Pneumatic drive device and drone

Abstract

The present invention discloses a pneumatic drive device and an unmanned aerial vehicle. The pneumatic drive device is used to project an object to be launched by means of compressed gas in a gas cylinder, and comprises: a support, a containing cavity is defined in the support, an air inlet and an air outlet are also provided on the support, and the compressed gas can enter the containing cavity through the air inlet; a first sealing member, the first sealing member is located in the containing cavity; a first elastic member, the first elastic member is located in the containing cavity, and the first elastic member is used to drive the first sealing member to press against the air outlet to close the air outlet; the first sealing member can move in a set direction and separate from the air outlet, so that the compressed gas can be ejected through the air outlet. The unmanned aerial vehicle comprises the above-mentioned pneumatic drive device. The pneumatic drive device of the present invention has a simple structure and fewer components, and can reduce weight and cost to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a pneumatic drive device and a unmanned aerial vehicle. Background Art

[0002] With the continuous development of drone technology, its application scope is becoming more and more extensive. For example, drones are combined with net guns to achieve capture. Using drones to launch net guns can achieve accurate positioning, achieve long-distance and precise capture, improve capture capabilities, and ensure the safety of one's own personnel. When launching a net gun with a drone, the capture net is usually installed on the drone's mounting gimbal. After arriving at the destination, the capture net is released and projected to the target area through a pneumatic drive device. However, some pneumatic drive devices in related technologies have complex structures and many components. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a pneumatic drive device, which has a simpler structure, fewer components, and can reduce weight and cost to a certain extent.

[0004] The present invention also provides a UAV, in which the pneumatic drive device has a simpler structure and fewer components, which can reduce weight and cost to a certain extent.

[0005] In a first aspect, an embodiment of the present invention provides a pneumatic drive device for projecting an object to be delivered by compressed gas in a gas cylinder, comprising:

[0006] A support, wherein a containing cavity is defined in the support, and an air inlet and an air outlet are also provided on the support, and the compressed gas can enter the containing cavity through the air inlet;

[0007] a first sealing member, wherein the first sealing member is located in the accommodating cavity;

[0008] a first elastic member, the first elastic member is located in the accommodating cavity, and the first elastic member is used to drive the first sealing member to abut against the air outlet to close the air outlet;

[0009] The first sealing member can move along a set direction and separate from the gas outlet, so that the compressed gas can be ejected through the gas outlet.

[0010] The pneumatic drive device of the embodiment of the present invention has at least the following beneficial effects: the first seal is abutted against the air outlet under the drive of the first elastic member to close the air outlet; when the first seal moves along the set direction, the first seal is separated from the air outlet and the air outlet is opened. The compressed gas in the accommodating cavity in a high-pressure state rushes out quickly and sprays onto the object to be delivered, so that it is projected. The pneumatic drive device only needs to be provided with fewer components to realize pneumatic drive, which can simplify the structure, reduce weight and reduce costs.

[0011] According to some other embodiments of the present invention, the pneumatic drive device further includes a partition, the first sealing member includes a shielding portion, the partition is arranged around the shielding portion and the two are abutted against each other, the partition and the shielding portion separate the accommodating cavity into a first cavity and a second cavity, the air inlet and the air outlet are both connected to the first cavity, and the support is also provided with an air leakage port, which is connected to the second cavity.

[0012] According to some other embodiments of the pneumatic drive device of the present invention, there is a gap between the shielding portion and the partition to form a channel, and the compressed gas in the first cavity can flow into the second cavity through the channel.

[0013] According to some other embodiments of the present invention, the pneumatic drive device further includes a locking member and a driving member, wherein the locking member is used to close the air leakage port, and the driving member can drive the locking member to move so that the air leakage port is connected to the outside.

[0014] According to some other embodiments of the pneumatic drive device of the present invention, it also includes a second elastic member and a supporting member, the supporting member is provided with a first through hole connected to the outside, the first through hole is connected to the air leakage port, the second elastic member is used to drive the locking member to resist the supporting member to close the first through hole, and the driving member is used to drive the locking member to move to open the first through hole.

[0015] According to some other embodiments of the pneumatic drive device of the present invention, the locking member includes a main body and a triggering portion, the triggering portion has an inclined surface, and the second elastic member abuts against the triggering portion so that the triggering portion partially extends into the first through hole and the inclined surface abuts against the hole wall of the first through hole, and the main body extends out through the first through hole.

[0016] According to some other embodiments of the pneumatic drive device of the present invention, it also includes a gas cylinder accommodating member, which is used to accommodate the gas cylinder. The support is also provided with a puncturing member, and when the gas cylinder accommodating member is connected to the support, the puncturing member can puncture the gas cylinder to connect the gas cylinder with the air inlet.

[0017] The pneumatic drive device according to some other embodiments of the present invention further includes a third elastic member, a second sealing member and a blocking member, wherein the blocking member is connected to the support, the third elastic member is used to drive the second sealing member to abut against the blocking member, and a second through hole is provided on the second sealing member. When the gas cylinder housing is connected to the support, the second sealing member can be pushed by the gas cylinder to allow the piercing member to pass through the second through hole and pierce the gas cylinder.

[0018] According to some other embodiments of the pneumatic drive device of the present invention, the guide member is further included. The guide member is connected to the support, the first elastic member is sleeved on the guide member, the first sealing member has a guide cavity inside, the guide member extends into the guide cavity and can move relative to the first sealing member.

[0019] In a second aspect, an embodiment of the present invention provides a drone, comprising the above-mentioned pneumatic drive device.

[0020] The drone of the embodiment of the present invention has at least the following beneficial effects: in the pneumatic drive device of the drone, the first seal is driven by the first elastic member to abut against the air outlet to close the air outlet; when the first seal moves along a set direction, the first seal is separated from the air outlet and the air outlet is opened. The compressed gas in the accommodating cavity in a high-pressure state rushes out quickly and sprays onto the object to be delivered, so that it is projected. The pneumatic drive device only needs to be provided with fewer components to realize pneumatic drive, which can simplify the structure, reduce weight and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of the pneumatic drive device in the first embodiment;

[0022] Figure 2 yes Figure 1 Schematic diagram of the internal structure of the pneumatic drive device;

[0023] Figure 3 yes Figure 1 Exploded view of the pneumatic drive unit;

[0024] Figure 4 yes Figure 1 Schematic diagram of the internal structure of the pneumatic drive device;

[0025] Figure 5 yes Figure 4 A partial enlarged view of the middle A;

[0026] Figure 6 yes Figure 1 Schematic diagram of the connection structure between the middle unlocking member and the support;

[0027] Figure 7 yes Figure 1 Schematic diagram of the connection structure between the middle gas cylinder and the support;

[0028] Figure 8 yes Figure 1 Schematic diagram of the connection structure between the middle gas cylinder and the support;

[0029] Fig. 9 yes Figure 1 Exploded view of the connection between the middle gas cylinder and the support.

[0030] Reference numerals:

[0031] Support 100, accommodating cavity 110, first cavity 111, second cavity 112, air inlet 120, air outlet 130, air leakage port 140, puncture member 150, air release port 160, extension portion 170, recessed portion 180, gas cylinder accommodating member 200, gas cylinder 210, first sealing member 300, shielding portion 310, plug 320, guide cavity 330, first elastic member 400, driving member 5 00, driving arm 510, partition 600, locking member 700, main body 710, triggering portion 720, inclined surface 721, second elastic member 800, supporting member 900, first through hole 910, third elastic member 1000, second sealing member 1100, second through hole 1110, blocking surface 1120, blocking member 1200, guide member 1300, sealing block 1400, air outlet pipe 1500. DETAILED DESCRIPTION

[0032] The following will be combined with the embodiments to clearly and completely describe the concept of the present invention and the technical effects produced, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0033] In the description of the embodiments of the present invention, if orientation descriptions are involved, the orientations or positional relationships indicated by “up”, “down”, “front”, “back”, “left”, “right”, etc. are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0034] In the description of the embodiments of the present invention, if a feature is referred to as being "set", "fixed", "connected", or "installed" on another feature, it may be directly set, fixed, or connected to the other feature, or it may be indirectly set, fixed, connected, or installed on the other feature. In the description of the embodiments of the present invention, if "several" is involved, it means more than one, if "multiple" is involved, it means more than two, if "greater than", "less than", or "exceeds" is involved, it should be understood as not including the number itself, and if "above", "below", or "within" is involved, it should be understood as including the number itself. If "first" or "second" is involved, it should be understood as being used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] Reference Figure 1 , Figure 2 , Figure 3 and Figure 7 The pneumatic drive device in this embodiment includes a support 100, a gas cylinder 210, a first sealing member 300, a first elastic member 400, etc. The support 100 can be integrally formed, or can be composed of a plurality of components. For example, in this embodiment, the support is formed by two components being sleeved together, and the two components are threadedly connected. The gas cylinder 210 is filled with compressed gas, and the compressed gas is high-pressure gas. A accommodating cavity 110 is defined in the support 100, and an air inlet 120 and an air outlet 130 are also provided on the support 100. The compressed gas in the gas cylinder 210 can enter the accommodating cavity 110 through the air inlet 120, and can be discharged from the accommodating cavity 110 through the air outlet 130.

[0036] The first sealing member 300 and the first elastic member 400 are located in the accommodating cavity 110. The first sealing member 300 includes a shielding portion 310 and a plug 320, which are respectively located at two ends of the first sealing member 300. The two ends of the first elastic member 400 are respectively against the support 100 and the shielding portion 310. Under the abutment of the first elastic member 400, the plug 320 will abut against the air outlet 130 to close the air outlet 130. The shape of the plug 320 matches the shape of the air outlet 130 to make the two fit better, for example, both are set to be in an arc shape. A silicone layer or a rubber layer can also be set on the surface of the plug 320 to enhance the sealing and reduce the chance of air leakage.

[0037] The air outlet 130 on the support 100 is connected to an air outlet pipe 1500, and the air outlet pipe 1500 is connected to the object to be delivered (omitted in the figure). When the first sealing member 300 moves along a set direction (the set direction is the first direction in the figure) and separates from the air outlet 130, the air outlet 130 is connected to the air outlet pipe 1500, and the compressed gas enters the air outlet pipe 1500 through the air outlet 130 and is sprayed onto the object to be delivered, so that the object to be delivered is projected. The pneumatic drive device in this embodiment has fewer components and a simpler structure, which can reduce costs and weight to a certain extent.

[0038] Reference Figures 2 to 4 In some embodiments, the support 100 is further provided with an air leakage port 140, which is separated from the air inlet 120 and can be communicated with the outside. A partition 600 is further provided in the accommodating cavity 110, and the partition 600 is connected to the support 100. The partition 600 is arranged around the shielding portion 310, that is, the shielding portion 310 extends into the partition 600, and the peripheral surface of the shielding portion 310 abuts against the side wall of the partition 600. The partition 600 divides the accommodating cavity 110 into two parts. Specifically, a first cavity 111 is formed between the partition 600 and the support 100, and a second cavity 112 is formed between the partition 600 and the shielding portion 310. The air inlet 120 and the air outlet 130 are both communicated with the first cavity 111, and the air leakage port 140 is communicated with the second cavity 112.

[0039] The leakage port 140 is separated from the air inlet 120, which can prevent the gas from directly flowing into the leakage port 140 from the air inlet 120 and being discharged. When the compressed gas fills the first cavity 111, in addition to the first elastic member 400 abutting against the plug 320 in the opposite direction of the first direction, the compressed gas will further make the plug 320 abut against the outlet 130 in the opposite direction of the first direction. Therefore, if a conventional driving method is adopted, such as using a cylinder or a motor to push or pull the first sealing member 300 to move in the first direction, the resistance to movement is relatively large, and the driving force needs to be large enough to achieve it. In this embodiment, when the compressed gas in the gas cylinder 210 enters the first cavity 111, the air pressure in the first cavity 111 is much higher than that in the outside world. It is only necessary to connect the leakage port 140 to the outside world, and the compressed gas in the first cavity 111 will push the first sealing member 300 to move in the first direction, which is easy to operate.

[0040] In some embodiments, the shielding portion 310 is against the partition 600, and a sealing ring is provided between the two, but it does not reach a completely sealed state, and there is a gap between the two to form a channel. The compressed gas in the first cavity 111 can enter the second cavity 112 through the channel. In this way, the air pressure in the first cavity 111 and the second cavity 112 is roughly equal. When the gas cylinder 210 is connected to the accommodating cavity 110, the compressed gas enters the first cavity 111. Since the air pressure in the first cavity 111 and the second cavity 112 is roughly equal, the compressed gas under high pressure in the first cavity 111 has no tendency to push the shielding portion 310 to move in the first direction, and only a first elastic member 400 of a smaller size is required to make the plug 320 against the gas outlet 130 to achieve closure. If the shielding portion 310 and the partition 600 are completely closed, the second cavity 112 is at normal pressure, and the air pressure in the first cavity 111 is higher than that in the second cavity 112, after the compressed gas enters the first cavity 111, it may push the first sealing member 300 in the first direction. In order to prevent this from happening and open the air outlet 130 in advance, a large-sized spring with a large rebound force needs to be provided, which may result in an increase in weight and cost.

[0041] When the leak port 140 is connected to the outside, since the air pressure in the second cavity 112 is much higher than the outside atmospheric pressure, the first sealing member 300 will move in the first direction and the first elastic member 400 will be compressed. Although the compressed gas in the first cavity 111 will continue to enter the second cavity 112 as the compressed gas in the second cavity 112 is gradually discharged, there is a certain obstacle for the gas to enter the second cavity 112 due to the obstruction of the shielding portion 310 and the partition 600. When the plug 320 is separated from the gas outlet 130, the compressed gas in the first cavity 111 can be discharged directly through the gas outlet 130 without any parts blocking or obstructing it. Therefore, most of the gas will be directly discharged to the gas outlet pipe 1500 through the gas outlet 130.

[0042] Reference Figures 4 to 6 In some embodiments, a driving member 500 and a locking member 700 are further included. The air leakage port 140 is closed by the locking member 700, and the air leakage port 140 can be opened by driving the locking member 700 to move through the driving member 500. For example, a silicone plug can be used to block the air leakage port 140, and when the air leakage port 140 needs to be opened, the silicone plug can be pulled out or pushed out through the driving member 500.

[0043] In some embodiments, a second elastic member 800 and a supporting member 900 are also included. The surrounding of the air leakage port 140 on the support 100 is hollowed out to form a recessed portion 180, and the supporting member 900 extends into the recessed portion 180 and is threadedly connected with the recessed portion 180. A first through hole 910 is provided on the supporting member 900, and the interior thereof is hollow, and the first through hole 910 is communicated with the air leakage port 140. The locking member 700 is located inside the supporting member 900, and the two ends of the second elastic member 800 are respectively abutted against the bottom wall of the recessed portion 180 and the locking member 700, so that the locking member 700 abuts against the supporting member 900 and the first through hole 910 is closed. When the air leakage port 140 needs to be communicated with the outside world, the driving member 500 drives the locking member 700 to move, so that it is separated from the supporting member 900 and no longer blocks the first through hole 910. Here, the second elastic member 800 is in a compressed state. When the air leakage port 140 needs to be closed, the driving member 500 stops working. Under the rebound force of the second elastic member 800, the locking member 700 will automatically reset, and there is no need to manually insert it into the first through hole 910, which is convenient to operate.

[0044] In some embodiments, the locking member 700 includes a main body 710 and a triggering member 720, wherein the triggering member 720 extends into the first through hole 910, and the main body 710 extends out of the abutting member 900 through the first through hole 910. The triggering member 720 has an inclined surface 721, and the second elastic member 800 abuts against the end of the triggering member 720 so that the inclined surface 721 abuts against the hole wall of the first through hole 910 to block the first through hole 910. The abutment of the inclined surface can improve the fit. The driving member 500 is located on one side of the main body 710, and the driving arm 510 can rotate to push the main body 710 in a direction away from the abutting member 900, so that the triggering member 720 is separated from the first through hole 910. A servo can be used as the driving member 500 to reduce weight, and the driving arm 510 is a servo arm. The triggering member 720 is made of silicone or rubber to improve sealing. Alternatively, a sealing block 1400 may be provided, and a through hole may also be provided on the sealing block 1400, the through hole being coaxial with and connected to the first through hole 910, the main body 710 passes through the through hole on the sealing block 1400 and then extends out of the first through hole 910, and the inclined surface 721 abuts against the hole wall of the sealing block 1400. The sealing performance can be improved by providing the sealing block 1400, and air leakage is not likely to occur.

[0045] Reference Figures 7 to 9 In some embodiments, the gas cylinder 210 is placed in the gas cylinder container 200, and the support 100 is provided with a piercing member 150, which can be a sharp needle. When the gas cylinder container 200 is connected to the support 100, the piercing member 150 will pierce the seal of the gas cylinder 210, so that the gas cylinder 210 is connected to the gas inlet 120. In this embodiment, the gas cylinder 210 automatically opens the gas inlet when it is installed on the support 100, and there is no need to open it in advance before installation, which can avoid gas loss and waste.

[0046] In some embodiments, the support 100 is provided with an outwardly extending extension 170, the extension 170 is arranged around the air inlet 120, and the piercing member 150 is arranged inside the extension 170. An annular blocking member 1200 is embedded and fixed on the inner side wall of the extension 170, and a blocking surface 1120 is provided at the end of the second sealing member 1100. For example, the end of the second sealing member 1100 can be hollowed out in a circle along the radial direction to form the blocking surface 1120. The second sealing member 1100 is provided inside the extension 170, and the third elastic member 1000 is placed inside the second sealing member 1100 and sleeved outside the piercing member 150. The two ends of the third elastic member 1000 are respectively against the bottom wall of the extension 170 and the second sealing member 1100. Under the action of the rebound force of the third elastic member 1000, the blocking surface 1120 is against the blocking member 1200 to limit the position and prevent the second sealing member 1100 from falling out. The gas cylinder receiving member 200 can be sleeved on the outside of the extension 170 and be threadedly connected with the extension 170. When the extension 170 is screwed into the gas cylinder receiving member 200, the end of the gas cylinder 210 will abut against the second sealing member 1100, so that it moves toward the support 100. The end of the second sealing member 1100 is provided with a second through hole 1110. When the second sealing member 1100 moves to a predetermined position, the piercing member 150 will pass through the second through hole 1110 to be exposed and contact the end seal of the gas cylinder 210 to pierce the seal. At this time, the third elastic member 1000 is in a compressed state. When the gas cylinder receiving member 200 is separated from the extension 170, the second sealing member 1100 is reset under the action of the rebound force of the third elastic member 1000, and the blocking surface 1120 abuts against the blocking member 1200 again. In this embodiment, the extension portion 170 can shield and protect the piercing member 150 to prevent the piercing member 150 from being directly exposed and damaged by bumps when the gas cylinder 210 is not installed, and to prevent the operator from being stabbed.

[0047] Reference Figures 2 to 4 In some embodiments, a guide member 1300 is further provided, one end of which is connected to the support 100, and the first elastic member 400 is sleeved on the guide member 1300. A guide cavity 330 is provided inside the first sealing member 300, and when the first sealing member 300 moves, the guide member 1300 can extend into or out of the guide cavity 330. The movement of the first sealing member 300 can be made smoother by guiding by the guide member 1300. A vent 160 is also provided on the support 100, and a valve is provided at the vent 160. After use, the valve of the vent 160 can be opened to discharge the residual gas in the accommodating cavity 110.

[0048] In some embodiments, a drone is also disclosed, which includes the pneumatic drive device in the above embodiments.

[0049] With reference to all the drawings, in combination with the above-mentioned embodiments, when the pneumatic drive device in the embodiment of the present invention is used to drive the object to be delivered, the object to be delivered is first loaded on the mounting platform of the drone, and then the gas cylinder container 200 is installed on the support 100. As the gas cylinder container 200 is tightened relative to the support 100, the seal of the gas cylinder 210 is punctured, and the compressed gas enters the first cavity 111. When the drone flies to the target position with the object to be delivered, the driving member 500 drives the locking member 700 to move and separate from the first through hole 910, so that the leakage port 140 is connected to the outside, and the first sealing member 300 is pushed to move along the first direction and separate from the gas outlet 130. After the gas outlet 130 is opened, the compressed gas is sprayed into the gas outlet pipe 1500 through the gas outlet 130, and then the object to be delivered is sprayed out.

[0050] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A pneumatic drive device for projecting objects to be delivered by compressed gas in a gas cylinder, characterized in that: include: A support, wherein a housing cavity is defined in the support, an air inlet and an air outlet are further provided on the support, and an outwardly extending extension portion is further provided on the support, the extension portion is arranged around the air inlet, the extension portion is used to sleeve a gas cylinder receiving member for receiving the gas cylinder, the compressed gas can enter the housing cavity through the air inlet, and an air leakage port is further provided on the support, and the air leakage port is separated from the air inlet; A first sealing member, the first sealing member is located in the accommodating cavity, and the first sealing member includes a shielding portion; a first elastic member, the first elastic member is located in the accommodating cavity, and the first elastic member is used to drive the first sealing member to abut against the air outlet to close the air outlet; a partition, the partition is arranged around the shielding portion and the two are in abutment with each other, the partition and the shielding portion divide the accommodating cavity into a first cavity and a second cavity, the first sealing member is arranged in the first cavity, the first elastic member is arranged in the second cavity, the air inlet and the air outlet are both communicated with the first cavity, the air leakage port is communicated with the second cavity, and there is a gap between the shielding portion and the partition to form a channel; A sealing ring connected to the partition and disposed in the channel; The compressed gas in the first cavity can flow into the second cavity through the channel, and the first sealing member can move along a set direction and separate from the gas outlet, so that the compressed gas can be ejected through the gas outlet.

2. The pneumatic drive device according to claim 1, characterized in that: It also includes a locking member and a driving member, wherein the locking member is used to close the air leakage port, and the driving member can drive the locking member to move so that the air leakage port is connected to the outside.

3. The pneumatic drive device according to claim 2, characterized in that: It also includes a second elastic member and a supporting member, the supporting member is provided with a first through hole connected to the outside, the first through hole is connected to the air leakage port, the second elastic member is used to drive the locking member to resist the supporting member to close the first through hole, and the driving member is used to drive the locking member to move to open the first through hole.

4. The pneumatic drive device according to claim 3, characterized in that: The locking member includes a main body and a triggering portion, the triggering portion has an inclined surface, and the second elastic member abuts against the triggering portion so that the triggering portion partially extends into the first through hole and the inclined surface abuts against the hole wall of the first through hole, and the main body extends out through the first through hole.

5. The pneumatic drive device according to claim 1, characterized in that: It also includes a gas cylinder accommodating part, which is used to accommodate the gas cylinder. The support is also provided with a puncturing piece. When the gas cylinder accommodating part is connected to the support, the puncturing piece can puncture the gas cylinder to connect the gas cylinder with the air inlet.

6. The pneumatic drive device according to claim 5, characterized in that: It also includes a third elastic member, a second sealing member and a blocking member, wherein the blocking member is connected to the support, the third elastic member is used to drive the second sealing member to abut against the blocking member, and a second through hole is provided on the second sealing member. When the gas cylinder housing is connected to the support, the second sealing member can be pushed by the gas cylinder to allow the piercing member to pass through the second through hole and pierce the gas cylinder.

7. The pneumatic drive device according to claim 1, characterized in that: It also includes a guide member, which is connected to the support. The first elastic member is sleeved on the guide member. The first sealing member has a guide cavity inside. The guide member extends into the guide cavity and can move relative to the first sealing member.

8. A drone, characterized in that A pneumatic drive device comprising any one of claims 1 to 7.

Images