阅读说明：本技术 火车翻车线及其空车线辅助挂钩设备 (Train overturning line and empty line auxiliary hook equipment thereof ) 是由 刘垒 王凌冰 陆高峰 李仲斌 刘志伟 张威 陈磊 彭忠 于 2020-05-25 设计创作，主要内容包括：本发明公开了一种火车翻车线空车线辅助挂钩设备,包括：识别装置；专用抓手,用于对摘钩把手施加驱动力；多维驱动装置,用于驱动专用抓手移动至摘钩把手处并用于驱动摘钩把手沿锁紧方向移动以完成挂钩操作；纵向驱动装置,用于驱动专用抓手沿轨道滑动；控制器,控制器能够根据识别装置识别的两节车厢之间空车组端部位置控制纵向驱动装置驱动,使专用抓手移动至空车组端部位置,并能够根据识别装置识别的摘钩把手位置,控制多维驱动装置驱动专用抓手按预定锁紧动作对摘钩把手进行驱动,以完成挂钩。该火车翻车线空车线辅助挂钩设备能够实现火车翻车线空车线自动化挂钩操作的问题。本发明还公开了一种火车翻车线。(The invention discloses an auxiliary hook device for an empty train line of a train rollover line, which comprises: an identification device; the special gripper is used for applying driving force to the unhooking handle; the multi-dimensional driving device is used for driving the special gripper to move to the unhooking handle and driving the unhooking handle to move along the locking direction so as to finish the hooking operation; the longitudinal driving device is used for driving the special gripper to slide along the rail; and the controller can control the longitudinal driving device to drive according to the end position of the empty wagon group between the two carriages identified by the identification device, so that the special gripper moves to the end position of the empty wagon group, and can control the multidimensional driving device to drive the special gripper to drive the unhooking handle according to the preset locking action according to the position of the unhooking handle identified by the identification device, so as to complete hooking. This train rollover line empty wagon line supplementary couple equipment can realize the problem of the automatic couple operation of train rollover line empty wagon line. The invention also discloses a train overturning line.)

1. The utility model provides a train rollover line empty wagon line supplementary couple equipment which characterized in that includes:

the identification device is used for identifying the end part of the empty vehicle group along the extending direction of the track and identifying the position of the end part unhooking handle;

the special gripper is used for applying driving force to the unhooking handle;

the multi-dimensional driving device is used for driving the special gripper to move to the unhooking handle and driving the special gripper to move so as to drive the unhooking handle to move along the unhooking direction to complete the unhooking action;

the longitudinal driving device is used for driving the special gripper to slide along the rail;

the controller can control the longitudinal driving device to drive according to the end position of the empty vehicle group identified by the identification device, so that the special gripper moves to the end position of the empty vehicle group, and can control the multi-dimensional driving device to drive the special gripper to drive the unhooking handle according to the preset unlocking direction according to the position of the unhooking handle identified by the identification device, so as to complete the unhooking operation.

2. The apparatus according to claim 1, wherein the controller is further capable of controlling the multi-dimensional driving device to drive the special gripper to move to push the coupler to rotate around the rear connecting shaft for centering after the special gripper completes the decoupling operation.

3. The train rollover line empty line auxiliary hook device according to claim 2, wherein the longitudinal driving means comprises a driving mechanism, a portal frame and two longitudinal sliding rails respectively arranged on two sides of the rail, the portal frame spans the rail, the lower end of the portal frame is respectively connected with the longitudinal sliding rails on two sides of the rail in a sliding manner, the middle part of the portal frame can allow the carriage to pass through, the driving mechanism is a traveling driving mechanism for driving the portal frame to move, and the identification means, the special gripper, the multi-dimensional driving means and the controller are all mounted on a cross beam of the portal frame.

4. The train tiplane trolley line assist hook device of claim 3, wherein the gate frame includes a staircase extending from a lower end to the cross member and the cross member has a guardrail disposed thereon.

5. The train rollover line empty line auxiliary hook apparatus according to claim 4, wherein the identification device is a machine vision device.

6. The train rollover line empty line auxiliary hook apparatus according to claim 5, wherein the dedicated hand grip is a jaw.

7. A train tippler line, comprising a shunting machine for pushing an empty car after tippler to a hook working position, characterized by further comprising the train tippler line empty car auxiliary hook device as claimed in any one of claims 1 to 6, wherein the train tippler line empty car auxiliary hook device is installed at the hook working position.

Technical Field

The invention relates to the technical field of unloading of rail cars, in particular to an auxiliary hook device for an empty car line of a train rollover line, and further relates to the train rollover line comprising the auxiliary hook device for the empty car line of the train rollover line.

Background

At present, a train tippler line and a shunting system thereof comprise a tippler body, a heavy-duty shunting machine, an empty shunting machine, a transfer platform, a wheel clamp, a one-way stopper, a safety stopper, a water-spraying dust suppression device, a control system, a hydraulic system, an electric operating room, a hydraulic station and the like. There is no automatic empty line hooking device. The train tipping line tipping of the train wagon cannot be completely automated, and the empty train wagon hook needs manual operations of unhooking, unhooking and righting, which is a main restriction condition. General mechanical equipment can not satisfy the operating mode requirement, and its difficult point lies in: the train wagon type is different from car coupler group types, and the train wagon type is divided into an old car coupler group and a new car coupler group; the train wagon type is different in unhooking mode and is divided into an upper unhooking mode and a lower unhooking mode; the positions, the shapes and the limiting modes of the pull rods are different in different unhooking modes. Secondly, the uncertain influence factors of the empty train line train wagon hook position are as follows: the length of different carriages of the train is different; the train wagon has different carrying capacity and self-weight and different inertia; the phenomenon of car sliding in different degrees can occur due to the change of the levelness of the railway line.

In conclusion, how to realize the automatic hooking of the empty train line of the train overturn line is a problem which needs to be solved urgently by the technical personnel in the field at present.

Disclosure of Invention

In view of the above, a first object of the present invention is to provide an empty wire auxiliary hooking device for a train rollover line, which can solve the problem of automatic hooking of an empty wire of a train rollover line, and a second object of the present invention is to provide a train rollover line including the above-mentioned empty wire auxiliary hooking device for a train rollover line.

A train rollover line empty line auxiliary hook device comprising: the identification device is used for identifying the end part of the empty vehicle group along the extending direction of the track and identifying the position of the end part unhooking handle; the special gripper is used for applying driving force to the unhooking handle; the multi-dimensional driving device is used for driving the special gripper to move to the unhooking handle and driving the special gripper to move so as to drive the unhooking handle to move along the unhooking direction to complete the unhooking action; the longitudinal driving device is used for driving the special gripper to slide along the rail; the controller can control the longitudinal driving device to drive according to the end position of the empty vehicle group identified by the identification device, so that the special gripper moves to the end position of the empty vehicle group, and can control the multi-dimensional driving device to drive the special gripper to drive the unhooking handle according to a preset locking action according to the position of the unhooking handle identified by the identification device, so as to complete hooking operation.

In the auxiliary hook device for the empty train line of the train rollover line, when the auxiliary hook device is applied, the auxiliary hook device is arranged at a hook position of the empty train line, and at the moment, based on the identification result of the identification device, the controller sequentially controls the longitudinal driving device and the multidimensional driving device so as to finish the actions that the special gripper moves to the unhooking handle, grabs the unhooking handle and moves to drive the unhooking handle to finish the unhooking action. In the auxiliary hooking device for the empty train line of the train rollover line, the automatic hooking action of the hooking part at the hooking position is automatically completed through the special gripper, the identification device, the multi-dimensional driving device, the longitudinal driving device and the controller, and manual operation is not needed. And the auxiliary hook device for the train rollover line empty line can effectively solve the problem that the operation of the hook for the train rollover line empty line is inconvenient due to the fact that the auxiliary hook device for the train rollover line empty line is additionally provided with the longitudinal driving device to more intelligently respond to sudden situations and more effectively ensure the completion of the hook due to the fact that the auxiliary hook device for the train rollover line empty line collides with the empty vehicle group when the upper section of single empty vehicle arrives.

Preferably, the controller can also control the multidimensional driving device to drive the special gripper to move so as to push the coupler to rotate around the rear end connecting shaft for centering after the special gripper finishes the decoupling operation.

Preferably, the longitudinal driving device comprises a driving mechanism, a door-shaped frame and two longitudinal sliding rails respectively arranged on two sides of the rail, the door-shaped frame spans the rail, the lower end of the door-shaped frame is respectively connected with the longitudinal sliding rails on two sides of the rail in a sliding mode, the middle of the door-shaped frame can enable the carriage to pass through the door-shaped frame, the driving mechanism is a traveling driving mechanism used for driving the door-shaped frame to move, and the recognition device, the special gripper, the multi-dimensional driving device and the controller are all installed on a cross beam of the door-shaped frame.

Preferably, the gate frame comprises a staircase extending from a lower end to the cross beam, and the cross beam is provided with a guardrail.

Preferably, the identification means is a machine vision device.

Preferably, the dedicated hand grip is a jaw.

In order to achieve the second purpose, the invention further provides a train turning line, which comprises any one of the train turning line and empty line auxiliary hook equipment, the train turning line further comprises a shunting machine used for pushing empty cars after turning to a hook working position, and the train turning line and empty line auxiliary hook equipment is installed at the hook working position. Because the train rollover line empty wagon line auxiliary hook device has the technical effects, the train rollover line with the train rollover line empty wagon line auxiliary hook device also has the corresponding technical effects.

Drawings

In order to more clearly illustrate the embodiments of the present invention 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 invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic top view of an auxiliary hook device for an empty train line of a train rollover line in an operating state according to an embodiment of the present invention;

fig. 2 is a schematic end face structure diagram of an auxiliary hook device for an empty train line of a train rollover line in a working state according to an embodiment of the invention;

fig. 3 is a schematic structural view of a dedicated grip portion according to an embodiment of the present invention;

fig. 4 is a schematic diagram of the coupler position structure before the two-car coupler is coupled.

The drawings are numbered as follows:

the device comprises a carriage 1, a hook working position 2, a special gripper 3, a multi-dimensional driving device 4, a longitudinal driving device 5, a door-shaped frame 6, a longitudinal sliding rail 7, a stair 8, a guardrail 9, a shunting machine 10, a recognition device 11, a hook stripping piece 12, a car coupler 13 and a coupler knuckle 14.

Detailed Description

The embodiment of the invention discloses an auxiliary hook device for an empty train line of a train rollover line, which aims to solve the problem of automatic hook of the empty train line of the train rollover line.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 4, fig. 1 is a schematic top view of an auxiliary hook device for an empty train line of a train rollover line in a working state according to an embodiment of the present invention; fig. 2 is a schematic end face structure diagram of an auxiliary hook device for an empty train line of a train rollover line in a working state according to an embodiment of the invention; fig. 3 is a schematic structural view of a dedicated grip portion according to an embodiment of the present invention; fig. 4 is a schematic diagram of the coupler position structure before the two-car coupler is coupled.

In one embodiment, the present embodiment provides an auxiliary hooking device for an empty train line of a train rollover line, which is mainly installed at the hooking work place 2 of the empty train line. The train set mainly comprises a heavy train set and an empty train set, wherein each carriage of the heavy train set is a carriage for loading cargoes, and each carriage of the empty train set is an empty carriage. For a train set, the carriages are hooked through a coupler 13, the two adjacent carriages are rotatably connected with the coupler 13, two coupler 13 coupler tongues 14 are mutually engaged to realize hooking, the coupler tongues 14 are rotatably connected with a coupler 13 body, locking parts are arranged, the mutually engaged coupler tongues 14 cannot be unhooked when the locking parts are locked, and the mutually engaged coupler tongues 14 can be separated when the locking parts are unhooked even if the locking parts move along an unlocking direction (unhooking direction). The coupler 13 is rotatably connected to the cars about a vertical axis to facilitate the connected cars to be arranged in an arc.

Wherein the train tipper line mainly comprises a heavy train line and an empty train line which are connected in sequence, on the heavy train line, each heavy train carriage 1, namely, the carriage 1 with full load goods, is connected with a coupler 13 in sequence to transmit power on a track extension line, after a heavy train group formed by each heavy train runs to a decoupling working position, the coupling between the foremost single-section carriage 1 and the carriage 1 at the rear side is decoupled, namely, a decoupling member 12 on the carriage 1 is driven to move according to the decoupling action to drive a locking member to enter an unlocking position so as to unlock the coupling, further the coupling can be separated, then the unhooked single-section carriage 1 is pushed to a tipper position of the tipper position, the tipper tippers the heavy train to pour out the internal goods, namely, the open carriage 1 with a large amount of goods is overturned to incline or invert the internal goods, and then the goods are righted again, at the moment, the heavy vehicle becomes an empty vehicle, then the overturning position is pushed out, and then the heavy vehicle is conveyed to an empty vehicle line.

In the empty train, the newly entered single-section carriage 1 needs to move to the empty train group along the track, so that the connecting end of the newly entered single-section carriage 1 enters the hook working position 2, the train adjacent to the empty train group is hooked by the coupler 13, before the new coupler of the single-section carriage 1 is connected with the coupler of the carriage at the end part of the empty train set, the coupler 13 at the end part of the empty train line needs to be unhooked through the auxiliary hook device of the empty train line of the train rollover line, so that the locking piece enters the unlocking position to unlock the coupler knuckle of the coupler 13, thereby ensuring that the knuckle of the coupler 3 of the newly-entered single-section carriage 1 can enter to realize the hook connection, when the new-entering coupler 13 of the empty car compartment impacts the coupler 3 of the uncoupling hook, the coupler tongues of the couplers can be mutually engaged, and under the impact force, the locking part returns to the locking position, so that the hook connection is locked and cannot be separated, and the hook is further realized.

The hook member 12 is a control device for controlling whether the coupler knuckle of the coupler 13 is locked, and in practical applications, the hook member 12 performs a hook releasing operation by driving a hook releasing handle of the hook member 12 to move the hook releasing handle in a hook releasing direction, so as to perform the hook releasing operation at the hook releasing position and the hook operating position 2, respectively. Generally, different hook-releasing elements 12 are required to perform different hook-releasing actions to unlock the hook connection, i.e. to release the hook. These unhooking actions may be a single rotation operation or a single translation operation, but also a superposition of several identical or different actions in sequence. Although there are a plurality of different kinds of hooks 12, the hooking action is the same for the same kind of hooks 12. And currently the types of hook elements 12 are limited. The automatic unhooking device for the heavy line mainly comprises a recognition device 11, a special gripper 3, a longitudinal driving device 5 and a controller. So as to automatically complete the integrated hooking operation from the identification of the unhooking handle to the operation of the unhooking handle.

Specifically, the special gripper 3 is used for applying a driving force to the unhooking handle, the multidimensional driving device 4 is used for driving the special gripper 3 to move in a three-dimensional space, so that the multidimensional driving device 4 can drive the special gripper 3 to move to the unhooking handle to be in butt joint with the unhooking handle so as to apply the driving force to the unhooking handle, and then the multidimensional driving device 4 can drive the special gripper 3 to move according to the unhooking action steps so as to drive the unhooking handle to move according to the preset moving steps, so that the unhooking is realized, so that the coupler knuckle of the corresponding coupler 13 is unfastened, and the matched coupler knuckle can get in and out of the coupler knuckle of the coupler 13. The device formed by combining the special gripper 3 and the multidimensional driving device 4 is generally a mechanical arm, and the multidimensional driving device 4 is mainly used for fine operation.

It should be noted here that, in the case where the dedicated hand grip 3 applies the driving force to the unhooking handle, it is not required that the driving force in each direction can be transmitted between the dedicated hand grip 3 and the unhooking handle, but at least the driving force for driving the unhooking handle to move in the unlocking direction can be transmitted. Specifically, the unhooking handle is generally in a rod shape, and the main movement in the unhooking action includes radial movement and rotation around a non-central line, wherein the rotation around the non-central line means that the unhooking handle does not rotate around a central line of the unhooking handle, but rotates around an axis which is parallel to the central line of the unhooking handle and is spaced from the central line by a certain distance, and the unhooking handle rotates along an arc line. When the locking action only comprises radial movement and non-center line rotation, the special hand grip 3 can be clamped and fixed with the unhooking handle at the moment, such as a clamping jaw, so as to transmit driving force in all directions; the special gripper 3 can also be provided with a lantern ring sleeved on the unhooking handle, the lantern ring can drive the unhooking handle to move radially and rotate along a non-central line, so that the unhooking handle can still be driven to move in sequence along the locking direction even if the sleeving connection is established, and the corresponding multidimensional driving device 4 can drive the lantern ring to be sleeved on the unhooking handle. Specifically, the connection mode between the special gripper 3 and the unhooking handle may be specifically defined according to the locking action requirement of the unhooking handle, and is subject to the completion of the locking action, that is, the completion of the hooking action, and is not specifically defined herein.

The identification device 11 is mainly used for identifying the end of the empty wagon group and the position of the end unhooking handle along the extension direction of the rail, namely, the end position of the empty wagon group is firstly specifically identified at the hook position, namely, the end position of the empty wagon group which needs to be hooked with a newly-entered single carriage, and after the empty wagon group moves to the connection point along the rail, the position of the unhooking handle needs to be further identified. The recognition device 11 may be a high-level intelligent means, and the recognition device 11 may specifically adopt a machine vision system, where the machine vision system converts a photographed target into an image signal through a machine vision product, i.e., an image pickup device, transmits the image signal to a special image processing system to obtain form information of the photographed target, and converts the form information into a digitized signal according to information such as pixel distribution, brightness, color, and the like; the image system performs various operations on these signals to extract the characteristics of the target, and further acquires the position of the target. It is needless to say that the general recognition device 11 may be, for example, for the position of the connection point between two sections of the carriages 1 in the track extending direction, the recognition device 11 may include a touch switch for abutting against the side wall of the carriage 1 or a distance detector for detecting the distance between the recognition device and the side wall of the carriage 1, when the new empty vehicle stops moving after moving to the hook position, the touch switch or the distance detector moves back and forth along the track within a predetermined stroke, when the new empty vehicle moves between the two sections of the carriages 1, because there is a large gap between the two sections of the carriages 1, the touch switch may run empty and may not touch the side wall of the carriage 1, and then the end position of the empty vehicle group is recognized, and the distance detector may not detect the side wall of the carriage 1 because of the gap, and then the end position of the empty vehicle group is. For recognizing the position of the unhooking handle, after the position of the connecting point is recognized, the position of the end surface of the carriage 1 on one side in the extending direction of the track can be defined, the relative position relation between the carriage 1 and the track is defined, the position between the unhooking handle and the carriage 1 is defined according to the characteristics of the carriage 1, the position relation between the unhooking handle and the track can be defined, and the position of the unhooking handle can be recognized. Certainly, considering that the unhooking handle generally extends transversely, the unhooking handle has a certain fault-tolerant space in the transverse direction of the rail, so that the positions of the unhooking handle in the transverse direction of the rail and the longitudinal direction of the rail can be determined, and only a touch switch needs to be arranged to identify the position of the unhooking handle in the vertical direction.

The longitudinal driving device 5 is used for driving the special gripper 3 to slide along the rail so as to drive the special gripper 3 to move to the end position of the empty wagon group, so that the special gripper 3 can unhook the unhooking piece 12 at the end of the empty wagon group.

And the controller is used for sequentially controlling the longitudinal driving device 5 and the multi-dimensional driving device 4 according to the identification result of the identification device 11 so as to finish the movement of the special gripper 3 to the unhooking handle, the gripping of the unhooking handle and the movement of the gripper handle to drive the gripper handle to finish the unhooking operation. Specifically, the controller can control the driving of the longitudinal driving device 5 according to the end position of the empty wagon group identified by the identification device 11, so that the special gripper 3 moves to the end position of the empty wagon group, but the identification device 11 may identify the end position of the empty wagon group first, and then the longitudinal driving device 5 drives the special gripper 3 to move to the end position of the empty wagon group, or the longitudinal driving device 5 drives the special gripper 3 to move until the identification device 11 identifies the end position of the empty wagon group, at this time, the longitudinal driving device 5 stops driving, at this time, the special gripper 3 is located at the end position of the empty wagon group, and of course, other types are also possible. And the controller can control the multi-dimensional driving device 4 to drive the special gripper 3 to drive the unhooking handle according to the preset unhooking action according to the position of the unhooking handle further identified by the identification device 11 so as to complete the unhooking. So that the subsequent incoming single-section carriage is hooked with the empty carriage group.

In the auxiliary hook device for the empty train line of the train rollover line, when the auxiliary hook device is applied, the auxiliary hook device is arranged at a hook position of the empty train line, and based on the identification result of the identification device 11, the controller sequentially controls the longitudinal driving device 5 and the multidimensional driving device 4 so as to finish the actions that the special gripper 3 moves to the unhooking handle, grabs the unhooking handle and moves to drive the grappling handle to finish the unhooking action. In the auxiliary hooking device for the empty train line of the train rollover line, the automatic hooking action of the hooking part 12 at a hooking position is automatically finished through the special hand grip 3, the recognition device 11, the multi-dimensional driving device 4, the longitudinal driving device 5 and the controller, and manual operation is not needed. And it is considered that when a single empty car arrives at the upper section, the empty car group is impacted, so that the position of the empty car group is changed, the longitudinal driving device 5 is added, so as to more intelligently respond to the emergency situation and more effectively ensure the completion of the hook, and therefore, the auxiliary hook device for the empty car line of the train rollover line can effectively solve the problem that the hook of the empty car line of the train is inconvenient to operate.

Furthermore, in the process of overturning, due to the overturning operation, the car coupler is easy to rotate to one end with the coupler knuckle to be transversely deviated to one side under the action of gravity, so that after the car coupler 13 to be connected of an empty car group is unlocked, the car coupler is not centered, and when a new incoming car coupler collides, if the deflection directions of the two car couplers are opposite, the two car couplers are enabled to have one ends with the coupler knuckles, the transverse deviation difference is large, and the butt joint effect of the two car couplers is poor. Based on this, the controller preferably can also control the multidimensional driving device to drive the special gripper to move so as to push the coupler to rotate around the rear end connecting shaft for centering after the special gripper completes the decoupling operation. Specifically, the position of one end of the coupler with the coupler knuckle is identified through the identification device, or the position of the coupler is obtained through the position of the uncoupling handle and the obtained position relation between the uncoupling handle and the coupler, then the position of the coupler is obtained, the controller controls the multidimensional driving device to move according to the position of the coupler so as to offset the coupler, and then the coupler is pushed to rotate relative to a carriage, so that alignment is achieved, and then the deviation between the coupler and the carriage is reduced so as to ensure that connection is completed.

Further, for convenience of driving, it is preferable that the longitudinal driving device 5 includes a driving mechanism, a door-shaped frame 6 and two longitudinal sliding rails 7 respectively disposed at two sides of the rail, wherein the door-shaped frame 6 spans the rail, and the lower end of the door-shaped frame 6 is slidably connected to the longitudinal sliding rails 7 at two sides of the rail, and the middle portion of the door-shaped frame can allow the carriage 1 to pass through, the driving mechanism is a traveling driving mechanism for driving the door-shaped frame 6 to move, and may be an electric cylinder or a traveling wheel, the specific traveling mechanism may include a traveling wheel and a driving mechanism for driving the traveling wheel to rotate, wherein the identification device 11, the special gripper 3, the multidimensional driving device 4 and the controller are all mounted on a beam of the door-shaped frame 6, the beam is a working platform, and the identification device 11 and the multidimensional driving device 4 are directly or indirectly mounted. Wherein the controller generally installs in the switch board in a centralized manner, for the convenience of overhaul, here preferred door type frame 6 includes and extends to from the lower extreme stair 8 on the crossbeam, and the border is provided with guardrail 9 around on the crossbeam to avoid the staff to fall down.

Based on the train rollover line empty line auxiliary hook device provided in the above embodiment, the invention also provides a train rollover line, which comprises any one of the train rollover line empty line auxiliary hook devices in the above embodiments, the train rollover line further comprises a shunting machine 10 for pushing an empty car after rollover to the hook working position 2, and the train rollover line empty line auxiliary hook device is installed at the hook working position 2. Because the train rollover line adopts the auxiliary hook device for the empty train line of the train rollover line in the embodiment, the beneficial effects of the train rollover line refer to the embodiment.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.