POWER DEVICE AND SWIMMING POOL CLEANING ROBOT

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No. 202422216760.8, filed on Sep. 10, 2024, which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to the field of swimming pool cleaning robot technologies, and in particular, to a power device and a swimming pool cleaning robot.

BACKGROUND

At present, pool cleaning robots that use fluid reverse propulsion to obtain power in the market achieve forward and backward power respectively through the reverse thrust generated by the work of the front and rear motors for drainage. This takes up a lot of space, weighs heavily, and increases costs.

SUMMARY

In response to the above issues, the present disclosure provides a power device that uses a driving motor to simultaneously drive main driving shafts at two ends to rotate. Forward and reverse rotation of the motor respectively drive the corresponding rotating propellers on driven shafts to rotate, discharge water flow, generate reverse thrust, and achieve forward and backward movement. The structure is simple and reduces volume.

The technical solution adopted by the present disclosure is as follows.

A power device, including: a driving motor connected to a main control module, synchronous rotating main driving shafts are provided at front and rear ends of the driving motor; the main driving shafts indirectly drive driven shafts, and a clutch device is provided between the main driving shafts and the driven shafts to drive the driven shafts and the main driving shafts to rotate according to a rotation direction of the main driving shafts; rotating propellers configured to push water are provided on the driven shafts.

In some embodiments of the present disclosure, the clutch device includes a first sleeve and a second sleeve that cooperate with each other; the first sleeve is provided with first transmission teeth, and the second sleeve is provided with second transmission teeth that cooperate with the first transmission teeth; the first sleeve rotates synchronously with the main driving shafts through an inner cylinder, and the second sleeve rotates synchronously with the driven shafts; a direction of the second transmission teeth inside the second sleeve on a front-end driven shaft is opposite to a direction of the second transmission teeth inside the second sleeve on a rear-end driven shaft.

In some embodiments of the present disclosure, one end of the main driving shafts is arranged opposite to one end of the driven shafts; the inner cylinder rotates synchronously with the main driving shafts, and the first sleeve is sleeved on the inner cylinder; where the inner cylinder is provided with at least one outer protrusion configured to drive the first sleeve to rotate, the outer protrusion is provided with a push block configured to drive the outer cylinder to move linearly; an inner wall of the first sleeve is provided with an inner protrusion that cooperates with the outer protrusion and a placement groove configured for the push block to insert; the placement groove is provided with an embedded lump, and a bottom bump of the embedded lump forms a spiral limit groove that cooperates with the push block with a bottom of the placement groove.

In some embodiments of the present disclosure, the clutch device includes a first sleeve and a second sleeve that cooperate with each other, the first sleeve is provided with first transmission teeth, the second sleeve is provided with second transmission teeth that cooperate with the first transmission teeth, the first sleeve rotates synchronously with the main driving shafts, and the second sleeve rotates synchronously with the driven shafts; a direction of the second transmission teeth inside the second sleeve on a front-end driven shaft is opposite to a direction of the second transmission teeth inside the second sleeve on a rear-end driven shaft; one side of the first sleeve and/or the second sleeve is provided with an elastic member configured to press the first transmission teeth and the second transmission teeth that are engaged with each other.

In some embodiments of the present disclosure, one end of the main driving shafts is arranged opposite to one end of the driven shafts, the first sleeve is sleeved on the main driving shafts, and the second sleeve is sleeved on the driven shafts.

In some embodiments of the present disclosure, the driven shafts are sleeves on the main driving shafts, the first sleeve is sleeved on the main driving shafts, and the second sleeve is sleeved on the driven shafts.

In some embodiments of the present disclosure, the driven shafts are integrated with the rotating propellers and/or the second sleeve.

In some embodiments of the present disclosure, a positioning seat is provided on the driven shafts or the main driving shafts to prevent the rotating propellers from falling off.

In some embodiments of the present disclosure, the driving motor is placed in a sealing chamber, and the sealing chamber is provided with a through-hole configure for the main driving shafts or the driven shafts to pass through.

The present disclosure further provides a swimming pool cleaning robot, including: a housing, where the housing is provided with an inner cavity, and the inner cavity is provided with an inlet and an outlet, the inner cavity is further provided with a filtering device; the outlet is provided with a front outlet and a rear outlet; where the housing is further provided with one or more power devices configured to discharge water flow entering the inner cavity from the outlet to generate power; where a rotating propeller at a front end is provided in the corresponding front outlet, and a rotating propeller at a rear end is provided in the corresponding rear outlet.

Compared with the existing technology, the beneficial effects of the present disclosure are as follows: the power device provided by the present disclosure adopts the driving motor to simultaneously drive the main driving shafts extending from two ends to rotate. The forward and reverse rotation of the driving motor respectively drives the rotating propellers on the corresponding driven shaft to rotate, discharge water flow, generate reverse thrust, and achieve forward and backward movement. The structure is simple and reduces the volume, and it can be applied in the swimming pool cleaning robot to reduce space occupation and lower costs.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic diagram of a power device in an embodiment provided by the present disclosure.

FIG. 2 is an exploded view of the power device in an embodiment provided by the present disclosure.

FIG. 3 is a schematic diagram of a first sleeve and an inner cylinder of the power device in an embodiment provided by the present disclosure.

FIG. 4 is a sectional view of the power device in an embodiment provided by the present disclosure.

FIG. 5 is a first schematic diagram of the power device installed in a sealing chamber in an embodiment provided by the present disclosure.

FIG. 6 is a second schematic diagram of the power device installed in the sealing chamber in an embodiment provided by the present disclosure.

FIG. 7 is an exploded view of the power device installed in the sealing chamber in an embodiment provided by the present disclosure.

FIG. 8 is a schematic diagram of a power device in another embodiment provided by the present disclosure.

FIG. 9 is an exploded view of the power device in another embodiment provided by the present disclosure.

FIG. 10 is a sectional view of the power device in another embodiment provided by the present disclosure.

FIG. 11 is a schematic diagram of the power device installed in a sealing chamber in another embodiment provided by the present disclosure.

FIG. 12 is a sectional view of the power device installed in the sealing chamber in another embodiment provided by the present disclosure.

FIG. 13 is a schematic diagram of a power device in still one embodiment provided by the present disclosure.

FIG. 14 is an exploded view of the power device in still one embodiment provided by the present disclosure.

FIG. 15 is a schematic diagram of the power device installed in a sealing chamber in still one embodiment provided by the present disclosure.

FIG. 16 is a first schematic diagram of a swimming pool cleaning robot provided by the present disclosure.

FIG. 17 is a second schematic diagram of the swimming pool cleaning robot provided by the present disclosure.

FIG. 18 is a sectional view of the swimming pool cleaning robot provided by the present disclosure.

DESCRIPTION OF EMBODIMENTS

A specific explanation of the preferred embodiment provided by the present disclosure based on the attached drawings is provided.

A power device 10 provided by the present disclosure includes a driving motor 11 connected to a main control module. Front and rear ends of the driving motor 11 are provided with main driving shafts 12 that rotate synchronously. The main driving shafts 12 indirectly drive driven shafts 13. A clutch device 16 is provided between the main driving shafts 12 and the driven shafts 13 to drive the driven shafts 13 and the main driving shafts 12 to rotate according to a rotation direction of the main driving shafts 12. Rotating propellers 14 configured to push water are provided on the driven shafts 13. Therefore, when the driving motor 11 rotates, the clutch device 16 drives a front-end driven shaft 13 or a rear-end driven shaft 13 to rotate according to the rotation direction of the main driving shafts 12, thereby determining whether a front-end rotating propeller 14 rotates to do work or not or a rear-end rotating propeller 14 rotates, thereby generating reverse thrust through drainage and obtaining power to move forward or backward. In an implementation mode, the driving motor 11 can be a brushed motor or a brushless motor; and the rotating propellers 14 are a propeller.

When the driving motor 11 drives the main driving shafts 12 to rotate clockwise, the clutch device 16 on the front-end main driving shaft 12 drives the driven shafts 13 to be combined with the front-end main driving shaft 12, and the driven shafts 13 rotate synchronously with the front-end main driving shaft 12. The rotating propellers 14 on the driven shafts 13 do work, and the clutch device 16 on the rear-end main driving shaft 12 drives the driven shafts 13 to separate from the rear-end main driving shaft 12. The driven shafts 13 do not rotate synchronously with the rear-end main driving shaft 12, and the rotating propellers 14 on the driven shafts 13 do not work. When the driving motor 11 drives the main driving shafts 12 to rotate counterclockwise, the clutch device 16 on the front-end main driving shaft 12 drives the driven shafts 13 to separate from the front-end main driving shaft 12. The driven shafts 13 do not rotate synchronously with the front-end main driving shaft 12, and the rotating propellers 14 on the driven shafts 13 do not work. However, the clutch device 16 on the rear-end main driving shaft 12 drives the driven shafts 13 to combine with the rear-end main driving shaft 12, and the driven shafts 13 rotate synchronously with the rear-end main driving shaft 12. The rotating propellers 14 on the driven shafts 13 do work.

As shown in FIGS. 1 to 4, in an implementation mode of the power device provided by the present disclosure, the clutch device 16A includes a first sleeve 161A and a second sleeve 162A that cooperates with each other. The first sleeve 161A is provided with first transmission teeth 1611A, and the second sleeve 162A is provided with second transmission teeth 1621A that cooperate with the first transmission teeth 1611A. The first sleeve 161A rotates synchronously with the main driving shafts 12 through an inner cylinder 163A, and the second sleeve 162A rotates synchronously with the driven shafts 13; a direction of the second transmission teeth 1621A inside the second sleeve 162A on the front-end driven shaft 13 is opposite to a direction of the second transmission teeth 1621A inside the second sleeve 162A on the rear-end driven shaft 13. In this way, the driving motor 11 drives the front-end main driving shaft 12 and the rear-end main driving shaft 12 to rotate clockwise or counterclockwise, and the first transmission teeth 1611A on the first sleeve 161A are matched or separated from the corresponding second transmission teeth 1621A on the second sleeve 162A through the inner cylinder 163A. After disengagement, the first transmission teeth 1611A have no contact with the second transmission teeth 1621A on the second sleeve 162A, which can achieve the purpose of noise reduction and energy consumption reduction.

One end of the main driving shafts 12 is arranged opposite to one end of the driven shafts 13; the inner cylinder 163A rotates synchronously with the main driving shafts 12, and the first sleeve 161A is sleeved on the inner cylinder 163A. The inner cylinder 163A is provided with at least one outer protrusion 1631A configured to drive the first sleeve 161A to rotate and a push block 1632A configured to drive the first sleeve 161A to move linearly. An inner wall of the first sleeve 161A is provided with an inner protrusion 1612A that cooperates with the outer protrusion 1631A and a placement groove 1614A configured for the push block to insert. The placement groove 1614A is provided with an embedded lump 164A, and a bottom bump of the embedded lump 164A forms a spiral limit groove 1613A that cooperates with the push block 1632A with a bottom of the placement groove 1614A. During installation, the push block 1632A on the inner cylinder 163A passes through the placement groove 1614A and inserted into the first sleeve 161A, and then the embedded lump 164A is inserted into the placement groove 1614A to prevent the inner cylinder 163A from falling off from the first sleeve 161A. The bottom bump of the embedded lump 64A forms the spiral limit groove 1613A with the bottom of the placement groove 1614A, and the spiral limit groove 1613A is configured for the push block 1632A to rotate and slide. A side wall of the placement groove 1614A is provided with an inclined side surface 16141A. A side surface of the embedded lump 164A is in contact with the inclined side surface 16141A of the placement groove 1614A, which can prevent the placement groove 1614A from falling off. At the same time, due to the embedded lump 164A being in a fan shape, an outer arc length is greater than an inner arc length, which prevents a radial movement of the embedded lump 164A and positions the embedded lump 164A.

When in use, when the driving motor 11 drives the main driving shafts 12 to rotate clockwise, the inner cylinder 163A rotates synchronously with the front-end main driving shaft 12. The push block 1632A on the inner cylinder 163A cooperates with the spiral limit groove 1613A to push the first sleeve 161A to move closer to the second sleeve 162A. The first transmission teeth 1611A cooperate with the second transmission teeth 1621A. During a rotation of the inner cylinder 163A, the outer protrusion 1631A on the inner cylinder 163A cooperates with the inner protrusion 1612A on the first sleeve 161A, and the inner cylinder 163A continues to rotate, the first sleeve 161A is driven to rotate synchronously. The first transmission teeth 1611A on the first sleeve 161A are in contact with the second transmission teeth 1621A on the second sleeve 162A, thereby driving the second sleeve 162A and the driven shafts 13 to rotate synchronously, and the rotating propellers 14 on the driven shafts 13 rotate synchronously to do work. At the same time, the inner cylinder 163A on the rear-end main driving shaft 12 rotates, and the push block 1632A on the inner cylinder 163A cooperates with the spiral limit groove 1613A to drive the first sleeve 161A to move away from the second sleeve 162A. The first transmission teeth 1611A separate from the second transmission teeth 1621A, and the outer protrusion 1631A on the inner cylinder 163A cooperates with the inner protrusion 1612A of the first sleeve 161A. When the inner cylinder 163A drives the first sleeve 161A to rotate synchronously, due to the separation of the first transmission teeth 1611A from the second transmission teeth 1621A, the second sleeve 162A and the driven shafts 13 at the rear end do not rotate synchronously with the rear-end main driving shaft 12, and the rotating propellers 14 on the driven shafts 13 do not do any work. Similarly, when the driving motor 11 drives the main driving shafts 12 to rotate counterclockwise, the push block 1632A on the inner cylinder 163A and the spiral limit groove 1613A are cooperated to cause the first sleeve 161A on the front-end main driving shaft 12 to move away from the second sleeve 162A. When the inner cylinder 163A drives the first sleeve 161A to rotate synchronously, the second sleeve 162A and the driven shafts 13 at the front end do not rotate synchronously with the front-end main driving shaft 12, and the rotating propellers 14 on the driven shafts 13 do not do any work. The first sleeve 161A on the rear-end main driving shaft 12 moves towards the second sleeve 162A under action of the push block 1632A on the inner cylinder 163A and the spiral limit groove 1613A. The first transmission teeth 1611A cooperate with the second transmission teeth 1621A. When the inner cylinder 163A drives the first sleeve 161A to rotate synchronously, it drives the second sleeve 162A and the driven shafts 13 at the rear end to rotate synchronously. The rotating propellers 14 on the driven shafts 13 rotate synchronously to do work.

The inner cylinder 163A and the second sleeve 162A are both provided with inner flat surfaces, and the main driving shafts 12 and the driven shafts 13 are both provided with outer flat surfaces. In this way, the inner cylinder 163A rotates synchronously with the main driving shafts 12, and the second sleeve 162A rotates synchronously with the driven shafts 13.

The driving motor 11 is placed inside a sealing chamber 20, and the sealing chamber 20 is provided with the through-hole 21 for the main driving shafts or the driven shafts to pass through. As shown in FIGS. 5 and 7, in an embodiment, the main driving shafts 12 extending from two ends of the driving motor 11 are located inside the sealing chamber 20, and one end of the driven shafts 13 passes through the through-hole 21 and is opposite to one end of the main driving shafts 12. A side wall of the sealing chamber 20 supports the driven shafts 13. The clutch device 16A is provided inside the sealing chamber 20, and the rotating propellers 14 are provided outside the sealing chamber 20. A sealing structure 18 configured to seal is provided between the driven shafts 13 and the through-hole 21, specifically by sealing with a sealing ring combined with an oil sealing seat. The driven shafts 13 are sleeved with a sealing seat 181, one end of the sealing seat 181 is provided with a sealing ring 182 that fits an outer wall of the sealing chamber, and the other end of the sealing seat 181 is provided with the oil sealing seat 183. The sealing seat is provided with a bearing 184 that is sleeved on the driven shafts 13 to ensure that liquid is prevented from entering the sealing chamber 20 through the through-hole 21 during a rotation of the driven shafts 13. The sealing chamber 20 includes a compartment body 201 and a compartment cover 202, and the through-hole 21 is provided on the compartment body 201. As shown in FIG. 6, at least one power device 10 can be provided inside the sealing chamber 20, and the power devices 10 can be arranged side by side to achieve large power drive.

As shown in FIGS. 8 to 10, in an implementation mode, the power device provided by the present disclosure is shown. In this embodiment, the clutch device 16B includes a first sleeve 161B and a second sleeve 162B that cooperate with each other. The first sleeve 161B is provided with first transmission teeth 1611B, and the second sleeve 162B is provided with second transmission teeth 1621B that cooperate with the first transmission teeth. The first sleeve 161B rotates synchronously with the main driving shafts 12, and the second sleeve 162B rotates synchronously with the driven shafts 13. A direction of the second transmission teeth 1621B inside the second sleeve 162B on the front-end driven shaft 13 is opposite to a direction of the second transmission teeth 1621B inside the second sleeve 162B on the rear-end driven shaft. One side of the first sleeve 161B and/or the second sleeve 162B is provided with an elastic member 163B for pressing the first transmission teeth and the second transmission teeth that are engaged with each other. In this way, when the driving motor 11 drives the front-end main driving shaft 12 and the rear-end main driving shaft 12 to rotate clockwise or counterclockwise, the elastic member 163B compresses the first sleeve 161B and/or the second sleeve 162B, thereby achieving the cooperation or separation of the first transmission teeth 1611B on the first sleeve 161B and the corresponding second transmission teeth 1621B on the second sleeve 162B. The elastic member 163B is a component with elastic function, such as a spring or spring plate.

In this embodiment, one end of the main driving shafts 12 is arranged opposite to one end of the driven shafts 13, and the first sleeve 161B and the second sleeve 162B are respectively provided at ends of the main driving shafts 12 and the driven shafts 13. When in use, the driving motor 11 drives the front-end main driving shaft 12 and the rear-end main driving shaft 12 to rotate synchronously. When the rotation direction of the main driving shaft 12 at one end is consistent with a meshing direction of the second transmission teeth 1621B on the driven shafts 13, the elastic member 163B on the main driving shafts 12 drives the first sleeve 161B and the second sleeve 162B to approach each other, and the first transmission teeth 1611B and the second transmission teeth 1621B mesh with each other, so that the main driving shafts 12 drive the driven shafts 13 to rotate, and the rotating propellers 14 on the driven shafts 13 rotate synchronously to do work. The first sleeve 161B and the second sleeve 162B of the main driving shafts 163B on the other end are separated, and the first transmission teeth 1611B and the second transmission teeth 1621B are separated, thereby compressing the elastic member 163B. The corresponding driven shafts 13 do not rotate, and the rotating propellers 14 on the driven shafts 13 do not do any work.

One side of the elastic member 163B is provided with a positioning seat 17B configured to position the elastic member 163B. The elastic member 163B is provided between the second sleeve 162B and the positioning seat 17B. When the rotation direction of the main driving shafts 12 is inconsistent with the meshing direction of the second transmission teeth 1621B on the driven shafts 13, the second sleeve 162B compresses the elastic member 163B when it moves backward. As shown in FIGS. 1 and 2, the positioning seat 17B is sleeved on the driven shafts 13, and the positioning seat 17B is a positioning gasket.

The first sleeve 161B and the second sleeve 162B are both provided with inner flat surfaces, and the main driving shafts 12 and the driven shafts 13 are both provided with outer flat surfaces. In this way, the first sleeve 161B rotates synchronously with the main driving shafts 12, and the second sleeve 162B rotates synchronously with the driven shafts 13.

In an implementation mode, as shown in FIGS. 11 to 12, the main driving shafts 12 extending from two ends of the driving motor 11 are provided inside the sealing chamber 20, and one end of the driven shafts 13 passes through the through-hole 21 and is opposite to the end of the main driving shafts 12. A side wall of the sealing chamber 20 supports the driven shafts 13. The clutch device 16B is provided inside the sealing chamber 20, and the rotating propellers 14 are provided outside the sealing chamber 20; the sealing structure 18 configured to seal is provided between the driven shafts 13 and the through-hole 21. At least one power device 10 can be provided inside the sealing chamber 20, and the power device 10 can be arranged side by side to achieve large power drive.

As shown in FIGS. 13 to 14, in an implementation mode, the clutch device 16C has a similar structure to the clutch device 16B. The driven shafts 13 are sleeved on the main driving shafts 12, the first sleeve 161C is sleeved on the main driving shafts 12, and the second sleeve 162C is provided on the driven shafts 13. The second transmission teeth 1621C on the second sleeve 162C is opposite to the first transmission teeth 1611C on the first sleeve 161C, so that axis of the driven shafts 13 and the main driving shafts 12 are on the same straight line. In this way, when the driving motor 11 drives the front-end main driving shaft 12 and the rear-end main driving shaft 12 to rotate clockwise or counterclockwise, the elastic member 163C compresses the first sleeve 161C and/or the second sleeve 162C, thereby achieving the cooperation or separation of the first transmission teeth 1611C on the first sleeve 161C and the corresponding second transmission teeth 1621C on the second sleeve 162C, and therefore determining whether the front-end rotating propeller 14 rotates to do work or the rear-end rotating propeller 14 rotates.

The driven shafts 13 and the rotating propellers 14 can be separate components, and the rotating propellers 14 rotate synchronously with the driven shafts 13. Or the driven shafts 13 and the rotating propellers 14 can be integrated, the sleeve in the rotating propellers 14 serves as the driven shafts 13. Besides that, the second sleeve 162C and the driven shafts 13 can both be separate components. The second sleeve 162C rotates synchronously with the driven shafts 13, or the second sleeve 162C and the driven shafts 13 can be integrated, that is, the second sleeve 162C is provided at the end of the driven shafts 13, and the second transmission teeth 1621C is formed on an end face of the driven shafts 13. As shown in FIGS. 13 to 14, the driven shafts 13 and the rotating propellers 14 are integrated, and the sleeve in the rotating propellers 14 serves as the driven shafts 13. The second sleeve 162C is formed on an end face of the sleeve in the rotating propellers 14, and the elastic member 163C is provided on one side of the rotating propellers 14. The positioning seat 17C is provided on the main driving shafts 12. It can prevent the elastic member 163C and the driven shafts 13 from falling off from the main driving shafts 12. The positioning seat 17C can be a nut.

In an implementation mode, as shown in FIG. 15, the driving motor 11 is placed inside the sealing chamber 20, and the main driving shafts 12 at two ends of the driving motor 11 pass through the through-hole 21 of the sealing chamber 20. The main driving shafts 12 at two ends of the driving motor 11 pass through the through-hole 21 of the sealing chamber 20 and are connected to the clutch device 16C and the rotating propellers 14. The main driving shafts 11 at two ends of the driving motor are sealed with the oil sealing seat to prevent external liquids from entering the sealing chamber 20. The sealing chamber 20 includes the compartment body 201 and the compartment cover 202 that cooperates with the compartment body 201, and through-holes 21 are provided on two sides of the compartment cover 202. At least one power device 10 can be provided inside the sealing chamber 20, and the power device 10 can be arranged side by side to achieve large power drive.

As shown in FIGS. 16 to 18, the present disclosure further provides a swimming pool cleaning robot, which includes a housing 100, where an inner cavity 200 is provided inside the housing 100, and a filtering device 300 is further provided inside the inner cavity 200. The inner cavity 200 is provided with an inlet 2001 and an outlet 2002, and the outlet 2002 is divided into a front outlet 20021 and a rear outlet 20022. There is also more than one power device 10 inside the housing for discharging the water flow entering the inner cavity 200 from the outlet 2002 to generate power. The front-end rotating propeller 14 is provided in the corresponding front outlet 20021, and the rear-end rotating propeller 14d is provided in the corresponding rear outlet 20022.

Two power devices 10 can be provided inside the housing, and the driving motors 11 in the two power devices 10 are connected to the main control module. Two power devices 10 are arranged side by side, and when the rotating propellers 14 at the front end of the two power devices 10 simultaneously spray water forward, a reaction force is generated, thereby obtaining the power to move backward. When the rotating propellers 14 at the rear end of the two power devices 10 simultaneously spray water backwards, the reaction force is generated, thereby obtaining the power to move forwards. When the rotating propeller 14 provided at the rear end of a right power device 10 sprays water backwards, the right side obtains forward power, but due to a resistance of the water in front, an entire machine will deflect to the left. If the rotating propeller 14 provided at the front end of a left power device 10 sprays water forwards at this time, the machine can obtain maneuverability close to turning in place. Similarly, vice versa. Therefore, by combining the two power devices 10, the machine can perform maneuvering operations such as forward, backward, and turning.

In summary, the technical solution of the present disclosure can fully and effectively achieve the present disclosure, and the structure and functional principles of the present disclosure have been fully verified in the embodiments, which can achieve expected effects and objectives. Without departing from the principles and essence of the present disclosure, various changes or modifications can be made to the embodiments of the present disclosure. Therefore, the present disclosure includes all replacement contents within the scope mentioned in the application, and any equivalent changes made within the scope of the present disclosure are within the scope of this application.