阅读说明：本技术 物流车和物流系统 (Logistics vehicle and logistics system ) 是由 王显旺 于 2021-07-15 设计创作，主要内容包括：本公开涉及一种物流车和物流系统,其中,物流车包括车架、动力爬升伸缩组件以及伸缩式取电组件,在伸出状态下,伸缩式取电组件与爬升轨道组件配合以取电；伸缩式取电组件包括支撑导轨、滑块和集电器；支撑导轨可移动地设于车架,滑块可移动地设于支撑导轨,集电器设于滑块,滑块与车架形成有可操作的连接,以使支撑导轨相对于车架伸出和收回时,滑块能够相对于支撑导轨同步伸出和收回。通过在滑块与车架之间形成可操作的连接,使得支撑导轨相对于车架伸出和收回时,滑块能够相对于支撑导轨同步伸出和收回,采用被动伸缩的方式,取消了驱动滑块的动力源,简化结构和控制,节约成本,具有较高的可实施性。(The utility model relates to a logistics vehicle and a logistics system, wherein the logistics vehicle comprises a vehicle frame, a power climbing telescopic component and a telescopic electricity taking component, and in an extending state, the telescopic electricity taking component is matched with a climbing track component to take electricity; the telescopic electricity taking assembly comprises a support guide rail, a sliding block and a current collector; the supporting guide rail is movably arranged on the vehicle frame, the sliding block is movably arranged on the supporting guide rail, the current collector is arranged on the sliding block, and the sliding block is in operable connection with the vehicle frame so that when the supporting guide rail extends and retracts relative to the vehicle frame, the sliding block can synchronously extend and retract relative to the supporting guide rail. The slider can synchronously extend and retract relative to the support guide rail when the support guide rail extends and retracts relative to the frame by forming the operable connection between the slider and the frame, and the power source for driving the slider is omitted by adopting a passive telescopic mode, so that the structure and the control are simplified, the cost is saved, and the practicability is higher.)

1. A logistics vehicle, comprising:

a frame (1);

the power climbing telescopic assembly (2) is movably arranged on the frame (1) and comprises a climbing wheel (25), the climbing wheel (25) is configured to extend and retract relative to the frame (1), and in the extending state, the climbing wheel (25) is matched with the vertically arranged climbing track assembly (4) so that the logistics vehicle moves along the climbing track assembly (4); and

the telescopic electricity taking assembly (3) is movably arranged on the frame (1) and is configured to synchronously extend and retract relative to the frame (1) with the climbing wheel (25), and in an extending state, the telescopic electricity taking assembly (3) is matched with the climbing track assembly (4) to take electricity;

the telescopic electricity taking assembly (3) comprises a support guide rail (31), a sliding block (35) and a current collector (36); the supporting guide rail (31) is movably arranged on the vehicle frame (1), the sliding block (35) is movably arranged on the supporting guide rail (31), the current collector (36) is arranged on the sliding block (35), and the sliding block (35) is in operable connection with the vehicle frame (1) so that when the supporting guide rail (31) extends and retracts relative to the vehicle frame (1), the sliding block (35) can synchronously extend and retract relative to the supporting guide rail (31).

2. The logistics vehicle of claim 1, wherein the telescopic electricity-taking assembly (3) further comprises a spring (32), a first connecting rod (33), a second connecting rod (34) and a roller (37), one end of the second connecting rod (34) is hinged with the front end of the supporting guide rail (31), the other end of the second connecting rod is hinged with one end of the first connecting rod (33), the roller (37) is coaxially installed at the hinged position, the other end of the first connecting rod (33) is hinged with the rear end of the sliding block (35), the current collector (36) is installed at the front end of the sliding block (35), the spring (32) is installed between the rear end of the supporting guide rail (31) and the sliding block (35), the sliding block (35) and the current collector (36) can do reciprocating telescopic motion along the supporting guide rail (31), the frame (1) is provided with a cam track (14) in contact with the roller (37), when the telescopic electricity taking assembly (3) is in an extending state, the roller (37) is pressed towards the cam track (14) under the action of the spring (32) and is far away from the supporting guide rail (31) along with the change of the surface shape of the roller, so that the sliding block (35) and the current collector (36) extend relative to the supporting guide rail (31); when the telescopic electricity taking assembly (3) is in a retracting state, the cam track (14) presses the roller (37) to a position close to the support guide rail (31) so that the sliding block (35) and the current collector (36) are retracted relative to the support guide rail (31).

3. Logistics vehicle according to claim 2, wherein the contact surface of the cam track (14) with the roller (37) is configured as a ramp.

4. The logistics vehicle of claim 1, wherein the power climbing telescopic assembly (2) comprises an upper guide shaft (23), a lower guide shaft (21), an upper guide wheel (24) and a connecting plate (22), wherein the upper guide shaft (23) and the lower guide shaft (21) are movably arranged on the vehicle frame (1), the upper guide wheel (24) is arranged at one end of the upper guide shaft (23), the climbing wheel (25) is arranged at one end of the lower guide shaft (21), and the other end of the upper guide shaft (23) and the other end of the lower guide shaft (21) are connected with the same side of the connecting plate (22).

5. Logistics vehicle according to claim 4, wherein the support rail (31) is fixedly arranged on the connection plate (22) between the upper guide shaft (23) and the lower guide shaft (21) and on the same side of the upper guide shaft (23) and the lower guide shaft (21).

6. The logistics vehicle of claim 4, wherein the power climbing telescopic assembly (2) further comprises an upper guide sleeve (12) and a lower guide sleeve (13) fixedly arranged on the vehicle frame (1), and the upper guide shaft (23) and the lower guide shaft (21) are movably arranged through the upper guide sleeve (12) and the lower guide sleeve (13), respectively.

7. Logistics vehicle according to claim 4, further comprising a power unit drivingly connected to the connection plate (22) for driving the connection plate (22) to move relative to the frame (1).

8. Logistics vehicle according to claim 1, wherein the powered climbing telescopic assembly (2) is provided on both opposite sides of the frame (1).

9. A logistics system, characterized by comprising the climbing rail assembly (4) and the logistics vehicle of any one of claims 1 to 8, wherein the climbing rail assembly (4) is vertically arranged, and the logistics vehicle is configured to be movable along the climbing rail assembly (4).

Technical Field

The present disclosure relates to a logistics vehicle and a logistics system.

Background

The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The power supply of the sliding contact line is commonly used for moving equipment, such as logistics equipment of shuttle cars, cross belt sorting lines, stackers and the like, and has the advantages of high current, stability, reliability and large stroke, and the specific application form is as follows: the trolley line is arranged on a fixed part such as a goods shelf, a machine body and a track assembly, the current collector is arranged on a vehicle body or a moving part, the moving track of the vehicle body or the moving part is consistent with the arrangement shape of the trolley line, and the electric brush of the current collector is always in contact with the conductor of the trolley line, so that continuous power supply is ensured.

The partial equipment can cut off the sliding contact line on the partial motion track because the partial motion track is complex and does not need to supply power, the electric brush of the current collector is separated from the sliding contact line, and the sliding contact line is installed and connected with the current collector after the partial equipment reaches a simple route to ensure power supply.

When the logistics vehicle capable of climbing supplies power by adopting the sliding contact line, the power supply mode is discontinuous, the electric brush of the collector and the sliding contact line can be frequently separated or combined, and the related technology known by the inventor realizes the joint and separation action of the electric brush of the collector and the sliding contact line by driving the collector to do reciprocating linear motion through a small rotating motor and driving a crank connecting rod structure to drive the collector.

The power climbs flexible subassembly and the telescopic electric installation of getting among the correlation technique has solitary power supply separately, and both are synchronous flexible in work, and telescopic electric installation of getting's power demand is very little, structural power supply that can share, consequently, correlation technique is redundant in power design, structure and control are more complicated, and telescopic electric installation of getting's stroke need adjust small-size rotating electrical machines's rotation angle, increase the work load of follow-up volume production motorcycle type assembly and debugging, be unfavorable for the uniformity of product.

Disclosure of Invention

One technical problem to be solved by the present disclosure is: the logistics vehicle and the logistics system can simplify the structure and save the cost.

According to some embodiments of the present disclosure, there is provided a logistics vehicle, comprising: a frame; the power climbing telescopic assembly is movably arranged on the frame and comprises a climbing wheel, the climbing wheel is configured to extend and retract relative to the frame, and in the extending state, the climbing wheel is matched with the vertically arranged climbing track assembly so that the logistics vehicle moves along the climbing track assembly; the telescopic electricity taking assembly is movably arranged on the frame; the telescopic electricity taking assembly is matched with the climbing rail assembly to take electricity in an extending state; the telescopic electricity taking assembly comprises a support guide rail, a sliding block and a current collector; the supporting guide rail is movably arranged on the vehicle frame, the sliding block is movably arranged on the supporting guide rail, the current collector is arranged on the sliding block, and the sliding block is in operable connection with the vehicle frame so that when the supporting guide rail extends and retracts relative to the vehicle frame, the sliding block can synchronously extend and retract relative to the supporting guide rail.

In some embodiments, the telescopic electricity taking assembly further comprises a spring, a first connecting rod, a second connecting rod and a roller, one end of the second connecting rod is hinged to the front end of the supporting guide rail, the other end of the second connecting rod is hinged to one end of the first connecting rod, the roller is coaxially installed at the hinged position, the other end of the first connecting rod is hinged to the rear end of the sliding block, a current collector is installed at the front end of the sliding block, the spring is installed between the rear end of the supporting guide rail and the sliding block, the sliding block and the current collector can do reciprocating telescopic motion along the supporting guide rail, the frame is provided with a cam track in contact with the roller, and when the telescopic electricity taking assembly is in an extending state, the roller is pressed towards the cam track under the action of the spring and is far away from the supporting guide rail along with the change of the surface shape of the roller, so that the sliding block and the current collector extend relative to the supporting guide rail; when the telescopic electricity taking assembly is in a retracting state, the cam track presses the roller wheel to a position close to the support guide rail, so that the sliding block and the current collector retract relative to the support guide rail.

In some embodiments, the contact surface of the cam track with the roller is configured as a ramp.

In some embodiments, the power climbing telescopic assembly comprises an upper guide shaft, a lower guide shaft, an upper guide wheel and a connecting plate, wherein the upper guide shaft and the lower guide shaft are movably arranged on the vehicle frame, the upper guide wheel is arranged at one end of the upper guide shaft, the climbing wheel is arranged at one end of the lower guide shaft, and the other end of the upper guide shaft and the other end of the lower guide shaft are connected with the same side of the connecting plate.

In some embodiments, the support guide rail is fixedly arranged on the connecting plate and is positioned between the upper guide shaft and the lower guide shaft and is positioned at the same side of the upper guide shaft and the lower guide shaft.

In some embodiments, the power climbing telescopic assembly further comprises an upper guide sleeve and a lower guide sleeve fixedly arranged on the frame, and the upper guide shaft and the lower guide shaft are movably arranged through the upper guide sleeve and the lower guide sleeve respectively.

In some embodiments, the vehicle further comprises a power component, and the power component is in driving connection with the connecting plate so as to drive the connecting plate to move relative to the vehicle frame.

In some embodiments, powered climbing telescoping assemblies are provided on opposite sides of the frame.

According to some embodiments of the present disclosure, a logistics system is provided, which includes a climbing rail assembly and the aforementioned logistics vehicle, wherein the climbing rail assembly is vertically arranged, and the logistics vehicle is configured to move along the climbing rail assembly.

In the technical scheme of the disclosure, the slider and the frame are in operable connection, so that when the support guide rail extends out and retracts relative to the frame, the slider can synchronously extend out and retract relative to the support guide rail, a passive telescopic mode is adopted, a power source for driving the slider is omitted, the structure and the control are simplified, the cost is saved, and the practicability is higher.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic perspective view of some embodiments of a logistics cart of the present disclosure;

FIG. 2 is a schematic illustration of the retraction of the climbing wheel and the telescopic power take-off assembly relative to the frame in some embodiments of the disclosed logistics vehicle;

fig. 3 is a schematic structural view of a telescopic electricity taking assembly in a retracting state in some embodiments of the logistics vehicle disclosed by the disclosure;

FIG. 4 is a schematic illustration of the extension of the climbing wheel and the telescopic power take-off assembly relative to the frame in some embodiments of the logistics vehicle of the present disclosure;

FIG. 5 is a schematic structural view of a telescopic electricity-taking assembly in an extended state in some embodiments of the logistics vehicle of the present disclosure;

figure 6 is a cross-sectional schematic view of a climbing rail assembly in some embodiments of the logistics system of the present disclosure;

FIG. 7 is a schematic cross-sectional view of a logistics vehicle not moving in coordination with a climbing rail assembly in some embodiments of the logistics system of the present disclosure;

fig. 8 is a schematic cross-sectional view of a logistics vehicle moving in coordination with a climbing rail assembly in some embodiments of the logistics system of the present disclosure.

Description of the reference numerals

1. A frame; 2. a powered climbing telescoping assembly; 3. a telescopic electricity taking assembly; 4. a climbing rail assembly; 11. a wheel; 12. an upper guide sleeve; 13. a lower guide sleeve; 14. a cam track; 21. a lower guide shaft; 22. a connecting plate; 23. an upper guide shaft; 24. an upper guide wheel; 25. a climbing wheel; 31. supporting the guide rail; 32. a spring; 33. a first link; 34. a second link; 35. a slider; 36. a current collector; 37. a roller; 41. a column; 42. a climbing rack; 43. a guide strip; 44. a trolley line.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be intervening devices between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, the particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.

All terms used in the present disclosure have the same meaning as understood by one of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

With reference to fig. 1 to 8, a logistics vehicle according to some embodiments of the present disclosure includes: the power climbing electric vehicle comprises a vehicle frame 1, a power climbing telescopic assembly 2 and a telescopic electricity taking assembly 3; the power climbing telescopic assembly 2 is movably arranged on the frame 1 and comprises a climbing wheel 25, the climbing wheel 25 is configured to be capable of extending out and retracting relative to the frame 1, and in the extending state, the climbing wheel 25 is matched with the vertically arranged climbing track assembly 4 so that the logistics vehicle moves along the climbing track assembly 4; the telescopic electricity taking assembly 3 is movably arranged on the frame 1 and is configured to be synchronously extended and retracted relative to the frame 1 with the climbing wheel 25, and in the extended state, the telescopic electricity taking assembly 3 is matched with the climbing track assembly 4 to take electricity; the telescopic electricity taking assembly 3 comprises a support guide rail 31, a sliding block 35 and a current collector 36; the support rail 31 is movably disposed on the vehicle frame 1, the slider 35 is movably disposed on the support rail 31, the current collector 36 is disposed on the slider 35, and the slider 35 is operatively connected to the vehicle frame 1 such that the slider 35 can be synchronously extended and retracted relative to the support rail 31 when the support rail 31 is extended and retracted relative to the vehicle frame 1.

In the illustrated embodiment, the slider 35 can be synchronously extended and retracted relative to the support rail 31 when the support rail 31 is extended and retracted relative to the vehicle frame 1 by forming the operable connection between the slider 35 and the vehicle frame 1, so that the current collector 36 can be further extended to take electricity along with the extension of the support rail 31.

The frame 1 is a supporting part of the logistics vehicle, in some embodiments, as shown in fig. 1, each logistics vehicle is provided with 2 or more sets of power climbing telescopic assemblies 2 which are symmetrically distributed on the left side and the right side of the vehicle body, in some embodiments, the power climbing telescopic assemblies 2 are arranged on two opposite sides of the frame 1, and the power climbing telescopic assemblies 2 can do telescopic motion along the left direction and the right direction of the vehicle body; the telescopic electricity taking assembly 3 is arranged on the power climbing telescopic assembly 2; the climbing rail assemblies 4 are mounted vertically with respect to a horizontal plane, in the same number as the powered climbing retraction assemblies 2, and in some embodiments, the climbing wheels 25 are climbing gears.

With respect to how the operative connection of the slider 35 to the frame 1 is achieved, in some embodiments, referring to fig. 2 to 5, the telescopic power-taking assembly 3 further includes a spring 32, a first connecting rod 33, a second connecting rod 34 and a roller 37, one end of the second connecting rod 34 is hinged to the front end of the supporting guide rail 31, the other end of the second connecting rod is hinged to one end of the first connecting rod 33, the roller 37 is coaxially installed at the hinged position, the other end of the first connecting rod 33 is hinged to the rear end of a sliding block 35, a current collector 36 is installed at the front end of the sliding block 35, the spring 32 is installed between the rear end of the supporting guide rail 31 and the sliding block 35, the sliding block 35 and the current collector 36 can perform reciprocating telescopic motion along the supporting guide rail 31, the frame 1 is provided with a cam rail 14 contacting with the roller 37, it should be noted that "front end" in this document refers to an end close to the current collector 36, and "rear end" refers to an end away from the current collector 36.

As shown in fig. 4 and 5, in the extended state of the telescopic power take-off assembly 3, the roller 37 is pressed against the cam rail 14 by the spring 32 and moves away from the support rail 31 as the surface shape changes, so that the slider 35 and the current collector 36 are extended relative to the support rail 31; as shown in fig. 2 and 3, when the telescopic power take-up assembly 3 is in the retracted state, the cam rail 14 presses the roller 37 to a position close to the support rail 31, so that the slider 35 and the current collector 36 are retracted relative to the support rail 31, and the spring 32 is compressed.

In some embodiments, as shown in fig. 2 and 4, the contact surface of the cam track 14 and the roller 37 is configured as an inclined surface, which facilitates the cam track 14 to contact and act on the roller 37, and has high feasibility.

The telescopic stroke of the telescopic electricity taking assembly 3 can be adjusted according to the shape and the size of the cam track 14, and once the telescopic electricity taking assembly is adjusted, the telescopic electricity taking assembly can be shaped, so that the workload of subsequent production and debugging can be reduced, and the consistency of products is ensured.

In other embodiments, different from the previous embodiments, one end of the second link 34 is hinged to the front end of the sliding block 35, the other end is hinged to one end of the first link 33, a roller 37 is coaxially installed at the hinged position, the other end of the first link 33 is hinged to the rear end of the supporting rail 31, a spring 32 is installed between the front end of the supporting rail 31 and the sliding block 35, and in the extended state of the telescopic power taking assembly 3, the cam rail 14 presses the roller 37 to a position close to the supporting rail 31, so that the sliding block 35 and the current collector 36 are extended relative to the supporting rail 31, and the spring 32 is extended; in the retracted state of the telescopic power take-up assembly 3, the roller 37 is pressed toward the cam rail 14 by the elastic restoring force of the spring 32 and moves away from the support rail 31 as the surface shape thereof changes, so that the slider 35 and the current collector 36 are retracted with respect to the support rail 31. In this embodiment, the slope of the cam track 14 in contact with the roller 37 is in the opposite direction to that of the previous embodiment.

In some embodiments, as shown in fig. 2 and 4, the power climbing telescopic assembly 2 includes an upper guide shaft 23, a lower guide shaft 21, an upper guide wheel 24 and a connecting plate 22, wherein the upper guide shaft 23 and the lower guide shaft 21 are both movably disposed on the frame 1, the upper guide wheel 24 is disposed at one end of the upper guide shaft 23, the climbing wheel 25 is disposed at one end of the lower guide shaft 21, one end of the lower guide shaft 21 is provided with the wheel 11, and the other end of the upper guide shaft 23 and the other end of the lower guide shaft 21 are both connected with the same side of the connecting plate 22.

In some embodiments, as shown in fig. 2 and 4, the support rail 31 is fixedly disposed on the connecting plate 22 between the upper guide shaft 23 and the lower guide shaft 21 and on the same side of the lower guide shaft 21 and the upper guide shaft 23, so that the telescopic electricity taking assembly 3 and the climbing wheel 25 can be synchronously extended and retracted relative to the vehicle frame 1.

As shown in fig. 2 and 4, in some embodiments, the power climbing telescopic assembly 2 further includes an upper guide sleeve 12 and a lower guide sleeve 13 fixedly disposed on the frame 1, and an upper guide shaft 23 and a lower guide shaft 21 are movably disposed through the upper guide sleeve 12 and the lower guide sleeve 13, respectively, so as to facilitate the extension and contraction of the upper guide shaft 23 and the lower guide shaft 21 relative to the frame 1.

In some embodiments, the logistics cart further comprises a power component that drives the connecting link 22 to drive the connecting link 22 to move relative to the frame 1.

According to some embodiments of the present disclosure, a logistics system is provided, which includes a climbing rail assembly 4 and the aforementioned logistics vehicle, wherein the climbing rail assembly 4 is vertically disposed, and the logistics vehicle is configured to be movable along the climbing rail assembly 4. The logistics system accordingly has the beneficial technical effects.

As shown in fig. 6-8, in some embodiments, the climbing rail assembly 4 includes a mast 41, a climbing rack 42, a guide bar 43, and a trolley line 44.

When the logistics vehicle is converted from horizontal movement to vertical climbing movement, the current collector 36 needs to be placed at a proper position and well contacted with the sliding contact line 44, and when the logistics vehicle moves horizontally, the current collector 36 is retracted and placed in the vehicle body to prevent foreign objects from being scraped during movement.

As shown in fig. 2 and 7, when the logistics vehicle moves horizontally, the power climbing telescopic assembly 2 is in a retraction state, and as shown in fig. 2 and 3, the roller 37 of the telescopic electricity taking assembly 3 is in contact with the cam rail 14, the cam rail 14 presses the roller 37 to a position close to the support rail 31, the first connecting rod 33 and the second connecting rod 34 drive the sliding block 35 to retract into the support rail 31, the spring 32 is compressed at the same time, the current collector 36 is retracted into the vehicle body, and the mutual positions of the power climbing telescopic assembly 2 and the telescopic electricity taking assembly 3 are shown in fig. 2.

When the logistics vehicle needs to climb, as shown in fig. 4 and 8, the power climbing telescopic assembly 2 extends out of the vehicle body, the upper guide wheel 24 and the climbing wheel 25 extend into the climbing track assembly 4, the climbing wheel 25 is meshed with the climbing rack 42, and the upper guide wheel 24 is matched with the guide strip 43 to support, limit and guide the movement of the logistics vehicle in the vertical direction. Meanwhile, the telescopic electricity taking assembly 3 climbs along with the power to extend out of the vehicle body from the telescopic assembly 2, the roller 37 is pressed to the cam track 14 under the action of the spring 32 and is away from the position of the support guide rail 31 along with the change of the surface shape of the cam track, and the slide block 35 drives the current collector 36 to extend out of the vehicle together under the combined action of the first connecting rod 33, the second connecting rod 34 and the spring 32 until the current collector 36 is in good contact with the trolley line 44, so that the power supply of the vehicle body is ensured. After climbing is finished, the power climbing telescopic assembly 2 and the telescopic electricity taking assembly 3 are retracted.

Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.