阅读说明：本技术 一种垂直起降无人机旋翼臂收放机构 (Rotor arm retracting mechanism of vertical take-off and landing unmanned aerial vehicle ) 是由 李昌 于 2019-12-06 设计创作，主要内容包括：本发明公开了一种垂直起降无人机旋翼臂收放机构,包括固定翼,所述固定翼的下表面固定安装有固定座,且固定翼上开设有空腔,所述固定翼上位于空腔中固定安装有第一伺服电机,且第一伺服电机上转动设置有丝杆。本发明所述的一种垂直起降无人机旋翼臂收放机构,通过设置的第一伺服电机、丝杆等结构,可以有效的度旋翼以及相关结构进行收纳,保证在采用固定翼飞行时旋翼等结构不会产生影响,提高了无人机飞行时的启动性,提高了续航能力,采用缓冲结构,可以在收纳旋翼的时候形成有效的缓冲,保证旋翼收纳后的稳定性,通过增设的卡位结构,在伸缩结构收纳到固定座中后,可以对收缩结构进行限位,保证收缩精准性。(The invention discloses a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle, which comprises a fixed wing, wherein a fixed seat is fixedly arranged on the lower surface of the fixed wing, a cavity is formed in the fixed wing, a first servo motor is fixedly arranged in the cavity on the fixed wing, and a screw rod is rotatably arranged on the first servo motor. According to the rotor arm retracting mechanism of the vertical take-off and landing unmanned aerial vehicle, the rotor and related structures can be effectively retracted through the arranged structures such as the first servo motor and the lead screw, the rotor and the like are guaranteed not to be affected when the fixed wing flies, the starting performance of the unmanned aerial vehicle during flying is improved, the endurance is improved, the buffer structure is adopted, effective buffer can be formed when the rotor is retracted, the stability of the retracted rotor is guaranteed, and the retracting structure can be limited after the telescopic structure is retracted into the fixing base through the additionally arranged clamping structure, so that the retracting accuracy is guaranteed.)

1. The utility model provides a VTOL unmanned aerial vehicle rotor arm jack which characterized in that: comprises a fixed wing (1), a fixed seat (2) is fixedly arranged on the lower surface of the fixed wing (1), a cavity is formed in the fixed wing (1), a first servo motor (3) is fixedly arranged in the cavity on the fixed wing (1), a screw rod (4) is arranged on the first servo motor (3) in a rotating mode, a fixed sleeve (5) is fixedly arranged on the fixed wing (1), a lifting frame (6) is arranged in the fixed sleeve (5), the lower end of the screw rod (4) is arranged in the lifting frame (6), the screw rod (4) is connected with the lifting frame (6) in a threaded mode, a rotating structure (7) is fixedly arranged at the lower end of the lifting frame (6), an expansion structure (8) is arranged on the rotating structure (7), a rotator (9) is fixedly arranged at the tail end of the expansion structure (8), and a rotor (10) is arranged on the rotator (9), offer on stationary vane (1) and be used for accomodating groove (11) of accomodating rotor (10), and lie in on stationary vane (1) and accomodate groove (11) internal fixation and have buffer structure (12), be equipped with cushion (13) on buffer structure (12), be equipped with screens structure (14) on fixing base (2).

2. The vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism according to claim 1, wherein: the fixing seat (2) is provided with a containing cavity for containing the rotating structure (7), the clamping structure (14) is located in the containing cavity on the fixing seat (2), and the clamping structure (14) is fixedly connected with the fixing seat (2) in a connecting mode.

3. The vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism according to claim 1, wherein: the rotating structure (7) comprises a fixed block (701), a second servo motor (702), a rotating shaft (703), a contact block (704), a rotating seat (705), a sliding block (706) and a ball (707), wherein the second servo motor (702) is fixedly installed in the fixed block (701), the rotating shaft (703) is arranged on the second servo motor (702), the contact block (704) is fixedly installed on the fixed block (701), and the rotating seat (705) is fixedly connected with the rotating shaft (703).

4. The vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism according to claim 3, wherein: the contact block (704) is provided with an annular groove, the lower surface of the rotating seat (705) is fixedly provided with a sliding block (706), the sliding block (706) is located in the annular groove on the contact block (704), the sliding block (706) is provided with a ball (707), and the ball (707) is rotatably connected with the sliding block (706).

5. The vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism according to claim 1, wherein: the telescopic structure (8) comprises a fixing rod (801), a supporting frame (802), an electric push rod (803), an expansion rod (804), a movable rod (805) and a connecting plate (806), wherein the supporting frame (802) is fixedly arranged inside the fixing rod (801), the electric push rod (803) is connected inside the fixing rod (801) through the supporting frame (802), the expansion rod (804) is arranged on the electric push rod (803), one end of the movable rod (805) is located inside the fixing rod (801), the connecting plate (806) is fixedly arranged inside the movable rod (805), and the connecting plate (806) is fixedly connected with the tail end of the expansion rod (804).

6. The vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism according to claim 1, wherein: buffer structure (12) include fixed column (1201), cushion rod (1202), buffer board (1203), adapter sleeve (1204) and spring (1205), fixed column (1201) are fixed in on stationary vane (1), and the inside of fixed column (1201) is provided with cushion rod (1202), swing joint between buffer rod (1202) and fixed column (1201), fixed surface installs adapter sleeve (1204) on the buffer board (1203), and adapter sleeve (1204) cover locates the lower extreme of buffer rod (1202), fixed connection between buffer rod (1202) and buffer board (1203), be located on buffer board (1203) and be provided with spring (1205) in adapter sleeve (1204), and the upper end of spring (1205) is connected on fixed column (1201), spring (1205) cover is located outside buffer rod (1202).

7. The vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism according to claim 1, wherein: clamping structure (14) include cylinder (1401), connecting block (1402), fixed fritter (1403), shell fragment (1404), fixture block (1405) and rubber pad (1406), the inside of cylinder (1401) is provided with connecting block (1402), and the upper end fixed mounting of connecting block (1402) has fixed fritter (1403), be equipped with shell fragment (1404) on fixed fritter (1403), and the upper end of shell fragment (1404) is connected on cylinder (1401), the lower extreme fixed mounting of connecting block (1402) has fixture block (1405), and has seted up the recess on fixture block (1405), it has rubber pad (1406) to lie in recess fixed mounting on fixture block (1405).

8. The vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism according to claim 1, wherein: the connection mode between fixing base (2) and stationary vane (1) is the welding, be provided with driving motor in circulator (9), and fixed connection between driving motor's motor shaft and rotor (10).

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle.

Background

An unmanned aircraft is called an unmanned aerial vehicle for short, and is called a UAV in english, and is an unmanned aircraft operated by a radio remote control device and a self-contained program control device, or is operated by an onboard computer completely or intermittently and autonomously, and an unmanned aerial vehicle is a general name of an unmanned aerial vehicle, and can be defined as follows from the technical point of view: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paravane, etc. Compared with a manned airplane, the unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, convenient use, low requirement on the operational environment, strong battlefield viability and the like; among the current unmanned aerial vehicle, for the convenience use of taking off etc., the majority adopts the mixed wing to go up and down and fly, and the stationary vane combines together with the rotor and uses promptly, and the relevant problem that appears in the lift that this kind of structure can effectual solution unmanned aerial vehicle and the flight, but among the current mixed wing unmanned aerial vehicle, the rotor can not be accomodate, has certain limitation when using with the stationary vane cooperation, can influence the startability when unmanned aerial vehicle flies, and duration is relatively poor.

Disclosure of Invention

The invention mainly aims to provide a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle, which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

a rotor arm retraction mechanism of a vertical take-off and landing unmanned aerial vehicle comprises a fixed wing, wherein a fixed seat is fixedly arranged on the lower surface of the fixed wing, a cavity is formed in the fixed wing, a first servo motor is fixedly arranged in the cavity on the fixed wing, a lead screw is rotatably arranged on the first servo motor, a fixed sleeve is fixedly arranged on the fixed wing, a lifting frame is arranged in the fixed sleeve, the lower end of the lead screw is positioned in the lifting frame, the lead screw is in threaded connection with the lifting frame, a rotating structure is fixedly arranged at the lower end of the lifting frame, a telescopic structure is arranged on the rotating structure, a rotator is fixedly arranged at the tail end of the telescopic structure, a rotor is arranged on the rotator, an accommodating groove for accommodating the rotor is formed in the fixed wing, a buffer structure is fixedly arranged in the accommodating groove on the fixed wing, and an elastic cushion is arranged on the, the fixing seat is provided with a clamping structure.

Preferably, the fixing base is provided with a containing cavity for containing the rotating structure, the clamping structure is located in the containing cavity on the fixing base, and the clamping structure is fixedly connected with the fixing base in a connecting mode.

Preferably, revolution mechanic includes fixed block, second servo motor, pivot, contact piece, rotates seat, slider and ball, fixed mounting has second servo motor in the fixed block, and is equipped with the pivot on the second servo motor, fixed mounting has contact piece on the fixed block, rotate fixed connection between seat and the pivot.

Preferably, the contact block is provided with an annular groove, the lower surface of the rotating seat is fixedly provided with a sliding block, the sliding block is located in the annular groove on the contact block, and the sliding block is provided with a ball which is rotatably connected with the sliding block.

Preferably, extending structure includes dead lever, support frame, electric putter, telescopic link, movable rod and connecting plate, the inside fixed mounting of dead lever has the support frame, and the inside of dead lever is connected with electric putter through the support frame, the last telescopic link that is provided with of electric putter, the one end of movable rod is located the inside of dead lever, and the inside fixed mounting of movable rod has the connecting plate, the terminal fixed connection of connecting plate and telescopic link.

Preferably, the buffer structure comprises a fixed column, a buffer rod, a buffer board, a connecting sleeve and a spring, the fixed column is fixed on the fixed wing, the buffer rod is arranged inside the fixed column, the buffer rod is movably connected with the fixed column, the connecting sleeve is fixedly arranged on the upper surface of the buffer board and is sleeved at the lower end of the buffer rod, the buffer rod is fixedly connected with the buffer board, the spring is arranged in the connecting sleeve on the buffer board, the upper end of the spring is connected onto the fixed column, and the spring sleeve is arranged outside the buffer rod.

Preferably, the clamping structure includes cylinder, connecting block, fixed fritter, shell fragment, fixture block and rubber pad, the cylindrical inside is provided with the connecting block, and the upper end fixed mounting of connecting block has fixed fritter, be equipped with the shell fragment on the fixed fritter, and the upper end of shell fragment is connected on the cylinder, the lower extreme fixed mounting of connecting block has the fixture block, and sets up flutedly on the fixture block, it has the rubber pad to lie in fixed mounting in the recess on the fixture block.

Preferably, the connection mode between fixing base and the stationary vane is the welding, be provided with driving motor in the circulator, and fixed connection between driving motor's motor shaft and the rotor.

Compared with the prior art, the invention has the following beneficial effects: the rotor arm retracting mechanism of the vertical take-off and landing unmanned aerial vehicle is matched with a rotating structure and a telescopic structure for use through the arranged structures such as the first servo motor and the lead screw, can effectively retract the rotor and the related structures, ensures that the rotor and the like cannot generate influence when the fixed wing is adopted for flying, improves the starting performance of the unmanned aerial vehicle during flying, and improves the cruising ability;

by adopting the buffering structure, effective buffering can be formed when the rotor wing is stored, the stability of the stored rotor wing is ensured, and meanwhile, the rotor wing can be protected to a certain extent;

through the screens structure who adds, after the fixing base is accomodate to extending structure, can carry on spacingly to extending structure, guarantee the accurate nature of shrink, improved the stability after the shrink simultaneously, strengthened the result of use.

Drawings

Fig. 1 is a schematic overall structure diagram of a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle according to the present invention;

fig. 2 is a schematic diagram of an internal structure of a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle according to the present invention;

fig. 3 is a schematic structural diagram of a rotary structure of a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle according to the present invention;

fig. 4 is a schematic structural diagram of a telescopic structure of a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle according to the present invention;

fig. 5 is an enlarged view of a rotor arm retracting mechanism a of a vertical take-off and landing unmanned aerial vehicle according to the present invention;

fig. 6 is a schematic structural diagram of a clamping structure of a rotor arm retracting mechanism of a vertical take-off and landing unmanned aerial vehicle.

In the figure: 1. a fixed wing; 2. a fixed seat; 3. a first servo motor; 4. a screw rod; 5. fixing a sleeve; 6. a lifting frame; 7. a rotating structure; 701. a fixed block; 702. a second servo motor; 703. a rotating shaft; 704. a contact block; 705. a rotating seat; 706. a slider; 707. a ball bearing; 8. a telescopic structure; 801. fixing the rod; 802. a support frame; 803. an electric push rod; 804. a telescopic rod; 805. a movable rod; 806. a connecting plate; 9. a rotator; 10. a rotor; 11. a receiving groove; 12. a buffer structure; 1201. fixing a column; 1202. a buffer rod; 1203. a buffer plate; 1204. connecting sleeves; 1205. a spring; 13. an elastic pad; 14. a clamping structure; 1401. a cylinder; 1402. connecting blocks; 1403. fixing the small blocks; 1404. a spring plate; 1405. a clamping block; 1406. and (7) a rubber pad.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1-6, a vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism comprises a fixed wing 1, a fixed seat 2 is fixedly installed on the lower surface of the fixed wing 1, a cavity is formed on the fixed wing 1, a first servo motor 3 is fixedly installed on the fixed wing 1 in the cavity, a screw rod 4 is rotatably installed on the first servo motor 3, a fixed sleeve 5 is fixedly installed on the fixed wing 1, a lifting frame 6 is arranged in the fixed sleeve 5, the lower end of the screw rod 4 is located in the lifting frame 6, the screw rod 4 is in threaded connection with the lifting frame 6, a rotary structure 7 is fixedly installed at the lower end of the lifting frame 6, a telescopic structure 8 is arranged on the rotary structure 7, a rotator 9 is fixedly installed at the tail end of the telescopic structure 8, a rotor wing 10 is arranged on the rotator 9, a retraction groove 11 for accommodating the rotor wing 10 is formed on the fixed wing 1, and a buffer structure 12 is fixedly installed on the fixed, the buffer structure 12 is provided with an elastic cushion 13, and the fixed seat 2 is provided with a clamping structure 14;

the fixed seat 2 is provided with a containing cavity for containing the rotating structure 7, the clamping structure 14 is positioned in the containing cavity on the fixed seat 2, and the clamping structure 14 is fixedly connected with the fixed seat 2; the rotating structure 7 comprises a fixed block 701, a second servo motor 702, a rotating shaft 703, a contact block 704, a rotating seat 705, a sliding block 706 and a ball 707, wherein the second servo motor 702 is fixedly installed in the fixed block 701, the rotating shaft 703 is arranged on the second servo motor 702, the contact block 704 is fixedly installed on the fixed block 701, and the rotating seat 705 is fixedly connected with the rotating shaft 703; an annular groove is formed in the contact block 704, a sliding block 706 is fixedly mounted on the lower surface of the rotating seat 705, the sliding block 706 is located in the annular groove in the contact block 704, a ball 707 is arranged on the sliding block 706, and the ball 707 is rotatably connected with the sliding block 706; the telescopic structure 8 comprises a fixed rod 801, a support frame 802, an electric push rod 803, a telescopic rod 804, a movable rod 805 and a connecting plate 806, the support frame 802 is fixedly installed inside the fixed rod 801, the electric push rod 803 is connected inside the fixed rod 801 through the support frame 802, the telescopic rod 804 is arranged on the electric push rod 803, one end of the movable rod 805 is located inside the fixed rod 801, the connecting plate 806 is fixedly installed inside the movable rod 805, and the connecting plate 806 is fixedly connected with the tail end of the telescopic rod 804; the buffer structure 12 comprises a fixed column 1201, a buffer rod 1202, a buffer plate 1203, a connecting sleeve 1204 and a spring 1205, the fixed column 1201 is fixed on the fixed wing 1, the buffer rod 1202 is arranged inside the fixed column 1201, the buffer rod 1202 is movably connected with the fixed column 1201, the connecting sleeve 1204 is fixedly arranged on the upper surface of the buffer plate 1203, the connecting sleeve 1204 is sleeved at the lower end of the buffer rod 1202, the buffer rod 1202 is fixedly connected with the buffer plate 1203, the spring 1205 is arranged in the connecting sleeve 1204 on the buffer plate 1203, the upper end of the spring 1205 is connected to the fixed column 1201, and the spring 1205 is sleeved outside the buffer rod 1202; the clamping structure 14 comprises a cylinder 1401, a connecting block 1402, a small fixing block 1403, an elastic sheet 1404, a clamping block 1405 and a rubber pad 1406, wherein the connecting block 1402 is arranged inside the cylinder 1401, the small fixing block 1403 is fixedly installed at the upper end of the connecting block 1402, the elastic sheet 1404 is arranged on the small fixing block 1403, the upper end of the elastic sheet 1404 is connected onto the cylinder 1401, the clamping block 1405 is fixedly installed at the lower end of the connecting block 1402, a groove is formed in the clamping block 1405, and the rubber pad 1406 is fixedly installed in the groove on the clamping block 1405; the connection mode between the fixed seat 2 and the fixed wing 1 is welding, a driving motor is arranged in the rotator 9, and a motor shaft of the driving motor is fixedly connected with the rotor wing 10.

It should be noted that, the invention is a vertical take-off and landing unmanned aerial vehicle rotor arm retraction mechanism, when in use, a related structure is assembled on an unmanned aerial vehicle, the unmanned aerial vehicle is charged, until a storage battery on the unmanned aerial vehicle is fully charged, related parameters are set by using a computer, the parameters are led into a central control system of the unmanned aerial vehicle, then the unmanned aerial vehicle is started to use, when the unmanned aerial vehicle is used, the central control system starts to work, the central control system starts the related structure under the instruction of the set parameters, the storage battery starts to discharge to provide power for the related structure, at the moment, a first servo motor 3 in a fixed wing 1 starts to work, the first servo motor 3 drives a screw rod 4 to rotate for a certain number of turns, so that a lifting frame 6 descends along the screw rod 4 and moves in a fixed sleeve 5, and further drives structures such as a rotating structure 7 and a telescopic structure 8, until the rotary structure 7 and the telescopic structure 8 move out of the containing cavity on the fixed seat 2, the rotor 10 and the rotator 9 move out of the containing groove 11, then the rotary structure 7 and the telescopic structure 8 start to work under the control of a central control system, when the rotary structure 7 works, the second servo motor 702 in the fixed block 701 works and rotates, the rotating shaft 703 is driven by the second servo motor 702 to rotate, because the upper end of the rotating shaft 703 is fixedly connected with the rotating seat 705, when the rotating shaft 703 rotates, the second servo motor 702 rotates relative to the rotating seat 705, further the telescopic structure 8, the rotator 9 and the rotor 10 are driven to rotate until the telescopic structure 8 rotates to be arranged at ninety degrees with the fixed wing 1, in the rotating process, the sliding block 706 and the rolling balls 707 rotate on the contact block 704, the rotating precision and the rotating smoothness are ensured, and the using effect of the rotary structure 7 is improved, when the rotating structure 7 works, the telescopic structure 8 also works synchronously, the electric push rod 803 on the support frame 802 in the fixed rod 801 starts to work, the electric push rod 803 enables the telescopic rod 804 to move and extend, so as to generate acting force on the connecting plate 806, under the driving of the acting force, the movable rod 805 moves and extends in the fixed rod 801 and drives the rotator 9 and the rotor 10 to move until the telescopic structure 8 extends to a set length, after the telescopic structure 8 and the fixed wing 1 are arranged at ninety degrees and adjusted to the longest position, the rotator 9 starts to work, the rotor 10 rotates at high speed under the driving of the rotator 9, the rotor 10 stirs air to generate certain lift force, under the action of the lift force, the whole unmanned aerial vehicle starts to vertically take off, after the unmanned aerial vehicle takes off to a certain height, the injection system on the unmanned aerial vehicle works to bring the unmanned aerial vehicle to advance, at the moment, the central control system switches the unmanned aerial vehicle to a fixed wing 1 state, then stores structures such as a rotor wing 10, when storing, the rotator 9 stops working, the rotor wing 10 does not rotate, the rotating structure 7 and the telescopic structure 8 work synchronously, the second servo motor 702 in the rotating structure 7 rotates reversely, so that the fixed block 701 rotates reversely relative to the rotating seat 705 until relevant mechanisms such as the fixed block 701 and the telescopic structure 8 are parallel to the fixed wing 1, meanwhile, the electric push rod 803 in the fixed rod 801 works, the telescopic rod 804 drives the connecting plate 806 and the movable rod 805 to contract under the driving of the electric push rod 803 until the telescopic structure 8 contracts to the shortest state, at the moment, the rotator 9 and the rotor wing 10 are positioned at the lower position of the storing groove 11, then, the central control system controls the first servo motor 3 to rotate reversely, and the lead screw 3 drives the lead screw 4 to rotate reversely, thereby make crane 6 rise in fixed cover 5, and then take revolution mechanic 7, telescopic structure 8 rises together, until selecting revolution mechanic 7 to rise in the chamber of accomodating on fixing base 2, telescopic structure 8 contacts with screens structure 14 this moment, rotor 10 contacts with elastic pad 13 on buffer structure 12, in the in-process of contact, elastic pad 13 atress takes buffer plate 1203 to compress spring 1205 on buffer rod 1202 together, spring 1205 has certain elasticity, and then make elastic pad 13 contact rotor 10 closely, can protect rotor 10 well, telescopic structure 8 is blocked in the recess on fixture block 1405 and contacts with rubber pad 1406, produce certain effort to fixture block 1405 simultaneously, under the promotion of effort, fixture block 1405 takes 1402 connecting block, the shell fragment in the cylinder 1401 is compressed together to fixed fritter 1403, shell fragment 1404 is compressed to have elasticity, rubber pad 1406 contacts telescopic structure 8 under the effect of elasticity, guaranteed the contact nature, improved the stability after accomodating simultaneously, strengthened the result of use, when needs are withdrawed unmanned aerial vehicle, launch rotor 10 isotructures and begin work, then adjust to corresponding state can.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.