Multi-functional vibrating carving cutting machine

Abstract

The utility model discloses a multifunctional vibration engraving cutting machine, including lathe base, workbench surface, XYZ axle drive assembly, tool component and impurity removal mechanism, XYZ axle drive assembly all adopts linear motor drive, drives the Z axle sliding box of being equipped with tool component and carries out three -dimensional motion, and tool component contains vibration mechanism and quick tool changer tool bit, and the impurity removal mechanism includes scrap collecting box and dust removal box, and scrap collecting box bottom is equipped with pull -out type slide, and top is equipped with the scrap collecting mouth of through workbench surface, dust removal box is divided into two cavities through the baffle, and the filter cloth bag of built -in venturi is connected negative pressure machine and the back -blow generator through gas pipeline. The utility model discloses through linear motor drive has improved the processing accuracy and efficiency, utilizes the negative pressure adsorption and filter cloth bag centralized processing processing chip and dust, and through back -blow function realizes self -cleaning, effectively solved the problem that traditional equipment precision is not high, dust pollution is serious and maintenance is inconvenient, and the integration degree is high, and the practicality is strong.

Description

Technical Field

[0001] This utility model relates to the technical field of vibrating knives, specifically a multi-functional vibrating engraving and cutting machine. Background Technology

[0002] Engraving and cutting machines are basic processing equipment widely used in industries such as advertising, mold making, handicrafts, and architectural models. Traditional engraving and cutting machines mostly use stepper motors or servo motors combined with ball screws for transmission. This structure has problems such as long transmission chains, easy backlash, and limited speed and accuracy improvement, making it difficult to meet the growing demand for high-efficiency and high-precision processing.

[0003] Furthermore, the processing generates a large amount of debris and dust. The traditional method of handling this is to add dust extraction equipment to the outside of the equipment, but the dust collection effect is limited, the dust easily escapes, pollutes the working environment, endangers the health of operators, and is inconvenient to clean. Although some equipment is equipped with built-in chip collection hoppers, they often lack effective dust separation and collection devices, are prone to clogging, and require complicated maintenance.

[0004] Therefore, there is an urgent need for a new type of engraving and cutting equipment that integrates high-precision drive, high-efficiency processing and environmentally friendly dust collection, in order to solve the problems of insufficient processing accuracy and efficiency, serious dust pollution and inconvenient equipment maintenance in the existing technology. Utility Model Content

[0005] The purpose of this invention is to provide a multi-functional vibratory engraving and cutting machine that improves processing accuracy, facilitates the collection and cleaning of debris and impurities, and increases work efficiency.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multi-functional vibration engraving and cutting machine, comprising a machine tool base, characterized in that it includes:

[0007] The worktable is fixed to the top surface of the machine tool base;

[0008] The X-axis drive assembly is mounted on the machine tool base;

[0009] The crossbeam, driven by the X-axis drive assembly, is positioned across the top of the machine tool base.

[0010] The Y-axis drive assembly is mounted on the crossbeam;

[0011] The Y-axis slide box is driven by the Y-axis drive assembly and is mounted on the crossbeam;

[0012] The Z-axis drive assembly is mounted on the Y-axis slide box;

[0013] The Z-axis slide box is driven by the Z-axis drive assembly and is mounted on the Y-axis slide box;

[0014] A tool assembly is mounted on the Z-axis slide box, and the tool assembly includes a vibration mechanism and a tool head;

[0015] A cleaning mechanism is provided inside the machine tool base;

[0016] The X-axis drive assembly, Y-axis drive assembly, and Z-axis drive assembly are all driven by linear motors, and the impurity removal mechanism includes a chip collection box for collecting debris and a dust collection box for filtering and removing dust.

[0017] A further technical solution is provided, wherein the X-axis drive assembly includes two X-axis guide rails fixed parallel to both sides of the machine tool base, and an X-axis linear motor is provided on the lower side of each X-axis guide rail. The stator of the X-axis linear motor is fixed to the machine tool base, and the mover of the X-axis linear motor is fixed to the X-axis slide box. The X-axis slide box slides with the X-axis guide rail through a first slider, and the crossbeam is fixed between the two X-axis slide boxes.

[0018] In a further technical solution, the Y-axis drive assembly includes two parallel Y-axis guide rails fixed on the crossbeam and a Y-axis linear motor disposed between the two Y-axis guide rails. The stator of the Y-axis linear motor is fixed on the crossbeam, and the mover of the Y-axis linear motor is fixed to the Y-axis slide box. The Y-axis slide box slides with the Y-axis guide rails through a second slider.

[0019] In a further technical solution, the Z-axis drive assembly includes two Z-axis guide rails fixed on the Y-axis slide box and a Z-axis linear motor disposed between the two Z-axis guide rails. The stator of the Z-axis linear motor is fixed on the Y-axis slide box, and the mover of the Z-axis linear motor is fixed to the Z-axis slide box. The Z-axis slide box slides in cooperation with the Z-axis guide rails through a third slider.

[0020] In a further technical solution, there are two chip collection boxes, the bottom of which is fixed to the bottom surface of the workbench, and the top is provided with several chip collection ports arranged along the X-axis direction. The chip collection ports penetrate the workbench to collect chips.

[0021] A further technical solution is provided where a chip collection groove is provided inside the chip collection box, and a sliding plate for cleaning chips is slidably provided at the bottom. A sealing ring is provided at the connection between the sliding plate and the chip collection box.

[0022] In a further technical solution, the dust collector is fixed between the two chip collection boxes, and its interior is divided into an upper chamber and a filter chamber by a partition. Several filter bags are fixed on the partition. The chip collection groove of the chip collection box is connected to the filter chamber through a communication port. A gas pipeline connected to an external negative pressure machine is provided in the upper chamber.

[0023] A further technical solution is that each of the filter bags is provided with a Venturi tube.

[0024] A further technical solution also includes a cable chain system for power supply and signal transmission, the cable chain system including an X-axis cable chain disposed on one side of the machine tool base, a Y-axis cable chain disposed on the rear side of the crossbeam, and a Z-axis cable chain disposed on the Y-axis slide box.

[0025] Further technical solutions also include human-computer interaction interfaces and controllers.

[0026] In summary, this utility model has the following beneficial effects:

[0027] By using linear motors to directly drive all three axes (X, Y, and Z axes), the traditional lead screws, gears, and other transmission links are eliminated, backlash is eliminated, and high-speed, high-acceleration, and high-precision motion control is achieved, which significantly improves the processing efficiency and quality of engraving and cutting.

[0028] The integrated high-efficiency dust removal mechanism uses negative pressure adsorption to directly suck the processing debris from the chip collection port on the workbench into the chip collection box, and then filters it efficiently through the filter bag, keeping the working environment clean, preventing dust from flying, and protecting the health of operators.

[0029] The dust removal system adopts a back-flushing cleaning design with a venturi tube, which can automatically clean the fine dust adhering to the filter bag, prevent clogging, extend the service life of the filter bag, and reduce the maintenance frequency and cost. The pull-out sliding plate design at the bottom of the chip collection box also makes it very convenient to clean large particles of debris.

[0030] The overall structure is reasonably laid out. The crossbeam is driven and supported by the X-axis sliding boxes on both sides, which is rigid and moves smoothly, ensuring stability and reliability during the processing.

[0031] Combining high-frequency vibration cutting technology and a quick-change tool structure, it can meet the needs of fine engraving of different materials (such as metals and non-metals) and achieve efficient cutting. It is a multi-purpose machine with a wide range of applications. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0033] Figure 1 This is a first three-dimensional structural schematic diagram of the present invention;

[0034] Figure 2 This is a second three-dimensional structural schematic diagram of the present invention;

[0035] Figure 3 This is a schematic diagram of the third three-dimensional structure of this utility model;

[0036] Figure 4 This is a schematic diagram showing the distribution of the chip collection ports of this utility model;

[0037] Figure 5 This is a schematic diagram of the impurity removal mechanism of this utility model;

[0038] In the diagram: 10. Machine tool base; 11. X-axis guide rail; 12. X-axis slide box; 13. Crossbeam; 14. Y-axis slide box; 15. Z-axis slide box; 16. Tool head; 17. Z-axis guide rail; 18. Y-axis guide rail; 19. Worktable; 20. Chip collection port; 21. Chip collection box; 22. Slide plate; 23. Chip collection groove; 24. Connecting port; 25. Sealing ring; 26. Dust collector; 27. Filter bag; 28. Venturi tube; 29. ​​Filter chamber; 30. Upper chamber; 31. Gas pipeline; 32. Baffle plate. Detailed Implementation

[0039] To more clearly illustrate the overall concept of this utility model, a detailed description will be provided below with reference to the accompanying drawings.

[0040] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0041] Furthermore, it should be understood in the description of this utility model that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In this utility model, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] like Figures 1-5 As shown, a multi-functional vibration engraving and cutting machine includes a machine tool base 10, a worktable 19 fixed on the top surface of the machine tool base 10, the worktable 19 being used to place the workpiece to be processed, and an X-axis drive assembly, a Y-axis drive assembly and a Z-axis drive assembly being provided on the machine tool base 10, the Z-axis drive assembly being provided with a tool assembly for cutting or engraving.

[0045] In one implementation, the X-axis drive assembly includes two X-axis guide rails 11, which are fixed to the X-axis guide rails 11 on both sides of the machine tool base 10. An X-axis linear motor is provided on the lower side of each X-axis guide rail 11. There are two X-axis linear motors in total. The stator of the X-axis linear motor is fixed on the machine tool base 10, and the mover of the X-axis linear motor is fixed to the X-axis slide box 12. A first slider is fixed on the X-axis slide box 12 and is slidably mounted on the X-axis guide rail 11.

[0046] In one embodiment, a crossbeam 13 is fixed between two X-axis slide boxes 12, and two vertically arranged Y-axis guide rails 18 are fixed on the crossbeam 13. A Y-axis linear motor is fixed between the two Y-axis guide rails 18, the stator of the Y-axis linear motor is fixed on the crossbeam 13, a Y-axis slide box 14 is slidably arranged on the crossbeam 13, the mover of the Y-axis linear motor is fixed to the Y-axis slide box 14, and a second slider is fixedly arranged on the Y-axis slide box 14. The second slider is slidably arranged on the Y-axis guide rail 18.

[0047] In one implementation, the Z-axis drive assembly includes a Z-axis guide rail 17 fixed on a Y-axis slide box 14. Two Z-axis guide rails 17 are provided. A Z-axis slide box 15 is slidably disposed on the Y-axis slide box 14. A Z-axis linear motor is disposed between the two Z-axis guide rails 17. The stator of the Z-axis linear motor is fixed on the Y-axis slide box 14, and the mover is fixed to the Z-axis slide box 15. A third slider is fixed on the Z-axis slide box 15, and the third slider is slidably engaged with the Z-axis guide rail 17.

[0048] In one embodiment, the tool assembly is fixed on the Z-axis slide box 15 and includes a vibration mechanism and a tool head 16. The vibration mechanism includes a vibration motor, an eccentric wheel assembly, and an amplitude adjustment device. The tool head 16 adopts a quick tool change structure, including a tool holder, a clamping mechanism, and a positioning device.

[0049] Specifically, the quick tool change structure of the tool head 16 includes a mounting bracket fixed on the Z-axis slide box 15, a tool holder for mounting machining tools, a clamping mechanism for clamping or releasing the tool holder, and a positioning device for ensuring the repeatability of the tool holder's positioning accuracy.

[0050] The clamping mechanism is a spring collet clamping system, including a sleeve, a lock nut, and a spring collet; rotating the lock nut can drive the sleeve to move axially, so that the spring collet retracts and clamps the tool handle or expands to release the tool handle;

[0051] The positioning device includes a positioning pin disposed on a mounting bracket and a positioning groove disposed on a tool holder, wherein the positioning pin and the positioning groove cooperate to achieve radial positioning.

[0052] In one embodiment, the machine tool base 10 is provided with a debris removal mechanism, which includes two chip collection boxes 21 fixed inside the machine tool base 10. The bottom of the two chip collection boxes 21 is sealed and fixed to the bottom surface of the worktable 19. The top of the chip collection box 21 is fixed with a plurality of chip collection ports 20 arranged along the X-axis. The top of the chip collection ports 20 communicates with the top surface of the worktable 19 and is used to collect machining chips and impurities. A chip collection groove 23 is provided inside the chip collection box 21. The bottom of the chip collection ports 20 communicates with the chip collection groove 23 and is used to collect chips and impurities on the top surface of the worktable 19 into the chip collection groove 23. A sliding plate 22 is slidably provided at the bottom of the chip collection box 21. The sliding plate 22 can be pulled out to clean the chips and impurities in the chip collection groove 23. A sealing ring 25 is provided at the connection between the sliding plate 22 and the chip collection box 21 for sealing.

[0053] In one implementation, the impurity removal mechanism further includes a dust collection box 26 fixed between two chip collection boxes 21. A partition 32 is fixed inside the dust collection box 26, dividing the space within the dust collection box 26 into an upper chamber 30 and a filter chamber 29. The upper chamber 30 is located above the filter chamber 29. Evenly distributed filter bags 27 are fixed on the partition 32. The chip collection groove 23 is connected to the filter chamber 29 via a connecting port 24. Venturi tubes 28 are installed inside the filter bags 27. A gas pipeline 31 is installed inside the upper chamber 30, connecting to an external negative pressure unit. The gas pipeline 31 can also connect to a backflushing generator. The generator is connected; by operating the negative pressure machine, the debris and impurities on the top surface of the workbench 19 are drawn into the debris collection trough 23, and the air enters the filter chamber 29. After being filtered by the filter bag 27, the air enters the upper chamber 30, and then enters the negative pressure machine through the gas pipeline 31. The bottom of the dust collector 26 can be opened. When cleaning is required, the gas pipeline 31 is connected to the back-blowing generator for back-blowing. The air enters the upper chamber 30 through the gas pipeline 31, and then enters the filter bag 27 through the venturi tube 28, blowing off the impurities on the outer wall of the filter bag 27. Then, the slide plate 22 is pulled out to remove the debris and impurities, and the bottom of the dust collector 26 is opened for cleaning.

[0054] In one embodiment, an X-axis cable chain is provided on one side of the machine tool base 10, a Y-axis cable chain is provided on the rear side of the crossbeam 13, and a Z-axis cable chain is provided on the Y-axis slide box 14, for powering the linear motors and tool assemblies of each axis, etc.

[0055] In one embodiment, the machine also includes a human-machine interface and a controller for controlling the movement of each axis and the operation of the tool assembly. The human-machine interface can be independently installed on the machine tool base 10, or an independent control terminal can be installed in an isolated machine room and electrically connected to the cutting machine.

[0056] In one embodiment, the device is equipped with a safety protection system, including an emergency stop button, a light curtain safety protection device, and an overload protection device.

[0057] Working principle:

[0058] During operation, the workpiece is placed on the worktable 19 and fastened to the worktable 19 by adhesive or clamps and bolts. The machining parameters are set through the control system, and the appropriate cutting tool is selected and installed on the cutting head 16.

[0059] Depending on the desired processing mode, select either engraving or cutting. The X, Y, and Z axis linear motors work together under the control of the controller to drive the tool assembly to move along a predetermined trajectory. The vibration mechanism generates high-frequency vibrations according to processing needs, improving cutting efficiency and quality.

[0060] During processing, debris enters the chip collection trough 23 through the chip collection port 20. The negative pressure unit operates, causing air to flow through the filter bag 27, where the debris is filtered and collected. When cleaning is required, the backflushing generator is activated for backflushing cleaning, and then the slide plate 22 is pulled out to clean the chip collection trough 23.

[0061] The specific method of using a multi-functional vibration engraving and cutting machine is as follows:

[0062] Equipment Inspection: Before starting the machine, check whether all moving parts are flexible and whether there are any abnormalities in the linear motor, guide rail and slider; check whether the tool assembly is intact and whether the vibration mechanism is working properly; check whether the vacuum adsorption system is well sealed.

[0063] Horizontal adjustment: Adjust the level of the equipment using the adjustable feet at the bottom of the machine tool base 10 to ensure that the worktable 19 is level;

[0064] Power connection: Connect the device to the power supply, turn on the main power switch, and start the control system;

[0065] Clean the workbench: Use compressed air to clean the workbench surface 19 and the chip collection port 20 to ensure that no residual debris remains;

[0066] Place the workpiece: Place the workpiece to be processed on the worktable 19, and fasten the workpiece to the worktable 19 by adhesive or by using clamps and bolts;

[0067] Tool selection: Select the appropriate tool (vibrating cutter, V-cutting cutter, pressure roller, drawing pen or milling cutter) according to the processing requirements and install it into the quick tool change structure of the cutter head 16;

[0068] Parameter settings: Processing parameters are set through the human-machine interface, including:

[0069] The motion speed and acceleration of each axis, the frequency and amplitude of the vibration mechanism, the machining depth and path, etc.;

[0070] Start the impurity removal system: Turn on the negative pressure unit to start the impurity removal system.

[0071] Start processing: Start the processing program, and the equipment will perform processing operations according to the predetermined trajectory;

[0072] Machining monitoring: Monitor the machining process in real time, and pay attention to: tool wear, chip removal effect, and machining quality.

[0073] Mid-process adjustments: Processing can be paused as needed to adjust parameters or change tools;

[0074] Processing complete: Wait for the equipment to complete the processing program and for each axis to return to its initial position;

[0075] Remove the workpiece: Carefully remove the finished workpiece and inspect it.

[0076] Debris removal: After processing, the debris removal system is cleaned.

[0077] a. Turn off the negative pressure machine and switch gas line 31 to the backflush generator;

[0078] b. Start the backflushing process to clean the filter bag 27;

[0079] c. Pull out the slide plate 22 at the bottom of the chip collection box 21 and clean the chips in the chip collection groove 23;

[0080] d. Open the bottom of the dust collection box 26 and clean out any remaining debris;

[0081] e. Restore the skateboard 22 and ensure that the sealing ring 25 is properly sealed.

[0082] Equipment cleaning: Use compressed air to clean the work surface 19, guide rails and moving parts;

[0083] Tool maintenance: Clean the tools and apply rust-preventive oil, then return them to the tool magazine;

[0084] Equipment maintenance: Regularly lubricate and maintain all moving parts.

[0085] For any parts not mentioned in this utility model, existing technologies can be used or referenced.

[0086] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0087] The above description is merely an embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A multi-functional vibration engraving and cutting machine, comprising a machine tool base (10), characterized in that, include: The worktable (19) is fixed on the top surface of the machine tool base (10); The X-axis drive assembly is mounted on the machine tool base (10); The crossbeam (13) is driven by the X-axis drive assembly and is positioned across the machine tool base (10) above it; The Y-axis drive assembly is mounted on the crossbeam (13); The Y-axis slide box (14) is driven by the Y-axis drive assembly and is mounted on the crossbeam (13); The Z-axis drive assembly is mounted on the Y-axis slide box (14); The Z-axis slide box (15) is driven by the Z-axis drive assembly and is mounted on the Y-axis slide box (14); A tool assembly is mounted on the Z-axis slide box (15), and the tool assembly includes a vibration mechanism and a tool head (16); A cleaning mechanism is provided inside the machine tool base (10); The X-axis drive assembly, Y-axis drive assembly and Z-axis drive assembly are all driven by linear motors. The impurity removal mechanism includes a chip collection box (21) for collecting debris and a dust removal box (26) for filtering and removing dust.

2. The multifunctional vibration engraving and cutting machine according to claim 1, characterized in that, The X-axis drive assembly includes two X-axis guide rails (11) that are parallel and fixed to both sides of the machine tool base (10). Each X-axis guide rail (11) has an X-axis linear motor on its lower side. The stator of the X-axis linear motor is fixed to the machine tool base (10), and the mover of the X-axis linear motor is fixed to the X-axis slide box (12). The X-axis slide box (12) is slidably engaged with the X-axis guide rail (11) through a first slider. The crossbeam (13) is fixed between the two X-axis slide boxes (12).

3. The multifunctional vibration engraving and cutting machine according to claim 2, characterized in that, The Y-axis drive assembly includes two Y-axis guide rails (18) fixed parallel to the crossbeam (13) and a Y-axis linear motor disposed between the two Y-axis guide rails (18). The stator of the Y-axis linear motor is fixed to the crossbeam (13), and the mover of the Y-axis linear motor is fixed to the Y-axis slide box (14). The Y-axis slide box (14) slides with the Y-axis guide rails (18) through a second slider.

4. The multifunctional vibration engraving and cutting machine according to claim 3, characterized in that, The Z-axis drive assembly includes two Z-axis guide rails (17) fixed on the Y-axis slide box (14) and a Z-axis linear motor disposed between the two Z-axis guide rails (17). The stator of the Z-axis linear motor is fixed on the Y-axis slide box (14), and the mover of the Z-axis linear motor is fixed to the Z-axis slide box (15). The Z-axis slide box (15) slides with the Z-axis guide rails (17) through a third slider.

5. The multifunctional vibration engraving and cutting machine according to claim 1, characterized in that, There are two chip collection boxes (21). Their bottoms are fixed to the bottom surface of the workbench (19), and their tops are provided with a number of chip collection ports (20) arranged along the X-axis. The chip collection ports (20) penetrate the workbench (19) to collect chips.

6. The multifunctional vibration engraving and cutting machine according to claim 5, characterized in that, The chip collection box (21) has a chip collection groove (23) inside, and a sliding plate (22) for cleaning chips is slidably provided at the bottom. A sealing ring (25) is provided at the connection between the sliding plate (22) and the chip collection box (21).

7. The multifunctional vibration engraving and cutting machine according to claim 6, characterized in that, The dust collector (26) is fixed between the two chip collection boxes (21). Its interior is divided into an upper chamber (30) and a filter chamber (29) by a partition (32). Several filter bags (27) are fixed on the partition (32). The chip collection groove (23) of the chip collection box (21) is connected to the filter chamber (29) through a communication port (24). The upper chamber (30) is provided with a gas pipeline (31) connected to an external negative pressure machine.

8. The multifunctional vibration engraving and cutting machine according to claim 7, characterized in that, Each of the filter bags (27) is provided with a Venturi tube (28).

9. The multifunctional vibration engraving and cutting machine according to claim 1, characterized in that, It also includes a cable chain system for power supply and signal transmission, the cable chain system including an X-axis cable chain disposed on one side of the machine tool base (10), a Y-axis cable chain disposed on the rear side of the crossbeam (13) and a Z-axis cable chain disposed on the Y-axis slide box (14).

10. The multifunctional vibration engraving and cutting machine according to claim 1, characterized in that, It also includes human-computer interaction interfaces and controllers.

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