阅读说明：本技术 一种能进行非平面喷涂的工业喷涂机器人 (Industrial spraying robot capable of performing non-planar spraying ) 是由 李鑫华 张海华 于 2019-04-03 设计创作，主要内容包括：一种能进行非平面喷涂的工业喷涂机器人,包括高压输漆泵、车体、车轮、蓄电池、喷枪、摄像头、显示屏、充电插座、电源开关、轴流风扇,环四个车轮外侧端分别套有一个环形永久磁铁,还具有固定筒体、电机磁铁固定机构、固定座,车轮安装在车体下端四周,电机磁铁固定机构安装在车体下前后两端中间,固定座安装在车体上中部,喷枪的前端枪管套在固定座通孔内,轴流风扇、摄像头安装在固定筒体内,车轮、蓄电池、摄像头、显示屏、充电插座、电源开关、轴流风扇、电机磁铁固定机构经导线连接。本发明能据需要能控制车体在任何需要的工位停留,带动的喷枪枪管的喷头任意位移,对物件表面进行喷涂作业,减轻了操作人员的劳动强度及工作风险。(The utility model provides an industrial spraying robot that can carry out non-planar spraying, including high-pressure paint delivery pump, the automobile body, the wheel, the battery, the spray gun, the camera, the display screen, the socket charges, switch, axial fan, ring four wheel outside ends overlap respectively has an annular permanent magnet, still have the fixed cylinder, motor magnet fixed establishment, a fixed base, the wheel is installed around the automobile body lower extreme, motor magnet fixed establishment installs in the middle of the front and back both ends under the automobile body, the middle part is installed on the automobile body to the fixed base, the front end gun barrel casing of spray gun is in the fixed base through-hole, axial fan, the camera is installed in the fixed cylinder, the wheel, the battery, the camera, the display screen, the socket charges, switch, axial fan, motor magnet fixed establishment is through the wire. The invention can control the vehicle body to stay at any required station according to the requirement, drive the spray head of the gun barrel of the spray gun to move randomly, carry out spraying operation on the surface of an object, and reduce the labor intensity and the working risk of operators.)

1. An industrial spraying robot capable of carrying out non-planar spraying comprises a high-pressure paint conveying pump, a vehicle body, four wheels driven by a motor speed reducing mechanism, a storage battery, a spray gun, a camera, a display screen, a charging socket, a power switch and an axial flow fan, wherein the display screen and the camera are connected through a video wire, the industrial spraying robot is characterized in that the outer side ends of the four wheels are respectively sleeved with an annular permanent magnet, the industrial spraying robot also comprises a fixing cylinder body, a motor magnet fixing mechanism and a fixing seat, the upper end shells of the motor speed reducing mechanisms of the four wheels are respectively and fixedly arranged around the lower end of the vehicle body, the upper ends of the shells of the two sets of motor magnet fixing mechanisms are respectively arranged in the middle of the front end and the rear end of the lower part of the vehicle body, the lower part of the fixing seat is transversely arranged in the middle of the, the front gun tube of the spray gun is transversely sleeved in the through hole of the fixing base, the right side of the gun tube and a liquid outlet of a matched high-pressure paint conveying pump are connected together through a flexible rubber tube, the axial flow fan is arranged in the middle of the inner bottom of the fixing barrel, a partition plate is arranged in the middle of the upper end of the fixing barrel, the front side and the rear side of the partition plate of the fixing barrel are of an open structure, an opening is formed in the middle of the partition plate, the fixing base of the camera is arranged at the inner side end of the opening of the partition plate, an opening is formed in the middle of the left end of the vehicle body, the upper end of the fixing barrel is arranged at the inner side end of the opening, the fixing barrel is transversely positioned in the vehicle body, the charging socket and the power switch are arranged on the circuit board, the storage battery and the display screen are arranged in the component box, the positive electrode and the negative, the other end of a fourth power switch is connected with the camera, the display screen and the positive power input end of the axial flow fan through leads, the cathode of the storage battery is connected with the camera, the display screen and the negative power input end of the axial flow fan are connected through leads, two power output ends of the first power switch are respectively connected with the positive and negative power input ends and the negative and positive power input ends of the left and right wheels at the rear side end of the vehicle body through leads, two power output ends of the second power switch are respectively connected with the positive and negative power input ends and the negative and positive power input ends of the left and right wheels at the front side end of the vehicle body through leads, and two power output ends of the third power switch are respectively connected with the positive and negative power input ends and the positive and negative power input ends of the two.

2. The industrial robot of claim 1, wherein the fourth power switch is a toggle power switch, and the first, second and third power switches are gear power switches having two power inputs and two power outputs.

3. The industrial spray painting robot of claim 1, wherein each set of the motor magnet fixing mechanism includes a motor gear reducer and a circular permanent magnet installed at a lower end of a power output shaft of the motor gear reducer.

Technical Field

The invention relates to the field of spraying robots, in particular to an industrial spraying robot capable of performing non-planar spraying.

Background

The spraying robot is an automatic spraying device widely used in the production field, and when the spraying robot works, a spray gun of the spraying robot is controlled by a PLC program to spray paint on the surface of the device and the like. The existing spraying robot can only spray a workpiece which is in a plane and is in a fixed state, but cannot spray the surface of the workpiece with a certain inclination; for example, the spraying device cannot continuously spray a roof made of a metal material with a certain inclination or a regular workpiece surface with a certain height and inclination in a moving state, and thus, when the roof with the certain inclination or the regular workpiece surface with the certain height and inclination needs to be sprayed, the operation cannot be performed. In the prior art, operators climb to stand at high places to hold spray guns to spray workpieces or roofs and the like, so that not only is safety risk brought, but also the labor intensity of workers is increased.

Disclosure of Invention

The invention provides a vehicle body which can stably move on the surface of an inclined steel object and can be fixed at a station at any time according to requirements, and the vehicle body can conveniently move on the surface of the steel object in all directions in use, so that a spray head of a spray gun barrel positioned on the vehicle body is driven to randomly displace to spray the surface of the object, thereby reducing the labor intensity of operators and reducing the working risk of the operators.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an industrial spraying robot capable of carrying out non-planar spraying comprises a high-pressure paint conveying pump, a vehicle body, four wheels driven by a motor speed reducing mechanism, a storage battery, a spray gun, a camera, a display screen, a charging socket, a power switch and an axial flow fan, wherein the display screen and the camera are connected through a video wire, the industrial spraying robot is characterized in that the outer side ends of the four wheels are respectively sleeved with an annular permanent magnet, the industrial spraying robot also comprises a fixing cylinder, a motor magnet fixing mechanism and a fixing seat, the upper end shells of the motor speed reducing mechanisms of the four wheels are respectively and fixedly arranged around the lower end of the vehicle body, the upper ends of the shells of the two sets of motor magnet fixing mechanisms are respectively arranged in the middle of the front end and the rear end of the lower part of the vehicle body, the lower part of the fixing seat is transversely arranged in the middle of the upper end of the vehicle body, the middle of the fixing seat is, the right side of a gun barrel is connected with a matched liquid outlet of a high-pressure paint pump through a flexible rubber hose, an axial flow fan is arranged in the middle of the inner bottom of a fixed barrel, a partition plate is arranged in the middle of the upper end of the fixed barrel, the front side and the rear side of the partition plate of the fixed barrel are of an open structure, an opening is formed in the middle of the partition plate, a fixed seat of a camera is arranged at the inner side end of the opening of the partition plate, an opening is formed in the middle of the left end of a vehicle body, the upper end of the fixed barrel is arranged at the inner side end of the opening, the fixed barrel is transversely positioned in the vehicle body, a charging socket and a power switch are arranged on a circuit board, the circuit board, a storage battery and a display screen are arranged in an element box, two terminals of a positive pole and a negative pole of the storage battery and two terminals of the charging socket, the first terminal, The display screen, axial fan positive power supply input end are connected through the wire, the storage battery negative pole and the camera, the display screen, axial fan negative pole power supply input end are connected through the wire, two way power supply output ends of the first power supply switch are respectively connected with the positive and negative pole power supply input ends and the negative and positive pole power supply input ends of the left and right wheels positioned at the rear side end of the vehicle body through the wire, two way power supply output ends of the second power supply switch are respectively connected with the positive and negative pole power supply input ends and the negative and positive pole power supply input ends of the left and right wheels positioned at the front side end of the vehicle body through the wire, and two way power supply output ends of the third power supply switch are respectively connected with the positive and negative pole.

The fourth power switch is a toggle power switch, and the first, second and third power switches are gear power switches having two power input ends and two power output ends.

Each set of motor magnet fixing mechanism comprises a motor gear reducer and a circular permanent magnet, and the circular permanent magnet is installed at the lower end of a power output shaft of the motor gear reducer.

The invention has the beneficial effects that: the invention adopts a vehicle body driven by four wheels as a carrier, and before use, the vehicle body is placed on a roof or the like which is required to be sprayed with a metal material (steel material) with an inclination or on the surface of a regular workpiece (steel material) with a certain height and inclination. Because the four wheels are provided with the annular permanent magnets, when the vehicle body runs on the surface of an inclined object, a good stabilizing effect can be achieved due to magnetic attraction, and the vehicle body cannot be separated from the surface of the object on the surface of the object with higher inclination, so that the vehicle body falls off and the like; the operator is through operating first, two switch can control the automobile body and go forward, retreat and turn about, the operator can control two sets of motor magnet fixed establishment's circular permanent magnet and article surface contact through operating third switch, and then can control the automobile body and stop at any station that needs as required, in use, the automobile body can conveniently realize on the surface of steel material article each direction motion or temporary fixation, and then, the shower nozzle that drives the spray gun barrel that is located on the automobile body displaces wantonly, carry out the spraying operation to the article surface, operating personnel's intensity of labour has been alleviateed from this, operating personnel's risk of working has been reduced. Based on the above, the invention has good application prospect.

Drawings

The invention is further illustrated below with reference to the figures and examples.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the axial flow fan, the camera and the fixed cylinder of the present invention.

Fig. 3 is a circuit diagram of the present invention.

Detailed Description

As shown in fig. 1 and 2, an industrial spraying robot capable of performing non-planar spraying comprises a high-pressure paint conveying pump, a vehicle body 1, four wheels 2 driven by a motor speed reducing mechanism, a storage battery 3, a spray gun 4, a camera 5, a display screen 6, a charging socket 7, a power switch 8 and an axial flow fan 9, wherein the vehicle body 1 is of a square shell structure, the inside of the shell is of a hollow structure, the display screen 6 and the camera 5 are connected through a video line, the outer side ends of the four wheels are respectively sleeved with an annular permanent magnet 21, the industrial spraying robot further comprises a fixing cylinder 10, motor magnet fixing mechanisms 11 and a fixing seat 12, the shells at the upper ends of the motor speed reducing mechanisms of the four wheels 2 are respectively fixedly arranged around the lower end of the vehicle body 1 through screw nuts, the upper ends of the shells of the two sets of the motor magnet fixing mechanisms 11 are respectively arranged in the middle of the front and rear ends of, the middle part of the fixed seat 12 is transversely provided with a through hole, the upper end of the fixed seat 12 is provided with two openings with internal threads, each opening is internally screwed with a hand-operated screw rod 121, a gun tube at the front end of the spray gun 4 is transversely sleeved in the through hole of the fixed seat 12, after the two hand-operated screw rods 121 are respectively screwed, the lower end of the hand-operated screw rods is tightly contacted with the upper side end of the gun tube 4, the gun tube 4 can not move left and right along the through hole of the fixed seat 12, a spray head of the gun tube 4 is positioned at the left front side of the vehicle body 1, the right side of the gun tube 4 and a matched high-pressure paint delivery pump outlet are connected together through a soft rubber tube, the lower side end of a shell of the axial flow fan 9 is arranged at the middle part of the inner bottom of the fixed cylinder 10 through a screw nut, the lower end of the fixed cylinder 10 is of an open structure, the middle part of the upper end of the, the front end of the camera 5 is located on the front outer side of the opening, the middle of the left end of the vehicle body 1 is provided with the opening 1-1, the upper end of the fixed cylinder 10 is installed at the inner side end of the opening 1-1 through a screw and a nut, the fixed cylinder 10 is transversely located in the vehicle body 1, the charging socket 7 and the power switch 8 are installed on the circuit board, the storage battery 3 and the display screen 6 are installed in the element box 13 together (the element box is located at the side of an operator), the operating handle of the power switch 8, the jack of the charging socket 7 and the screen of the display screen 6 are respectively located on five openings and one opening on the upper outer side of the element box 13, and wires connected with the four wheel 2 motor reducing mechanisms, the camera 5, the axial flow fan 9 and the two sets of motor magnet fixing mechanisms 11 are.

Each set of wheels 2 driven by the motor reducing mechanism is shown in fig. 1 and is ASLONG/Orlon, model number JGB37-3530TC, and the working voltage of the motor reducing mechanism is direct current 12V. Each set of motor magnet fixing mechanism 11 comprises a finished product 111 of a motor gear reducer in the positive department of brand and a circular permanent magnet 112, wherein a multistage gear reduction device is arranged in the shell of the motor gear reducer 111, when the motor magnet fixing mechanism works, power output by a motor is reduced by the multistage gear reduction device to increase torque and then is output from a power output shaft, the lower end of the power output shaft 111-1 of the motor gear reducer is provided with an external thread, the middle part of the circular permanent magnet 112 is provided with an opening, and the circular permanent magnet 112 is installed at the lower end of the power output shaft 111-1 of the motor gear reducer through the.

In fig. 3, four sets of wheels M1 and M2 with motor reduction drive are ASLONG/olong model JGB37-3530TC, and the motor reduction operating voltage is dc 12V. The battery G was a 12V/10Ah lithium battery. The camera SX and the display screen PM are monitor products of a model YOELBAER/Yuba and a model YB-403FA, the working voltage is direct current 12V, and the camera SX and the display screen PM are of a split structure and are connected through a video line. The charging receptacle CZ is a coaxial power receptacle. The fourth power switch S4 is a common toggle power switch, and the first, second and third power switches S1, S2 and S3 are gear power switches having two power input terminals 2 and 5 pins, two power output terminals 1 and 4 pins, and two power output terminals 3 and 6 pins. The axial flow fan M is a small fan with an operating voltage of dc 12V. M3 is a motor gear reducer finished product of two sets of motor magnet fixing mechanisms.

As shown in fig. 3, the display screen PM and the camera SX are connected via video lines, the positive and negative poles of the battery G and the two terminals CZ of the charging socket, the two terminals 2 and 5 of the first power switch S1, the two terminals 2 and 5 of the second power switch S2, and the two terminals 2 and 5 of the third power switch S3 are connected via wires, the positive pole of the battery G and one end of the four power switches S4 are connected via wires, the other end of the fourth power switch S4 is connected to the camera SX, the display screen PM, the positive pole power input end of the axial fan M via wires, the negative pole of the battery G and the negative pole power input ends of the camera SX, the display screen PM, and the negative pole power input ends of the axial fan M via wires, the two power output ends 1, 4 and the 3, 6 of the first power switch S1 are connected to the positive and negative pole power input ends of the left and right wheels M1, the positive and negative pole power, The negative and positive power input ends are connected through a lead, the two power output ends 1, 4 pins and 3, 6 pins of the second power switch S2 are respectively connected with the positive and negative power input ends and the negative and positive power input ends of the two wheels M2 positioned at the front side end of the vehicle body, and the two power output ends 1, 4 pins and 3, 6 pins of the third power switch S3 are respectively connected with the positive and negative power input ends and the negative and positive power input ends of the motor gear reducer M3 of the two sets of motor magnet fixing mechanisms.

As shown in fig. 1, 2 and 3, before the present invention is used, an operator places the vehicle body 1 on a roof or the like to be coated with a metal material (steel material) having a desired inclination or on the surface of a regular workpiece (steel material) having a certain height and inclination, and then returns to the ground to perform a desired motion orientation control of the vehicle body 1 by observing video information on the display screen PM; after an operator turns on a power switch S4, the camera SX, the display screen PM and the axial flow fan M are all in an electrified working state; after an operator turns on a power switch of the high-pressure paint conveying pump, the paint liquid with pressure output by the high-pressure paint conveying pump is sprayed out from a spray head 41 at the front end of a gun barrel in a mist mode, and the paint liquid sprayed out from the spray head 41 in the mist mode can spray the surface of an inclined object, aligned to the lower side, of the spray head. Because the four wheels 2 are provided with the annular permanent magnets 21, when the vehicle body 1 runs on the surface of an inclined object, a good stabilizing effect can be achieved due to the magnetic attraction of the annular permanent magnets 21, and the vehicle body 1 cannot be separated from the surface of the object on the surface of the object with higher inclination, so that risks such as falling and the like are caused; in actual operation, an operator can control the vehicle body to move forwards, move backwards and turn left and right by operating the first power switch S1 and the second power switch S2, the operator can control the circular permanent magnets 112 of the two sets of motor magnet fixing mechanisms to be in contact with the surfaces of the objects by operating the third power switch S3, and further can control the vehicle body 1 to be temporarily fixed at any required station as required, so that the spraying operation of the spray gun 4 is facilitated. In the work, the camera SX can transmit the shot video information to the display screen PM beside an operator in real time, the operator can characteristically control the movement track of the vehicle body 1 according to the video information of the display screen PM, such as moving forward, moving backward, turning left, turning right and the like, the direction of the spray head 41 in front of the gun barrel can be changed along with the change of the movement track of the vehicle body 1, and along with the moving vehicle body 1, the paint liquid sprayed by the spray head 41 can be continuously sprayed on the surface of an object. After the axial flow fan M is electrified to work, the generated wind power is sprayed out from the side opening of the front side partition plate 101 of the fixed cylinder 10, so that the spraying operation is reduced as much as possible, and the spraying liquid is adhered to the front end of the camera SX (after the axial flow fan M is used for a period of time, a small amount of spraying liquid adhered to the front end of the camera SX can be cleaned by cleaning liquid, the next shooting effect is ensured, and when the storage battery G is out of electricity, a plug of an external 12V power supply charger can be inserted into the charging socket CZ to charge the storage battery G).

As shown in fig. 1 and 3, if an operator needs to move the vehicle body 1 forward, the operating handles of the two power switches S1, S2 are respectively shifted toward the front side, so that the two power input ends 2 and 5 of the two power switches S1, S2 are respectively connected with the first power output end 1 and 4, and since the two power output ends 1, 4 of the power switches S1, S2 are respectively connected with the positive and negative power input ends of the left and right wheels M1, M2 located at the front side and the rear side of the vehicle body through wires (the two power input ends 2 and 5 of the power switches S1, S2 and the positive and negative poles of the battery G are now respectively connected), at this time, the motors M1, M2 located at the left and right wheels at the front side and the rear side of the vehicle body can be rotated clockwise, and under the action of the motor speed reducing mechanisms of the left and right wheels 2 at the front side and rear side, the left and right wheels 2 at the rear side of the vehicle body can, and further achieving the effect of controlling the vehicle body 1 to move forward, after the power switches S1 and S2 are turned off, the motors M1 and M2 of the left wheel and the right wheel on the front side end and the rear side end of the vehicle body lose power at the same time, and the vehicle body 1 does not move forward any more. If an operator needs to move the vehicle body 1 backward, the operating handles of the two power switches S1 and S2 are respectively shifted backward, then, two power input ends 2 and 5 of the two power switches S1 and S2 are respectively communicated with two power output ends 3 and 6 of the second path of power, because the two power output ends 3 and 6 of the power switches S1 and S2 are respectively communicated with negative and positive power input ends of the left and right wheels M1 and M2 positioned at the front side end and the rear side end of the vehicle body through leads (the two power input ends 2 and 5 of the power switches S2 and S3 are respectively communicated with the positive and negative poles of the storage battery G at the moment), at the moment, the motors M1 and M2 positioned at the left and right wheels at the front side end and the rear side end of the vehicle body can be electrically operated counterclockwise, and the left and right wheels at the front side end and the rear side end of the vehicle body can be operated clockwise backward, and further achieving the effect of controlling the backward movement of the vehicle body, after the power switches S1 and S2 are turned off, the motors M1 and M2 of the left and right wheels at the front side end and the rear side end of the vehicle body lose power at the same time, and the vehicle body 1 does not move backward any more.

As shown in fig. 1 and 3, if an operator needs to make a left turn before the vehicle body 1, the operator pulls the operating handle of the power switch S1 toward the front side, so that the two power input ends 2 and 5 of the power switch S1 are respectively communicated with the first power output ends 1 and 4, and the two power output ends 1 and 4 of the power switch S1 are respectively connected with the positive and negative power input ends of the left and right wheels M1 at the rear side end of the vehicle body through wires, at this time, the motors M1 at the left and right wheels at the rear side end of the vehicle body can be rotated clockwise, and under the action of the motor reduction mechanisms of the left and right wheels at the rear side end of the vehicle body, the left and right wheels at the rear side end of the vehicle body can be moved forward counterclockwise (the left and right wheels at the front side end of the vehicle body are not moved in a power-off state), so as to achieve the effect of controlling the left turn before the vehicle body, and right motors M1 at the left, the vehicle body 1 does not advance any more to make a left turn. If an operator needs to make a right turn before the vehicle body 1, the operator shifts the operating handle of the power switch S2 to the front side, then, the two ends 2 and 5 of the power input of the power switch S2 are respectively communicated with the first power output end 1 and the first power output end 4, and because the two ends 1 and 4 of the power output of the power switch S2 are respectively connected with the positive and negative pole power input ends of the left and right wheels M2 positioned at the front side end of the vehicle body through conducting wires, at this time, the motors M2 positioned at the left and right wheels at the front side end of the vehicle body can be electrically rotated clockwise, and under the action of the motor reducing mechanisms of the left and right wheels at the front side end of the vehicle body, the left and right wheels at the front side end of the vehicle body can be moved anticlockwise (the left and right wheels at the rear side end of the vehicle body are not moved under the power-off state), so as to achieve the effect of controlling the right turn before, the vehicle body 1 does not advance any more and makes a right turn.

As shown in fig. 1 and 3, the operator can control the vehicle body 1 to be temporarily fixed at any desired station as required by operating the third power switch S3 and further controlling the circular permanent magnets 112 of the two sets of motor magnet fixing mechanisms to contact with the surface of the object. When an operator pulls the operating handle of the power switch S3 to the front side, then the two ends 2 and 5 of the power input of the power switch S3 are respectively communicated with the first power output end 1 and the first power output end 4, and the power output ends 1 and 4 of the power switch S3 are respectively connected with the positive and negative pole power input ends of the motor gear reducers M3 of the two motor magnet fixing mechanisms through leads, so at the moment, the motors M3 of the motor gear reducers of the two motor magnet fixing mechanisms can rotate clockwise, under the action of the internal multistage gear reduction equipment of the motor gear reducers, the power output shafts of the motor gear reducers of the two motor magnet fixing mechanisms rotate anticlockwise to drive the circular permanent magnets 112 to move downwards and are tightly attracted with the surfaces of objects together in a contact manner, and certain short-time positioning during vehicle body spraying operation is ensured (for example, a certain area needs a long time to be positioned, Spraying more paint liquid), the operator observes the descending condition of the circular permanent magnet 112 through the display screen PM, and turns off the power switch S3 after the circular permanent magnet 112 descends and contacts with the surface of the object; when an operator pulls the operating handle of the power switch S3 towards the rear side, then, the two ends 2 and 5 of the power input of the power switch S3 are respectively communicated with the two power output ends 3 and 4 of the second path of power, and the power output ends 3 and 4 of the power switch S3 are respectively connected with the negative and positive pole power input ends of the motor gear reducers M3 of the two motor magnet fixing mechanisms through leads, therefore, at the moment, the motors M3 of the motor gear reducers of the two motor magnet fixing mechanisms can be electrically rotated anticlockwise, under the action of the internal multi-stage gear reduction equipment of the motor gear reducers, the power output shafts of the motor gear reducers of the two motor magnet fixing mechanisms rotate clockwise to drive the circular permanent magnet 112 to move upwards and separate the surface of an object by a distance, so that the vehicle body 1 can normally move forwards or backwards, the operator observes the ascending condition of the circular permanent magnet 112 through the display screen, after the circular permanent magnet 112 ascends to be spaced apart from the surface of the object by a certain distance, the power switch S3 is turned off. In actual operation, an operator can control the spraying operation in the process of retreating the vehicle body 1, and the damage to the painted surface caused by the forward spraying and the subsequent retreating to the sprayed operation surface is prevented.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.