阅读说明：本技术 钢环膜片自动线 (Steel ring diaphragm transfer machine ) 是由 祖羚 李曾荣 陈圣平 于 2019-11-14 设计创作，主要内容包括：本发明公开了钢环膜片自动线,包括第一机身,所述第一机身的顶部中央位置处通过螺栓固定连接有中孔裁切激光机,且第一机身的顶部靠近中孔裁切激光机的下方位置处通过螺栓固定连接有膜片中孔激光裁切平台,所述第一机身的顶部靠近中孔裁切激光机的一侧位置处通过螺栓固定连接有钢环膜片压平机、压平3D扫描仪和压平不良回流机械手。该钢环膜片自动线,可满足市场上大部钢环膜片生产,可以提升产量,设备从原先16到22人的组装线减少至2人看设备加料和取料,极大的减少人工成本,组装精度基本达到高端膜片和要求精度,大大提升膜片质量,设备灵活性大,可同台设备满足多款产品生产。(The invention discloses a steel ring diaphragm automatic line which comprises a first machine body, wherein a middle hole cutting laser machine is fixedly connected to the center of the top of the first machine body through a bolt, a diaphragm middle hole laser cutting platform is fixedly connected to the position, close to the lower part of the middle hole cutting laser machine, of the top of the first machine body through a bolt, and a steel ring diaphragm flattening machine, a flattening 3D scanner and a flattening bad backflow mechanical arm are fixedly connected to the position, close to one side of the middle hole cutting laser machine, of the top of the first machine body through a bolt. This steel ring diaphragm transfer machine can satisfy most steel ring diaphragm production in the market, can promote output, and equipment reduces to 2 people from original 16 to 22 people's assembly line and sees that equipment is reinforced and get the material, very big reduction cost of labor, and the equipment precision reaches high-end diaphragm and requirement precision basically, promotes the diaphragm quality greatly, and equipment flexibility is big, can satisfy many kinds of product production with platform equipment.)

1. Steel ring diaphragm transfer machine, including first fuselage (1), its characterized in that: the top central point department of first fuselage (1) is through bolt fixedly connected with mesopore cutting laser machine (6), and the below position department that the top of first fuselage (1) is close to mesopore cutting laser machine (6) cuts platform (5) through bolt fixedly connected with diaphragm mesopore laser, one side position department that the top of first fuselage (1) is close to mesopore cutting laser machine (6) is through bolt fixedly connected with steel ring diaphragm flatting mill (2), 3D scanner (3) flatten and flatten bad backward flow manipulator (4), 3D scanner (3) flatten lie in steel ring diaphragm flatting mill (2) and flatten between bad backward flow manipulator (4), it lies in between 3D scanner (3) and mesopore cutting laser machine (6) to flatten bad backward flow manipulator (4), the opposite side position department that the top of first fuselage (1) is close to mesopore cutting laser machine (6) is through the automatic upset of bolt fixedly connected with frock The automatic gluing machine comprises a mechanism (7), a first automatic in-motion gluing dispenser (8) and a second automatic in-motion gluing dispenser (9), wherein the first automatic in-motion gluing dispenser (8) is positioned between a tooling automatic turnover mechanism (7) and the second automatic in-motion gluing dispenser (9), the tooling automatic turnover mechanism (7) is positioned between a mesopore cutting laser machine (6) and the first automatic in-motion gluing dispenser (8), a middle gluing visual automatic laminating machine (10) is fixedly connected to the outer wall of one side of a first machine body (1) through bolts, a second machine body (33) is fixedly connected to the position, close to the first machine body (1), of one side of the outer wall of one side of the middle gluing visual automatic laminating machine (10) through bolts, the top of the second machine body (33) is fixedly connected with a middle gluing hydraulic press (11), a first automatic front cover gluing dispenser (13) and a second automatic front cover gluing dispenser (14) through bolts, first automatic protecgulum point gum machine (13) are located between rubberizing water pressfitting machine (11) and the automatic protecgulum point gum machine of second (14), the below position department that the top of second fuselage (33) is close to well rubberizing water pressfitting machine (11) is through the automatic UV solidification platform of bolt fixedly connected with glue (12), keep away from on second fuselage (33) on one side outer wall of the automatic rigging machine of well vision (10) through the automatic rigging machine of bolt fixedly connected with protecgulum vision (15), keep away from on the automatic rigging machine of protecgulum vision (15) on one side outer wall of second fuselage (33) through bolt fixedly connected with third fuselage (30).

2. The steel ring diaphragm automation line of claim 1, wherein: the top of the third machine body (30) is fixedly connected with a front cover and a glue pressing mechanism (16) through bolts, and the top of the third machine body (30) is close to the position below the front cover and the glue pressing mechanism (16) and is fixedly connected with a front cover glue curing platform (17) through bolts.

3. The steel ring diaphragm automation line of claim 1, wherein: the top of third fuselage (30) is close to one side position department of protecgulum and glue pressing mechanism (16) and cuts platform (19) through bolt fixedly connected with frock tilting mechanism (18) and steel ring laser, frock tilting mechanism (18) are located one side that steel ring laser cut platform (19), the top of third fuselage (30) is close to steel ring laser and cuts one side position department of platform (19) and is provided with the frock turnover and snatchs (20).

4. The steel ring diaphragm automation line of claim 1, wherein: the top of third fuselage (30) is passed through bolt fixedly connected with carousel turnover diaphragm (21), and the top of third fuselage (30) is close to one side position department of carousel turnover diaphragm (21) and is connected with the carousel product through the solid fixed ring of bolt and absorbs to displacement department manipulator (22) and product frock and plastic sucking disc apart from transform transfer department (23), the carousel product absorbs to displacement department manipulator (22) and is located one side of product frock and plastic sucking disc apart from transform transfer department (23).

5. The steel ring diaphragm automation line of claim 1, wherein: the top of third fuselage (30) is close to one side position department of product frock and plastic sucking disc apart from transform transfer department (23) and gets material four joint robot (24) and plastic sucking disc automatic cycle turnover feed bin (25) automatically through bolt fixedly connected with, get material four joint robot (24) automatically and be located one side of plastic sucking disc automatic cycle turnover feed bin (25).

6. The steel ring diaphragm automation line of claim 1, wherein: the third fuselage (30) is adjacent to snatch to return line mechanism (26) and the automatic useless recovery (27) of wasting discharge of steel ring through bolt fixedly connected with waste material frock on the automatic rigging machine's of protecgulum vision one side outer wall (15), the waste material frock snatchs to return line mechanism (26) and is located the automatic one side of wasting discharge of steel ring and retrieve (27).

7. The steel ring diaphragm automation line of claim 1, wherein: the top of the first machine body (1), the top of the second machine body (33) and the top of the third machine body (30) are fixedly connected with a membrane tool backflow assembly line (28) through bolts.

8. The steel ring diaphragm automation line of claim 8, wherein: the top of diaphragm frock backward flow assembly line (28) is provided with steel ring diaphragm frock (29), the top embedding of steel ring diaphragm frock (29) has steel ring diaphragm adsorption magnet (31) and frock reference column (32), steel ring diaphragm adsorption magnet (31) are located one side of frock reference column (32).

Technical Field

The invention relates to the technical field of loudspeakers, in particular to a steel ring diaphragm automatic line.

Background

The loudspeaker is a transducer for converting an electric signal into an acoustic signal, the quality of the loudspeaker has a great influence on the sound quality, and the loudspeaker is the weakest component in the sound equipment and is the most important component for the sound effect.

The inside steel ring diaphragm of installing mostly of speaker, current steel ring diaphragm mainly is with the point gum machine, and laser machine adds the equipment of manual fit frock, and it is high to personnel's production requirement, and the manpower consumption is too big, and is inefficient.

Disclosure of Invention

The invention aims to provide an automatic line for a steel ring diaphragm, and aims to solve the problems that the steel ring diaphragm is mainly assembled by a glue dispenser, a laser machine and a manual matching tool, the requirement on personnel production is high, the labor consumption is overlarge, and the efficiency is low in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the steel ring diaphragm automatic line comprises a first machine body, wherein a center hole cutting laser machine is fixedly connected to the center position of the top of the first machine body through a bolt, a diaphragm center hole laser cutting platform is fixedly connected to the position, close to the lower position of the center hole cutting laser machine, of the top of the first machine body through a bolt, a steel ring diaphragm flattening machine, a flattening 3D scanner and a flattening poor backflow mechanical arm are fixedly connected to the position, close to one side of the center hole cutting laser machine, of the top of the first machine body through a bolt, the flattening 3D scanner is located between the steel ring diaphragm flattening machine and the flattening poor backflow mechanical arm, the flattening poor backflow mechanical arm is located between the flattening 3D scanner and the center hole cutting laser machine, a tooling automatic turnover mechanism, a first automatic in-motion dispensing machine and a second automatic in-motion dispensing machine are fixedly connected to the position, close to the other side of the center hole cutting laser machine, of the top of, the first automatic in-motion adhesive dispensing machine is positioned between the tooling automatic turnover mechanism and the second automatic in-motion adhesive dispensing machine, the tooling automatic turnover mechanism is positioned between the mesopore cutting laser machine and the first automatic in-motion adhesive dispensing machine, the outer wall of one side of the first machine body is fixedly connected with the middle adhesive vision automatic laminating machine through a bolt, the position of one side of the outer wall of one side of the middle adhesive vision automatic laminating machine, which is close to the first machine body, is fixedly connected with the second machine body through a bolt, the top of the second machine body is fixedly connected with a middle adhesive-applying hydraulic press, a first automatic front cover adhesive dispensing machine and a second automatic front cover adhesive dispensing machine through a bolt, the first automatic front cover adhesive dispensing machine is positioned between the middle adhesive-applying hydraulic press and the second automatic front cover adhesive dispensing machine, the position of the top of the second machine body, which is close to the lower part of the middle adhesive-applying hydraulic press, is fixedly connected with an, the automatic laminating machine is characterized in that the automatic laminating machine is connected with the front cover vision through a bolt fixedly on the outer wall of one side far away from the automatic laminating machine of the middle pasting vision on the second machine body, and the third machine body is connected with the front cover vision through a bolt fixedly on the outer wall of one side far away from the second machine body on the automatic laminating machine of the front cover vision.

Preferably, the top of the third machine body is fixedly connected with a front cover and a glue pressing mechanism through bolts, and the position, close to the lower part of the front cover and the glue pressing mechanism, of the top of the third machine body is fixedly connected with a front cover glue curing platform through bolts.

Preferably, the position of one side of the top of the third machine body, which is close to the front cover and the glue pressing mechanism, is fixedly connected with a tooling turnover mechanism and a steel ring laser cutting platform through bolts, the tooling turnover mechanism is located on one side of the steel ring laser cutting platform, and the position of one side of the top of the third machine body, which is close to the steel ring laser cutting platform, is provided with tooling turnover grabbing.

Preferably, the top of third fuselage passes through bolt fixedly connected with carousel turnover diaphragm, and the top of third fuselage is close to one side position department of carousel turnover diaphragm and is connected with the carousel product through the solid fixed ring of bolt and absorbs to displacement department manipulator and product frock and plastic sucking disc distance transform transfer department, the carousel product absorbs to displacement department manipulator and is located one side of product frock and plastic sucking disc distance transform transfer department.

Preferably, the top of the third machine body is close to one side position of the product tooling and the plastic sucking disc distance transformation transfer position, and is automatically connected with a four-joint robot and a plastic sucking disc automatic circulation transfer bin through bolts, and the four-joint robot is located on one side of the plastic sucking disc automatic circulation transfer bin.

Preferably, the third fuselage snatchs to the automatic waste recovery of wasting discharge of return line mechanism and steel ring through bolt fixedly connected with waste material frock on being adjacent to the automatic rigging machine of protecgulum vision, the waste material frock snatchs to one side that the return line mechanism is located the automatic waste recovery of wasting discharge of steel ring.

Preferably, the tops of the first machine body, the second machine body and the third machine body are fixedly connected with a membrane tool backflow assembly line through bolts.

Preferably, the top of diaphragm frock backward flow assembly line is provided with steel ring diaphragm frock, the top embedding of steel ring diaphragm frock has steel ring diaphragm adsorption magnet and frock reference column, steel ring diaphragm adsorption magnet is located one side of frock reference column.

Compared with the prior art, the invention has the beneficial effects that: this steel ring diaphragm transfer machine, can satisfy most steel ring diaphragm production in the market, can promote output, equipment reduces to 2 people from original 16 to 22 people's assembly line and sees that equipment is reinforced and get the material, very big reduction cost of labor, the equipment precision reaches high-end diaphragm and requirement precision basically, promote the diaphragm quality greatly, equipment flexibility is big, can satisfy many kinds of product production with platform equipment, improve the quality of steel ring diaphragm, reduce personnel, the efficiency is improved, the operation is simply solved.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a front view of a first body of the present invention;

FIG. 3 is a second fuselage elevation view of the present invention;

FIG. 4 is a third fuselage elevation view of the present invention;

FIG. 5 is a front view of the steel ring diaphragm tool of the present invention.

In the figure: 1. a first body; 2. a steel ring diaphragm flattening machine; 3. flattening the 3D scanner; 4. flattening a poor reflow manipulator; 5. a laser cutting platform for the middle hole of the membrane; 6. a middle hole cutting laser machine; 7. the tool is automatically turned over; 8. a first automatic dispensing machine is pasted in the first automatic box; 9. a second automatic dispensing machine is pasted in the middle; 10. a middle paste vision automatic laminating machine; 11. a middle-pasting glue hydraulic pressing machine; 12. an automatic UV curing platform for glue; 13. a first automatic front cover dispenser; 14. a second automatic front cover dispenser; 15. a front cover visual automatic laminating machine; 16. the front cover and the glue pressing mechanism; 17. a front cover glue curing platform; 18. the tool overturning mechanism; 19. a steel ring laser cutting platform; 20. the tool is in turnover grabbing; 21. the rotary table is provided with a diaphragm; 22. sucking the rotary disc product to a manipulator at a variable pitch position; 23. a transfer position for changing the distance between the product tool and the plastic sucking disc; 24. the four-joint robot can automatically take materials; 25. the plastic sucking disc automatically and circularly transfers the storage bin; 26. grabbing the waste material tool to a return line mechanism; 27. the steel ring automatically discharges and recovers; 28. a membrane tool backflow assembly line; 29. a steel ring diaphragm tool; 30. a third body; 31. the steel ring diaphragm adsorbs the magnet; 32. a tooling positioning column; 33. a second body.

Detailed Description

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. 1-5, the present invention provides a technical solution: the steel ring diaphragm automatic line comprises a first machine body 1, wherein a center hole cutting laser machine 6 is fixedly connected to the center of the top of the first machine body 1 through a bolt, a diaphragm center hole laser cutting platform 5 is fixedly connected to the position, close to the lower portion of the center hole cutting laser machine 6, of the top of the first machine body 1 through a bolt, a steel ring diaphragm flattening machine 2, a flattening 3D scanner 3 and a flattening bad backflow mechanical arm 4 are fixedly connected to one side of the top of the first machine body 1, close to the center hole cutting laser machine 6, the flattening 3D scanner 3 is located between the steel ring diaphragm flattening machine 2 and the flattening bad backflow mechanical arm 4, the flattening bad backflow mechanical arm 4 is located between the flattening 3D scanner 3 and the center hole cutting laser machine 6, a tooling automatic overturning mechanism 7 is fixedly connected to the position, close to the other side of the cutting center hole laser machine 6, of the top of the first machine body 1 through a, A first automatic in-motion adhesive dispenser 8 and a second automatic in-motion adhesive dispenser 9, wherein the first automatic in-motion adhesive dispenser 8 is positioned between a tooling automatic turnover mechanism 7 and the second automatic in-motion adhesive dispenser 9, the tooling automatic turnover mechanism 7 is positioned between a mesopore cutting laser machine 6 and the first automatic in-motion adhesive dispenser 8, a middle adhesive vision automatic laminating machine 10 is fixedly connected on the outer wall of one side of a first machine body 1 through bolts, a second machine body 33 is fixedly connected on the position, close to one side of the first machine body 1, on the outer wall of one side of the middle adhesive vision automatic laminating machine 10 through bolts, a middle adhesive water pressing machine 11, a first automatic front cover adhesive dispenser 13 and a second automatic front cover adhesive dispenser 14 are fixedly connected on the top of the second machine body 33 through bolts, the first automatic front cover adhesive dispenser 13 is positioned between the middle adhesive water pressing machine 11 and the second automatic front cover adhesive dispenser 14, and a glue automatic UV curing platform is fixedly connected at the position, close to the lower position of the middle adhesive water pressing machine 11, on the top of the second machine 33 12, the outer wall of one side of the second body 33, which is far away from the middle-pasting visual automatic laminating machine 10, is fixedly connected with a front cover visual automatic laminating machine 15 through bolts, and the outer wall of one side of the front cover visual automatic laminating machine 15, which is far away from the second body 33, is fixedly connected with a third body 30 through bolts.

In the invention: the top of the third machine body 30 is fixedly connected with a front cover and glue pressing mechanism 16 through bolts, and the top of the third machine body 30 is fixedly connected with a front cover glue curing platform 17 through bolts at a position close to the lower part of the front cover and glue pressing mechanism 16; the front cover and the glue are pressed.

In the invention: a tooling turnover mechanism 18 and a steel ring laser cutting platform 19 are fixedly connected to one side of the top of the third machine body 30 close to the front cover and glue pressing mechanism 16 through bolts, the tooling turnover mechanism 18 is located on one side of the steel ring laser cutting platform 19, and tooling turnover grabbing 20 is arranged on one side of the top of the third machine body 30 close to the steel ring laser cutting platform 19; effectively transfer the steel ring diaphragm tool 29.

In the invention: the top of the third machine body 30 is fixedly connected with a turntable turnover membrane 21 through bolts, a position, close to one side of the turntable turnover membrane 21, of the top of the third machine body 30 is connected with a manipulator 22 for sucking turntable products to a variable-distance position and a transfer position 23 for changing the distance between the product tooling and a plastic sucking disc through a bolt fixing ring, and the manipulator 22 for sucking the turntable products to the variable-distance position is positioned on one side of the transfer position 23 for changing the distance between the product tooling and the plastic sucking disc; effectively transfer the steel ring diaphragm tool 29.

In the invention: an automatic material taking four-joint robot 24 and a plastic sucking disc automatic circulation turnover bin 25 are fixedly connected to one side of a product tooling and plastic sucking disc distance changing transfer position 23 of the top of the third machine body 30 through bolts, and the automatic material taking four-joint robot 24 is positioned on one side of the plastic sucking disc automatic circulation turnover bin 25; the turnover of the steel ring diaphragm tool 29 is realized.

In the invention: a waste material tool grabbing to a return line mechanism 26 and a steel ring automatic waste discharge recovery 27 are fixedly connected to the outer wall of one side, adjacent to the front cover visual automatic laminating machine 15, of the third machine body 30 through bolts, and the waste material tool grabbing to the return line mechanism 26 is located on one side of the steel ring automatic waste discharge recovery 27; and grabbing the tool after collecting the product from the four-station turntable to a tool return line worker for next procedure operation.

In the invention: the tops of the first machine body 1, the second machine body 33 and the third machine body 30 are fixedly connected with a diaphragm tool backflow assembly line 28 through bolts; the steel ring diaphragm tool 29 reflows to the transportation line, and the whole line reflows; so as to save the manual carrying time.

In the invention: the top of diaphragm frock backward flow assembly line 28 is provided with steel ring diaphragm frock 29, and the top embedding of steel ring diaphragm frock 29 has steel ring diaphragm adsorption magnet 31 and frock reference column 32, and steel ring diaphragm adsorption magnet 31 is located one side of frock reference column 32.

The working principle is as follows: when the automatic feeding device is used, each station has incoming material sensing, and when a rear incoming material tool is stopped and a material stacking tool is stopped during operation, the incoming material of the front station is stopped and the alarming function is stopped, so that the material stacking and belt abrasion (the intelligence and the service life of a production line are improved) are prevented, and only one person is needed for feeding operation in the whole line; compared with the original manual production line, 21 persons are saved, meanwhile, the yield is improved to 99.5% from the original 96%, a steel ring diaphragm is firstly manually loaded, manual operation is carried out, the steel ring diaphragm is loaded into a tool (a magnet in the tool can adsorb the steel ring diaphragm on the steel ring diaphragm) to carry out the next automatic operation, then the steel ring diaphragm is flattened, the diaphragm tool is pressed and attached after automatic induction, the diaphragm is flattened to prevent uneven products from flowing into a next process to carry out bad operation, a 3D scanner is used for carrying out flatness scanning on the products, when the products are bad, a signal is output to the next station to carry out bad tool backflow, a flattening bad backflow mechanical arm 4 carries out material blocking when obtaining a previous station bad product output signal, the tool returns to a backflow production line to carry out tool backflow, the incoming material tool carries out automatic blocking positioning and diaphragm mesopore cutting, the waste diaphragm is automatically recycled, a mesopore laser cutting machine 6 automatically cuts the diaphragm central hole after the tool positioning, the tool is lifted and overturned after being stopped, operation is carried out after the next process, a first automatic in-process adhesive dispensing machine 8 and a second automatic in-process adhesive dispensing machine 9 carry out adhesive dispensing, a middle adhesive vision automatic laminating machine 10 carries out automatic visual identification of the middle adhesive and automatic absorption and lamination into the membrane, a middle adhesive water pressing machine 11 carries out adhesive smoothness lamination on the steel ring membrane product after being laminated in the membrane, the product after lamination is solidified by a UV cold light source, a first automatic front cover adhesive dispensing machine 13 and a second automatic front cover adhesive dispensing machine 14 carry out adhesive dispensing on the steel ring front cover, a front cover visual automatic laminating machine 15 carries out automatic visual identification of the front cover and automatic absorption and lamination into the membrane, the steel ring membrane product after being laminated by the front cover is subjected to adhesive smoothness lamination, the product after lamination is solidified by a UV cold light source, the tool is lifted and overturned after being stopped, operation is carried out after the loading and stopping, 19 lines of tool stopping and positioning of the steel ring laser cutting platform, automatic cutting of the edge of a steel ring required product, grabbing of the tool into a four-station turntable for other actions, and the four-station turntable for membrane positioning and grabbing (the other function is that laser cutting is carried out in the four-station turntable when the process of other products is compatible simultaneously), grabbing of a product which is well cut by a manipulator at a variable-distance position by the turntable into a tool and product variable-distance mechanism, and switching of the center distance of the tool at a product tool and plastic sucking disc distance switching position 23 to adapt to the center distance of the plastic sucking disc. When the tray loading and turnover function of the next process is carried out, the automatic material taking four-joint robot 24 sucks the steel ring diaphragm product from the center distance changing mechanism into an automatic circulating plastic sucking tray bin, the plastic sucking tray automatically circulates to a material receiving bin, and the plastic sucking tray-free alarm can be carried out; the plastic sucking disc is full of materials and has an alarm function, the waste material tooling grabbing to a return line mechanism 26 grabs the tooling after collecting the products from the four-station rotary disc to a tooling return line worker for the next process operation, the rest steel ring waste materials are jacked and positioned, the waste materials are sucked and to be recovered, the diaphragm tooling returns to a conveying line, and the whole line returns; so as to save the manual carrying time.

In summary, the following steps: this steel ring diaphragm transfer machine, can satisfy most steel ring diaphragm production in the market, can promote output, equipment reduces to 2 people from original 16 to 22 people's assembly line and sees that equipment is reinforced and get the material, very big reduction cost of labor, the equipment precision reaches high-end diaphragm and requirement precision basically, promote the diaphragm quality greatly, equipment flexibility is big, can satisfy many kinds of product production with platform equipment, improve the quality of steel ring diaphragm, reduce personnel, the efficiency is improved, the operation is simply solved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.