CN219085577U - Novel business clothes robot teaching platform - Google Patents
Novel business clothes robot teaching platform Download PDFInfo
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- CN219085577U CN219085577U CN202223228105.1U CN202223228105U CN219085577U CN 219085577 U CN219085577 U CN 219085577U CN 202223228105 U CN202223228105 U CN 202223228105U CN 219085577 U CN219085577 U CN 219085577U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The utility model provides a novel business robot teaching platform, which comprises: the chassis, the inside on chassis sets up control module, power module and gesture perception module, and the top sets up the base upper cover, the top of base upper cover sets up laser radar subassembly, laser radar subassembly's the outside sets up the tray and places the subassembly, the top that the subassembly was placed to the tray sets up the frame backup pad, the front of frame backup pad sets up the display screen frame, the front of display screen frame sets up the display screen, the top of frame backup pad sets up the cloud platform bottom plate, the top of cloud platform bottom plate sets up cloud platform camera and scram switch, mobile module, gesture perception module, laser radar subassembly, display screen, cloud platform camera and scram switch equal electric connection control module. The novel business suit robot teaching platform provided by the utility model is suitable for business suit scene teaching and can realize various function applications of the business suit robot in the use process.
Description
Technical Field
The utility model relates to the technical field of robot teaching platforms, in particular to a novel business robot teaching platform.
Background
Along with the progress of society, more and more business robot starts to use at the merchant, however, when carrying out business robot course teaching training, the student need carry out knowledge study through business robot course, then on the basis of accomplishing the course, combines practical application to learn, but current business robot teaching platform is less, and general teaching platform is general platform, is not applicable to business scene teaching, and current teaching platform simple structure, is difficult to realize business robot each item function application in the use. Therefore, it is necessary to design a novel business robot teaching platform for students to learn applications.
Disclosure of Invention
The utility model aims to provide a novel business suit robot teaching platform which is suitable for business suit scene teaching, can realize various function applications of a business suit robot in the use process, and is convenient for learning to apply and learn.
In order to achieve the above object, the present utility model provides the following solutions:
a novel business suit robot teaching platform, comprising: chassis, mobile module, control module, power module, gesture perception module, base upper cover, laser radar subassembly, tray place subassembly, frame backup pad, display screen, cloud platform bottom plate, cloud platform camera and scram switch, the bottom of chassis sets up mobile module, the inside of chassis sets up control module, power module and gesture perception module, gesture perception module is arranged in monitoring six inertial data in the robot motion, power module is used for supplying power for each module, the top of chassis sets up the base upper cover, the top center of base upper cover sets up the laser radar subassembly, the outside of laser radar subassembly sets up the tray is placed the subassembly, the inside of tray is provided with the tray, the top of tray is placed the subassembly sets up the frame backup pad, the front of frame backup pad is provided with the display screen frame, the front of display screen frame sets up the display screen, the top of frame backup pad sets up cloud platform bottom plate, the top of cloud platform bottom plate sets up cloud platform camera and scram switch, move radar subassembly, the outside of laser radar subassembly, display module, the equal electric connection of cloud platform camera and scram switch.
Optionally, the mobile module includes the Mecanum wheel, wheel protective housing and motor, the chassis bottom sets up four different orientation's Mecanum wheel through the bolt, the upside of Mecanum wheel sets up the wheel protective housing for the protection Mecanum wheel, the inside of chassis corresponds Mecanum wheel sets up four the motor, just the motor passes through the expansion shell drive and connects Mecanum wheel is used for driving Mecanum wheel is rotatory, motor electric connection control module.
Optionally, the tray is placed the subassembly and is included aluminium alloy frame, walk line box, tray side shield and tray backplate, the top of base upper cover sets up aluminium alloy frame, aluminium alloy frame's left and right sides sets up tray side shield, aluminium alloy frame's rear side sets up the tray backplate, tray side shield with the cooperation of tray backplate sets up, is used for setting up the tray, set up on the aluminium alloy frame walk line box for walk the line.
Optionally, the laser radar subassembly includes laser radar, laser radar control module and laser radar protection shield, the top center of base upper cover sets up the laser radar, the downside of aluminium alloy frame corresponds the laser radar sets up the laser radar protection shield is used for the protection the laser radar, the inside of chassis sets up laser radar control module, laser radar and control module electric connection laser radar control module.
Optionally, the pan-tilt camera includes horizontal steering wheel, vertical steering wheel and depth camera, horizontal steering wheel, vertical steering wheel with the mechanical connection relation is constituteed to the depth camera, is used for driving the depth camera is rotatory, horizontal steering wheel, vertical steering wheel and depth camera electric connection control module.
Optionally, the control module includes embedded computing card, embedded computing card base, main control board and USB extension board, power module is the lithium cell, the inside of chassis sets up the lithium cell, the top of lithium cell sets up the main control board, the front side of lithium cell sets up embedded computing card base, set up on the embedded computing card base embedded computing card, USB extension board, mobile module, gesture perception module, laser radar subassembly, display screen, cloud platform camera and scram switch electric connection the main control board.
Optionally, the novel business suit robot teaching platform still includes display lamp and ultrasonic assembly, display lamp and ultrasonic assembly set up the outside front side on chassis, display lamp and ultrasonic assembly electric connection the main control board.
According to the specific embodiment provided by the utility model, the utility model discloses the following technical effects: the novel business robot teaching platform comprises a chassis, a moving module, a control module, a power supply module, a gesture sensing module, a base upper cover, a laser radar component, a tray placement component, a frame supporting plate, a display screen, a cradle head bottom plate, a cradle head camera and an emergency stop switch, wherein the moving module is used for realizing the moving function, the power supply module is used for supplying power, the gesture sensing module is used for monitoring six-axis inertial data in the movement of a robot, the laser radar component is used for realizing distance measurement, the tray is arranged in the tray placement component, business scenes can be assembled, objects can be simulated and stored, multiple angles can be acquired through the cradle head camera, emergency stop can be realized through the emergency stop switch, touch display can be realized through the display screen, the teaching platform can guide students to learn the operation principle of the robot in the business scenes, and the students can quickly and flexibly learn in a modularized mode through modularized design.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a disassembly structure of a novel business robot teaching platform according to an embodiment of the utility model;
FIG. 2 is a schematic view of a base structure;
FIG. 3 is a schematic diagram of a motor drive circuit;
FIG. 4 is a schematic diagram of a gesture sensing circuit;
fig. 5 is a schematic diagram of a lidar control circuit.
Reference numerals: 1. a chassis; 2. mecanum wheel; 3. a wheel protective housing; 4. a motor; 5. a display lamp; 6. an ultrasonic assembly; 7. an embedded computing card; 8. an embedded computing card base; 9. a USB expansion board; 10. a main control board; 11. a lithium battery; 12. a base upper cover; 13. a laser radar; 14. a lidar protection plate; 15. a tray; 16. a wiring box; 17. tray side baffles; 18. an aluminum profile frame; 19. tray tailgate; 20. a frame support plate; 21. a display screen; 22. a display screen frame; 23. a cradle head bottom plate; 24. an emergency stop switch; 25. and a cradle head camera.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The utility model aims to provide a novel business suit robot teaching platform which is suitable for business suit scene teaching, can realize various function applications of a business suit robot in the use process, and is convenient for learning to apply and learn.
In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1 and fig. 2, the novel business robot teaching platform provided by the embodiment of the utility model includes: the intelligent robot comprises a chassis 1, a mobile module, a control module, a power supply module, a gesture sensing module, a base upper cover 12, a laser radar component, a tray placement component, a frame support plate 20, a display screen 21, a holder bottom plate 23, a holder camera 25 and a scram switch 24, wherein the mobile module is arranged at the bottom of the chassis 1, the control module, the power supply module and the gesture sensing module are arranged in the chassis 1, the gesture sensing module is used for monitoring six-axis inertial data in the motion of the robot, the power supply module is used for supplying power to each module, the top of the chassis 1 is provided with the base upper cover 12, the center of the top of the base upper cover 12 is provided with the laser radar component, the tray placement component is arranged at the outer side of the laser radar component, the tray placement component is internally provided with the holder 15, the top of the tray placement component is provided with the frame support plate 20, the front of the frame support plate 20 is provided with a display screen frame 22, the front of the display screen 21 is arranged at the top of the frame support plate 20, the holder bottom plate 23 is electrically connected with the holder bottom plate 25, the scram camera switch 24 and the laser radar component are electrically connected with the mobile camera module 24;
the rapid stopping of the robot is realized through the emergency stopping switch 24, and the display screen 21 is a touch display screen, so that the functions of the display and touch control module can be realized;
as shown in fig. 4, the gesture sensing module adopts an IMU gesture sensing circuit, designs a business robot gesture sensing circuit based on an MPU6050 inertial sensor, corrects deviation generated in the mileage motion of the robot by monitoring six-axis inertial data in the vehicle motion in real time, captures more accurate inertial data at the fastest period of 10ms, and completes the vehicle gesture information fusion calculation.
The mobile module comprises a Mecanum wheel 2, a wheel protection shell 3 and a motor 4, wherein the Mecanum wheel 2 in four different directions is arranged at the bottom of the chassis 1 through bolts, the wheel protection shell 3 is arranged at the upper side of the Mecanum wheel 2 and is used for protecting the Mecanum wheel 2, the four motors 4 are arranged in the chassis 1 corresponding to the Mecanum wheel 2, the motors 4 are connected with the Mecanum wheel 2 through expansion sleeves in a driving way and are used for driving the Mecanum wheel 2 to rotate, and the motors 4 are electrically connected with the control module;
the specific setting mode of the Mecanum wheel 2 is as follows: four bearings are arranged in the chassis 1, a central shaft of the Mecanum wheel 2 is arranged on each bearing, and the motor 4 is connected with the central shaft through an expansion sleeve.
The motor is controlled by a high-power direct current motor driving circuit, a specific circuit is shown in fig. 3, an H-bridge complementary symmetrical circuit which is built by an upper crystal micro gate driving chip EG2184 and an N-channel MOS is selected, reversible speed control and reverse control are realized, and the size of the armature voltage is changed by the H-bridge circuit through adjusting the duty ratio of a PWM (PulseWidth Modulation) signal.
The tray placement assembly comprises an aluminum profile frame 18, a wiring box 16, a tray side baffle 17 and a tray rear baffle 19, wherein the aluminum profile frame 18 is arranged at the top of the base upper cover 12, the tray side baffles 17 are arranged on the left side and the right side of the aluminum profile frame 18, the tray rear baffle 19 is arranged on the rear side of the aluminum profile frame 18, the tray side baffle 17 and the tray rear baffle 19 are matched and arranged for setting the tray 15, and the wiring box 16 is arranged on the aluminum profile frame 18 for wiring.
The laser radar subassembly includes laser radar 13, laser radar control module and laser radar protection shield 14, the top center of base upper cover 12 sets up laser radar 13, the downside of aluminium alloy frame 18 corresponds laser radar 13 sets up laser radar protection shield 14 for the protection laser radar 13, the inside of chassis 1 sets up laser radar control module, laser radar 13 and control module electric connection laser radar control module, wherein, laser radar control module is the high-speed frequency control circuit of frame radar, as fig. 5, through the voltage of control pin MCU_AR_CTRL, control laser radar carries out high-frequency operation, and then accomplishes high-accuracy SLAM and builds the diagram.
The cradle head camera 25 comprises a transverse steering engine, a longitudinal steering engine and a depth camera, wherein the transverse steering engine, the longitudinal steering engine and the depth camera form a mechanical connection relationship and are used for driving the depth camera to rotate, and the transverse steering engine, the longitudinal steering engine and the depth camera are electrically connected with the control module.
The transverse steering engine output shaft is used for playing a role of horizontal rotation; the longitudinal steering engine is used for driving the depth camera to rotate up and down; the whole mechanism realizes the transverse 180 DEG and longitudinal 120 DEG visual angle adjustment, the conventional connection mode in the prior art is selected, the transverse 180 DEG and longitudinal 120 DEG visual angle adjustment can be realized, and the mechanism belongs to common general knowledge known to the person skilled in the art and is not described herein;
the depth camera adopts the visual component in the prior art, and can collect external image information
The control module comprises an embedded computing card 7, an embedded computing card base 8, a main control board 10 and a USB expansion board 9, wherein the power supply module is a lithium battery 11, the lithium battery 11 is arranged in the chassis 1, the main control board 10 is arranged at the top of the lithium battery 11, the embedded computing card base 8 is arranged at the front side of the lithium battery 11, the embedded computing card 7 is arranged on the embedded computing card base 8, and the embedded computing card 7, the USB expansion board 9, the mobile module, the gesture sensing module, the laser radar component, the display screen 21, the cradle head camera 25 and the emergency stop switch 24 are electrically connected with the main control 10;
the main control board 10 inherits the highly integrated packaging, high stability, high precision and easy production design thought, the PCB is arranged at the central center of the robot chassis, and the power interface, the communication interface and other man-machine interaction peripherals extend to four sides. Meanwhile, redundant parallel wiring and circuit interaction are avoided, and plug and play of each electronic module is achieved. The embedded computing card is used for processing signals and computing and outputting robot instructions.
The novel business suit robot teaching platform further comprises a display lamp 5 and an ultrasonic assembly 6, wherein the display lamp 5 and the ultrasonic assembly 6 are arranged on the front side of the chassis, and the display lamp 5 and the ultrasonic assembly 6 are electrically connected with the main control board 10;
the display lamp is used for displaying the current running state of the robot, is convenient to debug and the like; the ultrasonic assembly is used for measuring the distance between the robot and the obstacle and has an obstacle avoidance function, wherein the ultrasonic assembly is a conventional ultrasonic assembly in the prior art.
In addition, one embodiment of the present utility model is: the business robot teaching platform is integrally designed in a modularized mode through an ROS (reactive oxygen species) frame, wherein interaction with an upper computer can be independently formed into a display and interaction module, interaction 1 is completed through user touch screen operation, interface display and sound broadcasting in an upper computer design GUI, a Qt application development frame 1Qt is adopted by the business robot, an interface of the ROS is already complete, the business robot is combined with a robot to conduct teaching design of the business robot, the business robot obtains user requirements through an upper computer module, useful contents are transmitted through a topic mechanism in the ROS frame, and other proprietary modules process and execute after receiving information to complete an interaction function;
the hotel map searching function is realized, the robot can start hotel map searching by issuing instructions through the interaction of the upper computer in the simulated hotel environment, namely SLAM map building. The robot is controlled to sense the laser radar and the mileage data to sense the hotel environment, the returned data is processed through a Gapping map algorithm, a map applicable to the robot is output, and the business robot senses the hotel environment and completes map construction. The business robot learning platform has modularized learning characteristics, students can improve the current running efficiency of the robot and the map optimization to achieve deep learning effect by modifying map algorithm data, and the method required by realizing the business robot learning platform is the prior art and is not used as an object for protection of the utility model;
the accommodation registering function is realized by utilizing face recognition, new guests and guests who have entered in a hotel environment can pass through the gate robot, the robot performs face detection through a deep learning algorithm dlib, and face feature detection is performed through a ResNet algorithm. The passing guests can conduct identification, and the non-input or identification and display of the customer name are fed back. Through combining the application of the actual scene, students can understand and master the basic principle of face recognition, related technologies and implementation methods in depth, understand the basic logic from learning face characteristics to predicting face information in deep learning, wherein the method required by implementation belongs to the prior art, and is implemented through the teaching platform recorded by the utility model, and the method is not used as an object protected by the utility model;
the intelligent following-tracking target function is realized, and after the guests register in, the business service robot can help the guests to distribute some articles. When the intelligent commodity carrying robot is operated, a user selects the intelligent commodity carrying robot on the commodity carrying robot, the depth camera and the RGB camera of the robot are subjected to template matching through the OpenCv to record customer information, then the customer only needs to put luggage on the robot, and the robot can stably follow the customer to travel and help to carry articles. Filtering is carried out through a KCF algorithm in the following process, openCv carries out attitude ground tracking, and a depth camera monitors the distance change in real time, so that the following process is accurate and stable, a method required by the implementation of the method belongs to the prior art, the implementation is carried out through the teaching platform recorded by the utility model, and the method is not used as an object protected by the utility model;
the functions of delivering objects to the guest room, navigating and positioning are realized, and when a client in a hotel has a demand, the robot can be entrusted to carry out delivery. The robot obtains the requirement, firstly guides the map which is successfully constructed by hotel searching before entering, sets the coordinates of the room of the client, clicks to start distribution, and then the robot starts to send objects to the target guest room. After the room delivery is started, the business robot performs planning of a path between the starting point and the target point through dijkstra path planning algorithm. And in the distribution process, the robot receives the laser radar and the odometer data, senses the hotel environment through a Monte Carlo positioning algorithm, and performs local path planning obstacle avoidance processing through a DWA algorithm. Finally, the destination is reached, and the room delivery is completed. On a business robot teaching platform, students can modify parameters of path planning, even change dijkstra path planning algorithms into A, perform some speed control, further optimize the efficiency of room delivery, and deeply experience the method required by realizing the application of the business robot belongs to the prior art, and the method is realized through the teaching platform recorded by the utility model and is not used as an object protected by the utility model;
the teaching platform is also provided with a voice interaction module, a voice interaction function is realized by adopting the voice interaction module in the prior art, for example, when a customer has a problem to know, the customer can ask a question to the robot, the robot carries out voice reasoning through a conformation voice recognition model, after text information is obtained, the robot carries out NLP natural language processing, the information which the customer wants to know is judged, and then broadcasting is carried out. Students can more intelligently and more rapidly process voice under the learning business service environment through a consumer deep learning technology, and communicate through an ROS frame, so that the whole flow of the robot under the business service environment is clearer;
the teaching platform disclosed by the utility model can be used for conducting different functional tests by importing different algorithms according to requirements to realize teaching of different methods, wherein the imported algorithms or methods do not belong to objects protected by the teaching platform.
The novel business robot teaching platform comprises a chassis, a moving module, a control module, a power supply module, a gesture sensing module, a base upper cover, a laser radar component, a tray placement component, a frame supporting plate, a display screen, a cradle head bottom plate, a cradle head camera and an emergency stop switch, wherein the moving module is used for realizing the moving function, the power supply module is used for supplying power, the gesture sensing module is used for monitoring six-axis inertial data in the movement of a robot, the laser radar component is used for realizing distance measurement, the tray is arranged in the tray placement component, business scenes can be assembled, objects can be simulated and stored, multiple angles can be acquired through the cradle head camera, emergency stop can be realized through the emergency stop switch, touch display can be realized through the display screen, the teaching platform can guide students to learn the operation principle of the robot in the business scenes, and the students can quickly and flexibly learn in a modularized mode through modularized design.
The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present utility model and the core ideas thereof; also, it is within the scope of the present utility model to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the utility model.
Claims (7)
1. Novel business clothes robot teaching platform, its characterized in that includes: chassis, mobile module, control module, power module, gesture perception module, base upper cover, laser radar subassembly, tray place subassembly, frame backup pad, display screen, cloud platform bottom plate, cloud platform camera and scram switch, the bottom of chassis sets up mobile module, the inside of chassis sets up control module, power module and gesture perception module, gesture perception module is arranged in monitoring six inertial data in the robot motion, power module is used for supplying power for each module, the top of chassis sets up the base upper cover, the top center of base upper cover sets up the laser radar subassembly, the outside of laser radar subassembly sets up the tray is placed the subassembly, the inside of tray is provided with the tray, the top of tray is placed the subassembly sets up the frame backup pad, the front of frame backup pad is provided with the display screen frame, the front of display screen frame sets up the display screen, the top of frame backup pad sets up cloud platform bottom plate, the top of cloud platform bottom plate sets up cloud platform camera and scram switch, move radar subassembly, the outside of laser radar subassembly, display module, the equal electric connection of cloud platform camera and scram switch.
2. The novel business suit robot teaching platform according to claim 1, wherein the mobile module comprises a Mecanum wheel, a wheel protection shell and a motor, wherein the Mecanum wheel in four different directions is arranged at the bottom of the chassis through bolts, the wheel protection shell is arranged on the upper side of the Mecanum wheel and used for protecting the Mecanum wheel, the four motors are arranged in the chassis corresponding to the Mecanum wheel, the motors are connected with the Mecanum wheel through expansion sleeve driving and used for driving the Mecanum wheel to rotate, and the motors are electrically connected with the control module.
3. The novel business suit robot teaching platform according to claim 2, wherein the tray placement component comprises an aluminum profile frame, a wiring box, a tray side baffle and a tray back baffle, the aluminum profile frame is arranged at the top of the base upper cover, the tray side baffles are arranged at the left side and the right side of the aluminum profile frame, the tray back baffle is arranged at the rear side of the aluminum profile frame, the tray side baffle is matched with the tray back baffle for setting the tray, and the wiring box is arranged on the aluminum profile frame for wiring.
4. The novel business suit robot teaching platform according to claim 3, wherein the laser radar component comprises a laser radar, a laser radar control module and a laser radar protection plate, the laser radar is arranged at the center of the top of the base upper cover, the laser radar protection plate is arranged on the lower side of the aluminum profile frame corresponding to the laser radar and used for protecting the laser radar, the laser radar control module is arranged in the chassis, and the laser radar control module is electrically connected with the laser radar control module.
5. The novel business suit robot teaching platform according to claim 4, wherein the cradle head camera comprises a transverse steering engine, a longitudinal steering engine and a depth camera, wherein the transverse steering engine, the longitudinal steering engine and the depth camera form a mechanical connection relationship and are used for driving the depth camera to rotate, and the transverse steering engine, the longitudinal steering engine and the depth camera are electrically connected with the control module.
6. The novel business suit robot teaching platform according to claim 5, wherein the control module comprises an embedded computing card, an embedded computing card base, a main control board and a USB expansion board, the power supply module is a lithium battery, the lithium battery is arranged in the chassis, the main control board is arranged at the top of the lithium battery, the embedded computing card base is arranged at the front side of the lithium battery, the embedded computing card is arranged on the embedded computing card base, and the embedded computing card, the USB expansion board, the mobile module, the gesture sensing module, the laser radar component, the display screen, the cradle head camera and the scram switch are electrically connected with the main control board.
7. The novel business suit robot teaching platform according to claim 6, further comprising a display lamp and an ultrasonic assembly, wherein the display lamp and the ultrasonic assembly are arranged on the front side of the chassis, and the display lamp and the ultrasonic assembly are electrically connected with the main control board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223228105.1U CN219085577U (en) | 2022-12-02 | 2022-12-02 | Novel business clothes robot teaching platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223228105.1U CN219085577U (en) | 2022-12-02 | 2022-12-02 | Novel business clothes robot teaching platform |
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| Publication Number | Publication Date |
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| CN219085577U true CN219085577U (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223228105.1U Active CN219085577U (en) | 2022-12-02 | 2022-12-02 | Novel business clothes robot teaching platform |
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| CN (1) | CN219085577U (en) |
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2022
- 2022-12-02 CN CN202223228105.1U patent/CN219085577U/en active Active
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