare the convex mold:
根据重构的三维模型，利用挤出式3D打印机制备带有凸面的模具；According to the reconstructed 3D model, an extrusion 3D printer is used to prepare a mold with a convex surface;
3）在凸面的模具上制备各层结构并粘合：3) Prepare and bond each layer structure on a convex mold:
将凸面的模具置于挤出式3D打印机打印平台特定位置，修改3D打印机打印各层结构时的G代码，在打印传感器各层结构过程中，3D打印机不与凸模干涉，依次在凸模上制备下封装层、下电极层、传感阵列单元层、公共电极层与上封装层。Place the convex mold at a specific position on the extrusion 3D printer printing platform, and modify the G code when the 3D printer prints each layer structure. During the process of printing each layer structure of the sensor, the 3D printer does not interfere with the punch, and sequentially prints on the punch. A lower encapsulation layer, a lower electrode layer, a sensing array unit layer, a common electrode layer and an upper encapsulation layer are prepared.
本发明的技术效果：Technical effect of the present invention:
本发明为三维凸面式结构，该三维凸面式结构能够与软体机器人手指尖刚好贴合，实现检测力信号的同时，触觉传感器与软体机器人手指尖的低应力或无应力贴合，维持了触觉传感器的初始状态及软体机器人手的指尖形貌，提高了软体机器人末端控制精度，促进精细化智能机器人的发展。The present invention is a three-dimensional convex structure, and the three-dimensional convex structure can just fit with the fingertip of the soft robot, and at the same time to realize the detection of the force signal, the tactile sensor and the fingertip of the soft robot have a low stress or no stress fit, maintaining the tactile sensor. The initial state of the soft robot hand and the shape of the fingertip of the soft robot hand improve the control accuracy of the end of the soft robot and promote the development of refined intelligent robots.
附图说明Description of drawings
图1是本发明的三维凸面式柔性触觉传感器结构爆炸示意图；1 is a schematic exploded view of the structure of the three-dimensional convex flexible tactile sensor of the present invention;
图2a是公共电极层的结构示意图；2a is a schematic structural diagram of a common electrode layer;
图2b是公共电极层结构俯视图；FIG. 2b is a top view of the structure of the common electrode layer;
图3a是传感阵列单元层的结构示意图；Figure 3a is a schematic structural diagram of a sensor array unit layer;
图3b是传感阵列单元层的结构俯视图；Figure 3b is a top view of the structure of the sensor array unit layer;
图4a是下电极层结构示意图；4a is a schematic diagram of the structure of the lower electrode layer;
图4b是下电极层结构俯视图；4b is a top view of the structure of the lower electrode layer;
图5a是下电极层与传感阵列单元之间相对位置示意图；5a is a schematic diagram of the relative position between the lower electrode layer and the sensing array unit;
图5b是传感阵列单元与公共电极层之间相对位置示意图；5b is a schematic diagram of the relative position between the sensing array unit and the common electrode layer;
图中：1-1、上封装层，1-2、下封装层，2、公共电极层，2-1、公共电极，2-2、公共电极基底，3、传感阵列单元层，3-1、传感阵列单元，3-2、传感阵列单元基底，4、下电极层，4-1、直线结构电极，4-2、直线电极基底，5、外圈半椭圆结构电极，6、内圈椭圆结构电极，7、十字结构电极，8、外圈传感单元分布椭圆虚线，9、内圈传感单元分布椭圆虚线，10、传感单元分布椭圆虚线，11、外部导线端。In the figure: 1-1, upper encapsulation layer, 1-2, lower encapsulation layer, 2, common electrode layer, 2-1, common electrode, 2-2, common electrode substrate, 3, sensor array unit layer, 3- 1. Sensing array unit, 3-2, Sensing array unit substrate, 4. Lower electrode layer, 4-1, Linear structure electrode, 4-2, Linear electrode substrate, 5, Outer ring semi-elliptical structure electrode, 6, Inner ring ellipse structure electrode, 7, cross structure electrode, 8, outer ring sensing unit distribution ellipse dotted line, 9, inner ring sensor unit distribution ellipse dotted line, 10, sensing unit distribution ellipse dotted line, 11, outer wire end.
具体实施方式Detailed ways
为了使本发明的目的、技术方案和技术效果更加清楚明白，以下结合说明书附图，对本发明作进一步详细说明。In order to make the objectives, technical solutions and technical effects of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings.
如图1所示，一种软体机器人手的三维凸面柔性触觉传感器包括从上到下依次层叠布置的具有三维凸面式结构的上封装层1-1、公共电极层2、传感阵列单元层3、下电极层4与下封装层1-2，各层之间通过加热固化依次进行粘合，该三维凸面式结构与软体机器人手指尖曲率相同，能够实现低应力或无应力贴合，维持传感器的初始状态与软体机器人手的表面形貌。As shown in FIG. 1, a three-dimensional convex flexible tactile sensor of a soft robotic hand includes an upper packaging layer 1-1 with a three-dimensional convex structure, a
如图1所示，上封装层1-1与下封装层1-2组成封装层，为三维凸面式结构，形成封装膜，实现对传感器各层结构的封装。As shown in FIG. 1 , the upper encapsulation layer 1-1 and the lower encapsulation layer 1-2 form an encapsulation layer, which is a three-dimensional convex structure, and forms an encapsulation film to realize the encapsulation of each layer structure of the sensor.
如图2a与2b所示，公共电极层2由同等厚度的公共电极2-1与公共电极基底2-2嵌合构成，其中公共电极2-1由被截断的外圈半椭圆结构电极5、同中心等距分布的4个内圈椭圆结构电极6和十字结构电极7组成，十字结构电极7将被截断的外圈半椭圆结构电极5与4个内圈椭圆结构电极6连通，同时，十字结构电极7的左侧一端为与外部导线相连的外部导线端11，公共电极2-1各处的宽度均为300μm，厚度均为200μm。As shown in Figures 2a and 2b, the
如图3a与3b所示，传感阵列单元层3由同等厚度的传感单元3-1与传感单元基底3-2嵌合构成，传感单元3-1在俯视图下均为直径600μm的圆，每个传感单元3-1的厚度为200μm，分布在外圈传感单元分布椭圆虚线8、4个内圈传感单元分布椭圆虚线9与曲面中心，4个内圈传感单元分布椭圆虚线9同中心等距离分布，因为指尖中间部分更容易与物体产生触碰，传感单元3-1主要分布在内圈传感单元分布椭圆虚线9上，形成外疏散，内紧密分布规律，传感单元3-1受压时，其内部微观的导电粒子排布发生变化，进而改变传感单元电阻，产生压力电信号。As shown in Figures 3a and 3b, the sensing
如图4a与4b所示，下电极层4由同等厚度的直线结构电极4-1与直线电极基底4-2嵌合构成，直线结构电极4-1宽度均为300μm，厚度为200μm，直线结构电极4-1之间不会交错，整体呈现拟对称排布，在每一个直线电极的末端都连接着对应的外部导线，实现每一个传感单元电信号的输出。As shown in Figures 4a and 4b, the lower electrode layer 4 is composed of a linear structure electrode 4-1 of the same thickness and a linear electrode substrate 4-2, and the linear structure electrodes 4-1 are both 300 μm in width and 200 μm in thickness. The electrodes 4-1 are not staggered, and the overall arrangement is quasi-symmetrical. The end of each linear electrode is connected with a corresponding external wire to realize the output of the electrical signal of each sensing unit.
如图5a所示，每一个传感单元3-1的下方配对一个直线结构电极4-1，下电极层4与传感阵列单元层3均为三维凸面式结构，实现每一个传感单元3-1下表面都与直线结构电极4-1上表面准确贴合。As shown in Fig. 5a, a linear structure electrode 4-1 is paired under each sensing unit 3-1, and the lower electrode layer 4 and the sensing
如图5b所示，传感单元3-1所在的外圈传感单元分布椭圆虚线8与内圈传感单元分布椭圆虚线9，与公共电极被截断的外圈半椭圆结构电极5与内圈椭圆结构电极6重合，同时公共电极层2与传感阵列单元层3均为三维凸面式结构，实现了公共电极2-1下表面与传感单元上表面3-1的精准贴合。As shown in Figure 5b, the outer ring sensing unit distribution ellipse dashed line 8 where the sensing unit 3-1 is located and the inner ring sensing unit distribution ellipse dashed line 9, and the outer ring semi-elliptical structure electrode 5 where the common electrode is truncated and the inner ring The
所述的公共电极2-1、直线结构电极4-1的材料为硅橡胶与银纳米片混合物；传感单元3-1的材料为硅橡胶、石墨烯与银纳米片混合物，材料的混合方式均为行星搅拌，封装层、公共电极基底2-2、传感单元基底3-2与直线结构电极基底4-2厚度均为200μm，材料为柔性的聚二甲基硅氧烷。The material of the common electrode 2-1 and the linear structure electrode 4-1 is a mixture of silicone rubber and silver nanosheets; the material of the sensing unit 3-1 is a mixture of silicone rubber, graphene and silver nanosheets, and the mixing method of the materials All are planetary stirring, the thickness of the encapsulation layer, the common electrode substrate 2-2, the sensing unit substrate 3-2 and the linear structure electrode substrate 4-2 are all 200 μm, and the material is flexible polydimethylsiloxane.
本发明的工作原理如下：The working principle of the present invention is as follows:
本发明的三维凸面式柔性触觉传感器可低应力或无应力贴合在软体机器人手指尖。传感器内设有多个传感单元3-1，当软体机器人手主动触摸物体时，传感单元3-1因受压产生形变，从而使传感单元3-1电阻发生改变。将传感单元3-1的电阻值变化输入至电脑，结合传感单元3-1中心初始位置坐标(x0,y0,z0)、所测压力值F0、软体机器人手指主动感知的位移矢量(xH,yH,zH)与软体指尖刚度K联立计算，得到发生最大位移传感单元的位置坐标变化信息(xmax,ymax,zmax)与边缘接触物体传感单元的位置坐标信息(xedge-i，yedge-i，zedge-i)，在由最大位移传感单元位置坐标与边缘接触点位置坐标绘制出曲面形状或球面曲率半径，实现对接触物体的曲率测量。The three-dimensional convex flexible tactile sensor of the present invention can be attached to the fingertip of the soft robot with low or no stress. The sensor is provided with a plurality of sensing units 3-1. When the soft robot hand actively touches an object, the sensing unit 3-1 is deformed due to pressure, so that the resistance of the sensing unit 3-1 changes. Input the resistance value change of the sensing unit 3-1 to the computer, combine the initial position coordinates (x0, y0, z0) of the center of the sensing unit 3-1, the measured pressure value F0 , and the displacement vector ( xH, yH, zH) and soft body fingertip stiffness K are calculated simultaneously to obtain the position coordinate change information (xmax , ymax , zmax ) of the sensing unit with the maximum displacement and the position coordinate information of the edge contact object sensing unit ( xedge-i , yedge-i , zedge-i ), draw the surface shape or spherical curvature radius from the position coordinates of the maximum displacement sensing unit and the position coordinates of the edge contact point to realize the curvature measurement of the contact object.
具体的，软体机器人手在控制指令下，沿特定方向移动特定距离，电脑实时记录传感单元的电阻变化状况，计算输出接触物体前后传感单元的坐标变化，实现对接触物体的曲率测量，其中最大位移传感单元为电阻值最先发生变化的传感单元，边缘接触物体传感单元为电阻值处在变化的临界点且电阻变化值小于传感单元初始电阻R0的5%的传感单元。Specifically, the soft robot hand moves a specific distance in a specific direction under the control command, the computer records the resistance change of the sensing unit in real time, calculates and outputs the coordinate change of the sensing unit before and after the contact object, and realizes the curvature measurement of the contact object. The maximum displacement sensing unit is the sensing unit whose resistance value changes first, and the edge contacting object sensing unit is the sensing unit whose resistance value is at the critical point of change and the resistance change value is less than 5% of the initial resistance R0 of the sensing unit. unit.
本发明的制作方法，包括以下几个步骤：The preparation method of the present invention comprises the following steps:
1）重构软体机器人手指尖曲面模型：1) Reconstruct the surface model of the fingertip of the soft robot:
将软体机器人手指尖放置在激光扫描装置上，通过激光扫描实现对软体机器人手手指的曲面重构，并在软件Meshmatic中优化重构的三维模型；Place the fingertip of the soft robot on the laser scanning device, realize the surface reconstruction of the finger of the soft robot hand through laser scanning, and optimize the reconstructed 3D model in the software Meshmatic;
2）制备凸面模具：2) Prepare the convex mold:
根据重构的三维模型，利用挤出式3D打印机制备带有凸面的模具；According to the reconstructed 3D model, an extrusion 3D printer is used to prepare a mold with a convex surface;
3）在凸模上制备各层结构并粘合：3) Prepare each layer structure on the punch and glue it:
将凸模置于挤出式3D打印机打印平台特定位置，修改3D打印机打印各层结构时的G代码，确保在打印传感器各层结构过程中，3D打印机不会与凸模干涉，依次在凸模上制备下封装层1-2、下电极层4、传感阵列单元层3、公共电极层2与上封装层1-1。Place the punch at a specific position on the extrusion 3D printer printing platform, and modify the G code when the 3D printer prints each layer structure to ensure that the 3D printer will not interfere with the punch during the process of printing the layers of the sensor. A lower encapsulation layer 1-2, a lower electrode layer 4, a sensing
上述具体实施方式是用来解释说明本发明，而不是对本发明进行限制，在本发明的精神和权利要求的保护范围内，对本发明做出的任何修改和改变，都落入本发明的保护范围。The above-mentioned specific embodiments are used to explain the present invention, rather than to limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modifications and changes made to the present invention all fall into the protection scope of the present invention. .
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