阅读说明：本技术 一种智能麻辣烫涮煮机 (Intelligent spicy soup boiling machine ) 是由 张涛 周昌虎 郭涵宇 郑紫璇 张飞鹏 李彬 于 2019-09-30 设计创作，主要内容包括：本发明公开一种智能麻辣烫涮煮机,包括机架、涮煮组件、入锅单元、出锅单元以及夹持移动组件,所述机架用于安装各个功能组件；所述涮煮组件包括分隔开的多个涮煮仓位,每个涮煮仓位容纳一个锅体,所述入锅单元包括第一放置平台；所述出锅单元包括第二放置平台；所述夹持移动组件包括设置于机架顶部的滑轨以及滑动设于滑轨上的机械臂,上述技术方案的有益效果为：整个涮煮的过程不需要人为干预,只需要将选好的食材放入锅体中,然后将锅体由放置口放入即可。放入入锅单元的锅体会在夹持移动组件的移动下进入涮煮组件中进行涮煮加热,待涮煮完成后,通过夹持移动组件将熟好的锅体夹出并放置在出锅单元上,使用者通过出锅单元将锅体取出。(The invention discloses an intelligent spicy soup boiling machine which comprises a rack, boiling components, a pot feeding unit, a pot discharging unit and a clamping moving component, wherein the rack is used for mounting each functional component; the boiling component comprises a plurality of partitioned boiling bin positions, each boiling bin position contains a pot body, and the pot feeding unit comprises a first placing platform; the pot discharging unit comprises a second placing platform; the centre gripping removes the subassembly and locates the arm on the slide rail including setting up in the slide rail at frame top and sliding, above-mentioned technical scheme's beneficial effect does: the whole process of rinsing and boiling does not need human intervention, and only the selected food materials are needed to be put into the pot body, and then the pot body is put into the pot body from the placing opening. The pot body put into the pot unit can enter the boiling component for boiling and heating under the movement of the clamping moving component, after the boiling is finished, the cooked pot body is clamped out and placed on the pot outlet unit through the clamping moving component, and the pot body is taken out by a user through the pot outlet unit.)

1. The utility model provides an intelligence searing hot pot boiling machine which characterized in that includes:

a rack (100) for mounting each functional component;

the boiling component is arranged in the middle of the rack (100), the boiling component comprises a plurality of partitioned boiling bin positions, each boiling bin position contains a pot body (400), a heating mechanism for supplying heat to the pot body (400) is arranged in each boiling bin position, and the upper part of the boiling component and the periphery of the rack (100) form an operation cavity;

the pot feeding unit is arranged at one end of the rack (100) and communicated with the operation cavity, the pot feeding unit comprises a first placing platform, and a placing opening is formed in the position, corresponding to the first placing platform, of the outer side of the rack (100);

the pan outlet unit is arranged at one end, opposite to the pan inlet unit, of the rack (100), the pan outlet unit is also communicated with the operation cavity, the pan outlet unit comprises a second placing platform, and a taking port is arranged on the outer side of the rack (100) corresponding to the position of the second placing platform;

the centre gripping removes the subassembly, the centre gripping removes the subassembly including setting up in the slide rail at frame (100) top and the arm on the slide rail is located in the slip, through the pot body (400) is cliied to the arm to remove the pot body (400) to boiling position of storehouse by going into pot unit through the slide rail, wait to rinse to boil and shift to the play pot unit with pot body (400) after accomplishing.

2. An intelligent hot-pot instant-boiling machine according to claim 1, characterized in that a shielding case (110) is arranged on the frame (100) in the region of the working cavity, and the placing port and the taking port are both arranged on the shielding case (110).

3. The machine of boiling of intelligent spicy hot boiling of claim 2, characterized in that, still be provided with the system of discharging fume on cage (110), the system of discharging fume includes many equipartitions in tub (111) of discharging fume of cage (110) both sides, every discharge fume tub (111) with the operation cavity intercommunication, every discharge fume tub (111) end that is located the operation cavity all is provided with the exhaust fan, the top in cage (110) outside is provided with filter (130), many discharge fume tub (111) all with filter (130) are connected, be provided with filter component in filter (130), still be provided with the tail pipe on filter (130).

4. An intelligent hot-pot rinsing machine according to claim 1, characterized in that the slide rails comprise transverse slide rails (140) crossing both ends of the machine frame (100), and the mechanical arm is provided with a slide block (141) matching with the transverse slide rails (140).

5. An intelligent hot spicy dip boiling machine according to claim 4, characterized in that the mechanical arm comprises a static platform (500), a movable platform (540) and a control component, the static platform (500) is fixedly connected with the sliding block (141), the lower end of the movable platform (540) is further provided with a clamping claw (550), the control component is arranged between the static platform (500) and the movable platform (540), and the movable platform (540) is moved through the control component.

6. The machine of claim 5, characterized in that three groups of control assemblies are connected between the static platform (500) and the movable platform (540), each group of control assembly comprises a driving arm (520) and a connecting rod (530), a servo motor (510) for driving the driving arm (520) is arranged on the static platform (500), one end of the driving arm (520) far away from the servo motor (510) is connected with the connecting rod (530) through a spherical hinge (521), and one end of the connecting rod (530) far away from the driving arm (520) is connected with the movable platform (540) through a spherical hinge (521).

7. The intelligent spicy hot pot boiling machine according to claim 1, wherein a feeding slide rail (200) is arranged on the first placing platform, a feeding plate (210) is arranged on the feeding slide rail (200) in a sliding manner, and a groove matched with the pot body (400) is arranged on the feeding plate (210);

be provided with on the second place the platform and send out slide rail (300), it is provided with on slide rail (300) to send out and sends out dish (310), send out dish (310) on be provided with the pot body (400) assorted recess.

8. The machine of boiling of intelligence spicy hot instant boiling of claim 1, characterized in that, rinse the subassembly of boiling including being heat insulating board (700) and the zone of heating (600) that set up from top to bottom, heating mechanism set up in on the zone of heating (600), the interval is provided with places the hole on heat insulating board (700), rinse the position of storehouse by place the hole and the zone of heating (600) of below constitute, the place hole department of heat insulating board (700) still is provided with lifting unit (710), lifting unit (710) are connected with and are used for fixing retainer plate (711) of the pot body (400), through lifting unit (710) fall the pot body (400) to contact with the zone of heating (600).

9. The machine of boiling of intelligence searing hot-pot according to claim 1, characterized in that, still be provided with on frame (100) to rinse the subassembly and add the material device, add the material device including set up in rinse the linear guide (800) of boiling subassembly top, the slip is provided with installation base member (810) on linear guide (800), be provided with a plurality of shower nozzles (811) on installation base member (810), each shower nozzle (811) corresponds the box of placing of a condiment, still be provided with the solenoid valve on each shower nozzle (811).

10. The intelligent hot-pot rinsing machine according to claim 1, characterized in that a touch screen (120) is further arranged on the machine frame (100).

Technical Field

The invention relates to the technical field of instant-boiling machines, in particular to an intelligent spicy soup instant-boiling machine.

Background

The market of the spicy hot industry is mature and diversified. Although the preparation forms are different, the instant-boiling process of the spicy soup is basically the same as the instant-boiling process of the spicy soup. The spicy soup is popular with consumers due to its own characteristics.

However, the spicy soup in the prior art is mainly made by manpower, the labor efficiency is low, the cost is high, and the sanitation standard is difficult to be guaranteed. The development of mechanization and automation has been extended to the kitchen, the technology for releasing kitchen labor force is continuously released, new products and mechanical equipment are continuously emerged, and the development of mechanization and automation makes a considerable contribution to the social food safety standardization industry.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the intelligent hotpot boiling machine which can realize automation and manual removal of the hotpot boiling, save the cost and ensure the sanitation and standardization.

The invention provides an intelligent spicy hot pot boiling machine which comprises a rack, boiling components, a pot feeding unit, a pot discharging unit and a clamping moving component, wherein the rack is used for mounting each functional component; the boiling component is arranged in the middle of the rack and comprises a plurality of partitioned boiling bin positions, each boiling bin position contains a pot body, a heating mechanism for supplying heat to the pot body is arranged in each boiling bin position, and the upper part of the boiling component and the periphery of the rack form an operation cavity; the pan feeding unit is arranged at one end of the rack and is communicated with the operation cavity, the pan feeding unit comprises a first placing platform, and a placing opening is formed in the position, corresponding to the first placing platform, of the outer side of the rack; the pan outlet unit is arranged at one end of the rack opposite to the pan inlet unit, the pan outlet unit is also communicated with the operation cavity, the pan outlet unit comprises a second placing platform, and a taking port is arranged at the outer side of the rack corresponding to the second placing platform; the clamping moving assembly comprises a sliding rail arranged at the top of the rack and a mechanical arm arranged on the sliding rail in a sliding mode, the mechanical arm clamps the pot body, the pot body is moved to the boiling bin position through the pot entering unit through the sliding rail, and the pot body is transferred to the pot discharging unit after the boiling is finished.

The beneficial effects of the above technical scheme are: the whole process of rinsing and boiling does not need human intervention, and only the selected food materials are needed to be put into the pot body, and then the pot body is put into the pot body from the placing opening. The pot body put into the pot unit can enter the boiling component for boiling and heating under the movement of the clamping moving component, after the boiling is finished, the cooked pot body is clamped out and placed on the pot outlet unit through the clamping moving component, and the pot body is taken out by a user through the pot outlet unit.

Furthermore, the frame is provided with an isolation cover for the region of the operation cavity, and the placing opening and the taking opening are both arranged on the isolation cover. The cage can separate the operation cavity from the external space, and the influence of oil smoke and pungent smell on the experience of consumers is avoided.

Further, still be provided with the system of discharging fume on the shield, the system of discharging fume includes many equipartitions in the pipe of discharging fume of shield both sides, every discharge fume the pipe with operation cavity intercommunication, every the end that the pipe of discharging fume is located the operation cavity all is provided with the exhaust fan, the top in the shield outside is provided with the filter, many discharge fume the pipe all with the filter is connected, be provided with filtering component in the filter, still be provided with the tail pipe on the filter. The exhaust system can timely exhaust water vapor and oil smoke in the isolation cover, firstly, the safety of the heating mechanism in the isolation cover can be guaranteed, short circuit of a circuit of the heating mechanism due to the fact that the water vapor is too heavy is avoided, and secondly, smell mixing between dishes with different tastes and arranged in the pot body is avoided.

Further, the slide rail includes and stretches over the horizontal slide rail at frame both ends, be provided with on the arm with horizontal slide rail assorted slider. The operation scope of guaranteeing the arm can cover the operation cavity, can put into the pot body of going into pot unit promptly and rinse the subassembly of boiling and can remove the pot body of accomplishing of boiling to a pot unit.

Further, the mechanical arm comprises a static platform, a movable platform and a control assembly, the static platform is fixedly connected with the sliding block, the lower end of the movable platform is further provided with a clamping claw, the control assembly is arranged between the static platform and the movable platform, and the movable platform is moved through the control assembly. The movable platform can swing in a small range, so that the clamping jaws have stronger adaptability and can clamp the pot body at any position in the operation cavity.

Furthermore, be connected with three control assembly of group between quiet platform and the movable platform, every group control assembly includes initiative arm and connecting rod, be provided with the drive on the quiet platform the servo motor of initiative arm, the initiative arm is kept away from servo motor's one end with the connecting rod passes through the ball pivot and connects, the connecting rod is kept away from the one end of initiative arm pass through the ball pivot with the movable platform is connected. Three groups of control assemblies can ensure the stability of the movable platform and ensure that the movable platform is kept horizontal without inclination in the moving process.

Further, a feeding slide rail is arranged on the first placing platform, a feeding disc is arranged on the feeding slide rail in a sliding mode, and a groove matched with the pot body is formed in the feeding disc;

the second placing platform is provided with a delivery slide rail, the delivery slide rail is provided with a delivery disc in a sliding manner, and the delivery disc is provided with a groove matched with the pot body.

Further, rinse the subassembly of cooking including the heat insulating board and the zone of heating that are setting up from top to bottom, heating mechanism set up in on the zone of heating, the interval is provided with places the hole on the heat insulating board, rinse the position of storehouse of cooking by place the zone of heating of hole and below and constitute, the place hole department of heat insulating board still is provided with lifting unit, lifting unit is connected with and is used for fixing the retainer plate of the pot body, through lifting unit falls the pot body to and contacts with the zone of heating.

Furthermore, correspond in the frame rinse and boil the subassembly and still be provided with and add the material device, add the material device including set up in rinse the linear guide who boils the subassembly top, the last slip of linear guide is provided with the installation base member, be provided with a plurality of shower nozzles on the installation base member, every shower nozzle corresponds the box of placing of a condiment, every still be provided with the solenoid valve on the shower nozzle. Can be added in a personalized way aiming at users with different requirements, and the taste of each user is ensured to be satisfied.

Further, a touch screen is further arranged on the rack. Dishes which can be processed by the current equipment can be displayed through the touch screen, and a user can check and select the dishes through the touch screen.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a flow chart of interpolation in an embodiment of the present invention;

FIG. 2 is a schematic diagram of an embodiment of the present invention;

FIG. 3 is an internal schematic view of an embodiment of the present invention;

FIG. 4 is a schematic view of a robotic arm according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a boiling component in an embodiment of the invention.

Reference numerals: the device comprises a rack 100, an isolation cover 110, a smoke exhaust pipe 111, a first switch door 112, a touch screen 120, a filter 130, a transverse slide rail 140, a slide block 141, a feeding slide rail 200, a feeding disc 210, a feeding slide rail 300, a feeding disc 310, a pot body 400, a static platform 500, a servo motor 510, a driving arm 520, a spherical hinge 521, a connecting rod 530, a movable platform 540, a clamping claw 550, a heating layer 600, a heat insulation plate 700, a lifting assembly 710, a fixing ring 711, a linear guide rail 800, a mounting base 810 and a spray head 811.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media.

As shown in fig. 1 to 5, the present embodiment provides an intelligent hotpot instant-boiling machine, which includes a rack 100, a instant-boiling component, a pot entering unit, a pot discharging unit, and a clamping moving component, wherein the rack 100 is used for installing each functional component; the boiling component is arranged in the middle of the rack 100 and comprises a plurality of partitioned boiling positions, each boiling position contains a pot 400, a heating mechanism for supplying heat to the pot 400 is arranged in each boiling position, and the upper part of the boiling component and the periphery of the rack 100 form an operation cavity; the pan feeding unit is arranged at one end of the rack 100 and is communicated with the operation cavity, the pan feeding unit comprises a first placing platform, and a placing opening is formed in the position, corresponding to the first placing platform, of the outer side of the rack 100; the pan outlet unit is arranged at one end of the rack 100 opposite to the pan inlet unit, the pan outlet unit is also communicated with the operation cavity, the pan outlet unit comprises a second placing platform, and a taking port is arranged at the outer side of the rack 100 corresponding to the second placing platform; the clamping moving assembly comprises a sliding rail arranged at the top of the rack 100 and a mechanical arm arranged on the sliding rail in a sliding manner, the mechanical arm clamps the pot body 400, the pot body 400 is moved to the boiling bin position through the pot entering unit through the sliding rail, and the pot body 400 is transferred to the pot outlet unit after the boiling is finished.

The whole process of rinsing and boiling does not need human intervention, and only the selected food materials are required to be put into the pot body 400, and then the pot body 400 is put into the pot body from the placing opening. The pot body 400 put into the pot unit can enter the boiling component for boiling and heating under the movement of the clamping moving component, after the boiling is finished, the cooked pot body 400 is clamped out and placed on the pot outlet unit through the clamping moving component, and the user takes out the pot body 400 through the pot outlet unit.

Referring to fig. 2, an isolation cover 110 is disposed on the frame 100 in a region of the working cavity, the placing opening and the taking opening are both disposed on the isolation cover 110, a first switch door 112 is disposed on the isolation cover 110 at a position corresponding to the placing opening, the first switch door 112 movably blocks the placing opening, when a user (consumer) selects food materials and starts a rinsing and cooking process, the first switch door 112 is opened, the consumer can place a pot 400 into the pot unit, a second switch door is disposed at the taking opening, after rinsing and cooking are completed, the pot 400 is sent to the pot outlet unit, the second switch door is opened, and the consumer takes the food materials through the taking opening. The isolation cover 110 can separate the operation cavity from the external space, so as to prevent the oil smoke and the pungent smell from affecting the experience of consumers.

Referring to fig. 2, a smoke exhaust system is further arranged on the isolation hood 110, the smoke exhaust system comprises a plurality of smoke exhaust pipes 111 uniformly distributed on two sides of the isolation hood 110, each smoke exhaust pipe 111 is communicated with the operation cavity, an exhaust fan is arranged at the end of each smoke exhaust pipe 111 located in the operation cavity, a filter 130 is arranged at the top of the outer side of the isolation hood 110, the smoke exhaust pipes 111 are connected with the filter 130, a filtering component is arranged in the filter 130, and a tail pipe is further arranged on the filter 130. The exhaust system can timely exhaust the water vapor and the oil smoke in the isolation hood 110, firstly, the safety of the heating mechanism in the isolation hood can be guaranteed, the short circuit of the heating mechanism due to the fact that the water vapor is too heavy is avoided, and secondly, the odor tainting among dishes with different tastes in the pot body 400 is avoided.

Referring to fig. 3, the slide rail includes a transverse slide rail 140 crossing both ends of the rack 100, and the robot arm is provided with a slide block 141 matching with the transverse slide rail 140. The operation range of the mechanical arm can be ensured to cover the operation cavity, namely, the pot body 400 of the pot entering unit can be placed into the boiling component and the pot body 400 which is finished by boiling can be moved to the pot outlet unit.

Referring to fig. 4, the robot arm includes a static platform 500, a movable platform 540 and a control assembly, the static platform 500 is fixedly connected to the sliding block 141, a clamping claw 550 is further disposed at the lower end of the movable platform 540, a motor for controlling the clamping claw 550 is mounted on the movable platform 540, and the control assembly is disposed between the static platform 500 and the movable platform 540 and moves the movable platform 540 through the control assembly. The movable platform 540 can swing within a small range, so that the clamping claws 550 have stronger adaptability and can clamp the pot body 400 at any position in the working cavity.

In order to control each action component in the rack 100 in order, a control chip is further disposed on the rack 100, the control chip includes a single chip microcomputer or/and a plc, and the control chip is connected to each action component, such as a motor, a solenoid valve or a heating mechanism.

Three groups of control assemblies are connected between the static platform 500 and the movable platform 540, each group of control assemblies comprises a driving arm 520 and a connecting rod 530, a servo motor 510 for driving the driving arm 520 is arranged on the static platform 500, one end, far away from the servo motor 510, of the driving arm 520 is connected with the connecting rod 530 through a spherical hinge 521, and one end, far away from the driving arm 520, of the connecting rod 530 is connected with the movable platform 540 through the spherical hinge 521. Three sets of control assemblies can ensure the stability of the movable platform 540 and ensure that the movable platform 540 is kept horizontal without tilting during the moving process. The clamping process comprises: firstly, the single chip sends an instruction to the servo motor 510, the servo motor 510 drives the connecting rods 530 through the main driving arm 520, the movable platform 540 is driven to a specified position by the movement of the three connecting rods 530, and finally, the pot 400 is grabbed by controlling the clamping claws 550.

In order to reduce the direct impact of the servo motor 510 by the steam, the servo motor 510 is mounted on the stationary platform 500 to ensure that the servo motor 510 is in a proper working environment. Simultaneously, the design of three control assembly groups has guaranteed: 1. the rigidity-mass ratio is large: by utilizing the parallel closed-loop rod system theory, the pressure load is a typical two-force rod and a plurality of rods bear force, so that the control assembly has high bearing strength; 2. the feeding speed and the acceleration are very high, and the control efficiency is improved; 3. the movement precision is high, and accurate clamping is realized; 4. the multifunctional flexibility is strong, and the combination of the European-Yangde layout and the degree of freedom of a formed U shield can be formed; 5. the service life is long.

In order to increase the moving stability of the movable platform 540, the servo motors 510 are controlled by Pulse Width Modulation (PWM) signals, and the movable platform 540 can reach a designated point by sending a PWM signal to each servo motor 510 once within an angle allowable range from a point a to a point B. However, since the response speed of the servo motors 510 is not large and the three servo motors 510 are generally rotated at different angles, the three servo motors 510 do not reach the designated angle at the same time. There will be no straight line from point a to point B and there will be fluctuations. However, when the distance from point a to point B is short, at this time, the rotation angles of the three servo motors 510 are all small, and the time intervals for the three servo motors 510 to reach the respective designated angles are small, so that the accuracy is improved.

For analyzing the accuracy of the movable platform 540, it is assumed that the movable platform 540 moves from point a to point B in the spatial coordinate system by linear interpolation, the interpolation accuracy is h, and the interpolation point time interval is t. The coordinates of point A are (xm, ym, zm), and the coordinates of point B are (xe, ye, ze). The C point is an interpolation process point (x1, y1, z 1). The distance s of the straight segment BC can be found:

if moving from point C to point B by h, the x, y and z axis changes at point C will be:

from the above analysis, the interpolation flow shown in fig. 1 can be obtained.

A feeding slide rail 200 is arranged on the first placing platform, a feeding disc 210 is arranged on the feeding slide rail 200 in a sliding manner, and a groove matched with the pot body 400 is formed in the feeding disc 210;

be provided with on the second place the platform and send out slide rail 300, it is provided with on the slide rail 300 to send out and sends out dish 310, send out be provided with on the dish 310 with pot body 400 assorted recess.

Referring to fig. 5, rinse the subassembly including being heat insulating board 700 and the zone of heating 600 that sets up from top to bottom, heating mechanism set up in on the zone of heating 600, the interval is provided with places the hole on the heat insulating board 700, rinse and boil the position in storehouse by the zone of heating 600 of placing hole and below constitutes, the hole department of placing of heat insulating board 700 still is provided with lifting unit 710, lifting unit 710 is connected with and is used for fixing the retainer plate 711 of the pot body 400, through lifting unit 710 falls the pot body 400 to and contacts with the zone of heating 600.

Referring to fig. 5, a material adding device is further disposed on the rack 100 corresponding to the rinsing and boiling assembly, the material adding device includes a linear guide 800 disposed above the rinsing and boiling assembly, a mounting base 810 is slidably disposed on the linear guide 800, a plurality of nozzles 811 are disposed on the mounting base 810, each nozzle 811 corresponds to a seasoning placing box, and an electromagnetic valve is further disposed on each nozzle 811. Can be added in a personalized way aiming at users with different requirements, and the taste of each user is ensured to be satisfied.

The rack 100 is further provided with a touch screen 120. The dishes which can be processed by the current device can be displayed through the touch screen 120, and the user can check and select through the touch screen 120.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.