阅读说明：本技术 一种加工设备以及加工方法 (Processing equipment and processing method ) 是由 李柠 于 2021-11-18 设计创作，主要内容包括：本发明公开了一种加工设备以及加工方法,加工设备包括：刀具系统、试样系统以及固定座；刀具系统包括第一动平台、第一伸缩支撑杆、第一光栅尺、第一万向节点以及刀具,第一伸缩支撑杆的一端通过所述第一万向节点连接固定座,第一伸缩支撑杆的另一端通过第一万向节点连接第一动平台；第一光栅尺位于第一伸缩支撑杆中；试样系统包括第二动平台、第二伸缩支撑杆、第二光栅尺、第二万向节点以及试样固定件,第二伸缩支撑杆的一端通过第二万向节点连接固定座,第二伸缩支撑杆的另一端通过第二万向节点连接第二动平台；所述第二光栅尺位于第二伸缩支撑杆中。本发明利用两个多自由度的平台实现双平台协同精密定位的目的,可用于复杂曲面的精密加工。(The invention discloses a processing device and a processing method, wherein the processing device comprises: the device comprises a cutter system, a sample system and a fixed seat; the cutter system comprises a first movable platform, a first telescopic supporting rod, a first grating ruler, a first universal joint and a cutter, wherein one end of the first telescopic supporting rod is connected with the fixed seat through the first universal joint, and the other end of the first telescopic supporting rod is connected with the first movable platform through the first universal joint; the first grating ruler is positioned in the first telescopic supporting rod; the sample system comprises a second movable platform, a second telescopic supporting rod, a second grating ruler, a second universal node and a sample fixing piece, wherein one end of the second telescopic supporting rod is connected with the fixed seat through the second universal node, and the other end of the second telescopic supporting rod is connected with the second movable platform through the second universal node; the second grating ruler is positioned in the second telescopic supporting rod. The invention realizes the purpose of double-platform cooperative precision positioning by utilizing two multi-degree-of-freedom platforms, and can be used for precision machining of complex curved surfaces.)

1. A processing apparatus, comprising: the device comprises a cutter system, a sample system and a fixed seat;

the cutter system comprises a first movable platform, a first telescopic supporting rod, a first grating ruler, a first universal joint and a cutter, wherein one end of the first telescopic supporting rod is connected with the fixed seat through the first universal joint, the other end of the first telescopic supporting rod is connected with the first movable platform through the first universal joint, and the cutter is positioned on the platform surface of the first movable platform; the first grating ruler is positioned in the first telescopic supporting rod;

the sample system comprises a second movable platform, a second telescopic supporting rod, a second grating ruler, a second universal node and a sample fixing piece, wherein one end of the second telescopic supporting rod is connected with the fixed seat through the second universal node, the other end of the second telescopic supporting rod is connected with the second movable platform through the second universal node, and the sample fixing piece is positioned on the platform surface of the second movable platform; the second grating ruler is positioned in the second telescopic supporting rod.

2. The processing apparatus as claimed in claim 1, wherein the first telescopic supporting rod includes a first motor stator, a first motor rotor, and a first brake, the first motor stator and the first motor rotor are movably connected to form a main body of the first telescopic supporting rod, the first brake is located between the first motor stator and the first motor rotor, the first motor stator is connected to the fixing base through the first universal joint, and the first motor rotor is connected to the first movable platform through the first universal joint.

3. The processing apparatus as claimed in claim 1, wherein the second telescopic supporting rod includes a second motor stator, a second motor rotor, and a second brake, the second motor stator is movably connected to the second motor rotor to form a main body of the second telescopic supporting rod, the second brake is located between the second motor stator and the second motor rotor, the second motor stator is connected to the fixing base through the second universal joint, and the second motor rotor is connected to the second movable platform through the second universal joint.

4. The machining apparatus of claim 1, wherein the tool system further comprises a first multi-axis force sensor located on another platform face of the first moveable platform.

5. The processing tool of claim 1, wherein the specimen system further comprises a second multi-axis force sensor positioned on another platform face of the second motion platform.

6. The processing equipment as claimed in claim 1, wherein there are three sets of the first telescopic supporting rods, and the three sets of the first telescopic supporting rods are uniformly distributed between the fixed seat and the first movable platform.

7. The processing equipment of claim 1, wherein there are three sets of the second telescopic supporting rods, and the three sets of the second telescopic supporting rods are uniformly distributed between the fixed seat and the second movable platform.

8. The processing equipment as claimed in claim 1, wherein the fixing base further comprises a first fixing platform and a second fixing platform, the first fixing platform and the second fixing platform are detachably mounted on the fixing base, one end of the first telescopic supporting rod is connected with the first fixing platform through the first universal joint, and one end of the second telescopic supporting rod is connected with the second fixing platform through the second universal joint.

9. A method of processing using the processing apparatus of any one of claims 1 to 8, comprising the steps of:

setting processing parameters, and calculating a first target position of a first movable platform and a second target position of a second movable platform according to the processing parameters;

calculating the elongation of the first telescopic supporting rod and the second telescopic supporting rod according to the first target position and the second target position;

controlling the first telescopic supporting rod and the second telescopic supporting rod to extend according to the extension amount, so that the first movable platform and the second movable platform respectively reach the first target position and the second target position;

the tool setting method comprises the following steps that a tool is driven by a first movable platform to process along a set track;

and (4) retracting, wherein the first movable platform and the second movable platform drive the cutter to be separated from the sample.

10. The processing method according to claim 1, wherein the calculating the elongation of the first and second telescopic support rods according to the first and second target positions specifically comprises: and establishing a space rectangular coordinate system which takes the plane of the fixed seat, the plane of the first movable platform and the plane of the second movable platform as coordinate surfaces, and calculating the space positions of the first movable platform and the second movable platform by utilizing a sine theorem and a cosine theorem on the basis of space rotation angles and displacement so as to obtain the elongation of the first telescopic supporting rod or the second telescopic supporting rod.

Technical Field

The application relates to a processing device, in particular to a processing device with double platforms cooperatively and precisely positioned.

Background

The precision processing technology has wide and deep application in the fields of biomedical engineering, precision optical engineering, semiconductor preparation, aerospace engineering and the like. Precision machining techniques are becoming an indispensable and important support technique. However, the existing precision machining equipment has poor stability, so that the phenomenon of shaking is easy to occur when the equipment is used, the cutting accuracy is affected, or the problems that the positioning accuracy is low, the response speed is low, and parts with complex curved surfaces cannot be machined exist, and the equipment can not meet the application requirements of the current technical development more and more. And because the stability is poor, the precision is not high for ordinary processing instrument, can produce a lot of scrap products, cause serious waste, increased the cost of production, lead to production efficiency to reduce.

Disclosure of Invention

In order to solve the problem of precision machining of a spatial complex curved surface, the invention provides a machining instrument which utilizes double-platform cooperative positioning to carry out precision machining.

A processing apparatus, comprising: the device comprises a cutter system, a sample system and a fixed seat;

the cutter system comprises a first movable platform, a first telescopic supporting rod, a first grating ruler, a first universal joint and a cutter, wherein one end of the first telescopic supporting rod is connected with the fixed seat through the first universal joint, the other end of the first telescopic supporting rod is connected with the first movable platform through the first universal joint, and the cutter is positioned on the platform surface of the first movable platform; the first grating ruler is positioned in the first telescopic supporting rod;

the sample system comprises a second movable platform, a second telescopic supporting rod, a second grating ruler, a second universal node and a sample fixing piece, wherein one end of the second telescopic supporting rod is connected with the fixed seat through the second universal node, the other end of the second telescopic supporting rod is connected with the second movable platform through the second universal node, and the sample fixing piece is positioned on the platform surface of the second movable platform; the second grating ruler is positioned in the second telescopic supporting rod. The grating ruler is used for measuring the actual elongation of the telescopic supporting rod.

Further, first flexible bracing piece includes first motor stator, first motor active cell and first stopper, first motor stator with first motor active cell swing joint forms the main part of first flexible bracing piece, first stopper is located first motor stator with between the first motor active cell, first motor stator passes through first universal joint connects the fixing base, first motor active cell passes through first universal joint connects first movable platform.

Further, the flexible bracing piece of second includes second motor stator, second motor active cell and second stopper, second motor stator with second motor active cell swing joint forms the main part of the flexible bracing piece of second, the second stopper is located second motor stator with between the second motor active cell, second motor stator passes through the universal nodal connection of second the fixing base, second motor active cell passes through the universal nodal connection of second the platform is moved to the second.

Further, the tool system further comprises a first multi-axis force sensor located on the other table face of the first movable table.

Further, the specimen system further includes a second multi-axis force sensor located on another stage face of the second movable stage.

Furthermore, first flexible bracing piece has three groups, three groups first flexible bracing piece evenly distributed in the fixing base with between the first movable platform.

Furthermore, the flexible bracing piece of second has three groups, three groups the flexible bracing piece evenly distributed of second in the fixing base with between the second movable platform.

Further, the fixing base still includes first fixed platform and second fixed platform, first fixed platform and second fixed platform with fixing base demountable installation, the one end of first flexible bracing piece is passed through first universal nodal connection first fixed platform, the one end of the flexible bracing piece of second is passed through second universal nodal connection the platform is decided to the second.

The invention also provides a processing method using the processing equipment, which comprises the following steps:

setting processing parameters, and calculating a first target position of a first movable platform and a second target position of a second movable platform according to the processing parameters;

calculating the elongation of the first telescopic supporting rod and the second telescopic supporting rod according to the first target position and the second target position;

controlling the first telescopic supporting rod and the second telescopic supporting rod to extend according to the extension amount, so that the first movable platform and the second movable platform respectively reach the first target position and the second target position;

the tool setting method comprises the following steps that a tool is driven by a first movable platform to process along a set track;

and (4) retracting, wherein the first movable platform and the second movable platform drive the cutter to be separated from the sample.

Further, the calculating the elongation of the first telescopic support rod and the second telescopic support rod according to the first target position and the second target position specifically includes: and establishing a space rectangular coordinate system which takes the plane of the fixed seat, the plane of the first movable platform and the plane of the second movable platform as coordinate surfaces, and calculating the space positions of the first movable platform and the second movable platform by utilizing a sine theorem and a cosine theorem on the basis of space rotation angles and displacement so as to obtain the elongation of the first telescopic supporting rod or the second telescopic supporting rod.

The invention has the beneficial effects that:

the invention realizes the purpose of double-platform cooperative precision positioning by utilizing two multi-degree-of-freedom platforms, and can be used for precision machining of complex curved surfaces and precision cutting of atomic units. The telescopic support rod which does linear telescopic motion is used as an execution unit for adjusting the position of the movable platform, and a grating ruler is added in the execution unit, so that the dynamic adjustment of quick response and positioning can be realized. The multi-axis sensor arranged on the movable platform can collect acting force in multiple directions in the machining process, and is combined with the grating ruler to realize the real-time detection effect in the machining process, so that the accuracy of the machining process is ensured. The double-platform cooperative positioning mode of the cutter platform and the sample platform can enable the cutter platform and the sample platform to be processed more finely, can also enable the processing range to be wider, and can process places which can not be processed when only a single platform moves. The processing equipment and the processing method have the advantages of high precision, multiple degrees of freedom, high response speed and good stability.

Drawings

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

FIG. 1 is a schematic view of the construction of the processing apparatus of the present application;

fig. 2 is a schematic diagram of one of the dynamic configurations of the processing apparatus.

The meaning of the reference symbols in the figures: the device comprises a first movable platform 1, a first telescopic support rod 11, a first grating ruler 114, a first universal joint 113, a cutter 4, a second movable platform 2, a second telescopic support rod 22, a second grating ruler 224, a second universal joint 223, a sample fixing part 5, a first motor stator 111, a first motor rotor 112, a first brake 115, a second motor stator 221, a second motor rotor 222, a second brake 225, a first fixed platform 118, a second fixed platform 228, a first multi-axis force sensor 117, a second multi-axis force sensor 227 and a fixed seat 3.

Detailed Description

In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the embodiments described below are only a part of the embodiments of the present application, 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 application.

The invention is further elucidated with reference to the drawings and the embodiments.

In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application.

Example 1

The present embodiment provides a processing apparatus, as shown in fig. 1, including: a tool system, a sample system and a holder 3.

The cutter system comprises a first movable platform 1, a first telescopic supporting rod 11, a first grating scale 114, a first universal joint 113 and a cutter 4, wherein one end of the first telescopic supporting rod 11 is connected with the fixed seat 3 through the first universal joint 113, the other end of the first telescopic supporting rod 11 is connected with the first movable platform 1 through the first universal joint 113, and the cutter is positioned on the platform surface of the first movable platform; the first grating 114 is located in the first telescopic support rod 11.

The sample system comprises a second movable platform 2, a second telescopic supporting rod 22, a second grating scale 224, a second universal node 223 and a sample fixing piece 5, one end of the second telescopic supporting rod 22 is connected with the fixed seat 3 through the second universal node 223, the other end of the second telescopic supporting rod 22 is connected with the second movable platform 2 through the second universal node 223, and the sample fixing piece is positioned on the platform surface of the second movable platform; the second linear scale 224 is located in the second telescopic support rod 22.

Cutter 4 and sample mounting 5 set up respectively in the first platform face that moves platform 1 and second and move platform 2 on the central point to be equipped with two platform faces of cutter and sample mounting, relative setting makes things convenient for the tool setting of adding man-hour.

The first and second grating scales can adopt high-precision grating scales, can better measure the linear stretching amount of the first stretching support rod and the second stretching support rod, and realize the dynamic adjustment of the space positions of the two movable platforms and the closed-loop feedback of the space positions by combining the high-precision position calibration.

First flexible bracing piece 11 includes first motor stator 111, first motor active cell 112 and first stopper 115, and first motor stator 111 forms the main part of first flexible bracing piece 11 with first motor active cell 112 swing joint, and first stopper 115 is located between first motor stator 111 and the first motor active cell 112, and first motor stator 111 passes through first universal nodal connection fixing base 3, and first motor active cell 112 passes through first universal nodal connection first movable platform.

The first motor stator 111 and the first motor mover 112 are linearly movable by a linear guide slider mechanism. First grating scale 114 includes main scale and reading head, and the main scale laminating is installed on first motor active cell surface, and the reading head is installed inside motor stator, and when first motor stator 111 and first motor active cell 112 took place relative motion, corresponding optical signal change can be monitored to the reading head to realize the linear displacement high accuracy measurement of stator and active cell.

The second telescopic supporting rod 22 comprises a second motor stator 221, a second motor rotor 222 and a second brake 225, the second motor stator 221 and the second motor rotor 222 are movably connected to form a main body of the second telescopic supporting rod, the second brake 225 is located between the second motor stator 221 and the second motor rotor 222, the second motor stator is connected with the fixed base through a second universal joint, and the second motor rotor is connected with the second movable platform through a second universal joint.

The second motor stator 221 and the second motor mover 222 are linearly movable by a linear guide slider mechanism. The second grating scale 224 includes a main scale and a reading head, the main scale is attached to the surface of the second motor rotor, the reading head is mounted inside the motor stator, and when the second motor stator 222 and the second motor rotor 221 move relatively, the reading head can monitor the change of the corresponding optical signal, so that the high-precision measurement of the linear displacement of the stator and the rotor is realized.

The brake is used for fixing the electronic rotor after the electronic rotor reaches the preset elongation.

The tool system further comprises a first multi-axis force sensor 117, the first multi-axis force sensor 117 being located on the other table face of the first moveable table 1. The first multi-axis force sensor is typically located at a center point on the first movable table's table face, on the other table face of the table face on which the tool is mounted.

The specimen system further comprises a second multi-axis force sensor 227, the second multi-axis force sensor 227 being located on the other platform face of the second moveable platform 2. The second multi-axis force sensor is typically positioned on a center point on the second movable stage's platform surface, on the other two-stage surface of the platform surface on which the sample mount is mounted.

Each multi-axis sensor is installed on a respective movable platform through a sensor support, one end of each multi-axis sensor is connected with the bottom surface of the sensor support through a bolt, and the other end of each multi-axis sensor is connected with a sample to be processed through a bolt. The multi-axis sensor can realize the acquisition of multi-axis acting force data under the working condition of processing a complex curved surface. And the multi-axis sensor transmits the multi-dimensional acting force data to the background to realize the closed-loop feedback of the space acting force.

The processing equipment in the embodiment realizes the coupling of all data through the grating ruler and the multi-axis sensor, and is beneficial to the establishment of an absolute coordinate system of the equipment platform in a three-dimensional space.

The first flexible bracing piece of three groups has, and the first flexible bracing piece evenly distributed of three groups is between fixing base and first movable platform.

The flexible bracing piece of second has three groups, and the flexible bracing piece evenly distributed of three groups second moves between fixing base and second movable platform.

The first movable platform and the second movable platform can extend out the extension amounts of different lengths through the motor rotors in the three groups of telescopic supporting rods to realize the linear motion and the rotary motion of the movable platforms in three directions in a space rectangular coordinate system.

The first movable platform and the second movable platform are equilateral triangles, the three groups of telescopic supporting rods are distributed on the angular points of the equilateral triangles, and the cutter and the sample fixing piece are both positioned on the middle points of the equilateral triangles.

The fixing base further comprises a first fixed platform 118 and a second fixed platform 228, the first fixed platform 118 and the second fixed platform 228 are detachably mounted on the fixing base 3, one end of a first telescopic supporting rod is connected with the first fixed platform through a first universal joint, and one end of a second telescopic supporting rod is connected with the second fixed platform through a second universal joint.

The first fixed platform and the second fixed platform can be fixed with the fixing base through bolts, the cutter system and the sample system can be detachably connected with the fixing base through the fixed platforms, and the cutter system and the sample system can be conveniently detached to be repaired and cleaned.

In this embodiment, both the first gimbal point and the second gimbal point are gimbal hinges. In other embodiments, the universal joint can be replaced by a part such as a hinge ball which can flexibly change directions.

The fixing base in this embodiment becomes C font structure, and place ahead, left and right-hand no mechanical structure shelter from, has not only left the observation position, has also alleviateed the holistic weight of processing equipment, and the later stage optical detection of being convenient for improves the integrated nature of whole equipment.

The processing equipment in this embodiment adopts universal hinge to connect fixing base and movable platform, can make movable platform carry out the displacement according to setting for more in a flexible way to the displacement direction is also more many units. The embodiment also adopts two movable platforms to coordinate with the positioning processing platform, so that the sample and the cutter to be processed can be more accurately set. In addition, the tool platform and the sample platform can move, so that the machining of the tool platform and the sample platform can be more precise, the machining range can be wider, and the tool platform and the sample platform can be machined to places which can not be machined when only a single platform moves.

Example 2

A processing method using the processing device in embodiment 1 for processing, specifically comprising:

and S1, setting processing parameters, and calculating a first target position of the first movable platform and a second target position of the second movable platform according to the processing parameters.

And S2, calculating the elongation of the first telescopic supporting rod and the second telescopic supporting rod according to the first target position and the second target position.

And S3, controlling the first telescopic supporting rod and the second telescopic supporting rod to extend according to the extension amount, so that the first movable platform and the second movable platform respectively reach the first target position and the second target position. After the target position is reached, the first telescopic supporting rod and the second telescopic supporting rod are fixed by the first brake and the second brake, and the first movable platform and the second movable platform are kept stable.

And S4, setting a tool, wherein the first movable platform drives the tool to process along a set track.

And S5, the first movable platform and the second movable platform drive the cutter to be separated from the sample.

Fig. 2 shows one possible working state of the working device.

In step S2, the method specifically includes the following steps:

and establishing a space rectangular coordinate system which takes the plane of the fixed seat, the plane of the first movable platform and the plane of the second movable platform as coordinate surfaces, and calculating the space positions of the first movable platform and the second movable platform by utilizing a sine theorem and a cosine theorem on the basis of space rotation angles and displacement so as to obtain the elongation of the first telescopic supporting rod or the second telescopic supporting rod.

And calculating the elongation of the first telescopic supporting rod according to the displacement and the rotation angle on three axes in the three-dimensional rectangular coordinate system and the sine theorem and the cosine theorem of the rotation angles by using the plane of the first fixed platform as the coordinate system of the coordinate plane and the plane of the first movable platform as the coordinate system of the coordinate plane.

And calculating the elongation of the second telescopic supporting rod by using the plane of the second fixed platform as a coordinate system of a coordinate plane and the plane of the second movable platform as a coordinate system of the coordinate plane according to the displacement and the rotation angle on three axes in the three-dimensional rectangular coordinate system and the sine theorem and the cosine theorem of the rotation angles.

The data of the extension amount of the telescopic supporting rod and the data of the grating ruler in the telescopic supporting rod are combined for calibration, an absolute coordinate system of the space position of the whole equipment is obtained, and accurate positioning can be completed aiming at any appointed position.

After the elongation is calculated, in step S3, the elongation instruction is converted into an analog PWM signal, and the analog PWM signal is sent to the telescopic support rod, and the motor rotor moves to the target elongation after receiving the analog PWM signal, thereby implementing spatial position co-location.

In the processing process, the grating ruler and the multi-axis force sensor convert acquired space positions of the first movable platform and the second movable platform and acting force data into digital signals through the A/D signal converter, and the digital signals are sent to the background control system.

And the control system verifies the difference between the PWM signal and the digital signal sent by the grating ruler, and if the difference between the actual elongation of the motor rotor and the target elongation exceeds the error allowable range in the processing process, the control system sends a signal back to the telescopic supporting rod for corresponding compensation. The compensation method comprises the following steps: when the difference between the actual elongation and the target elongation exceeds the set allowable error range, the difference between the actual elongation and the target elongation is calculated, the difference is sent to a control system, the motor rotor is controlled to move for a distance determined by the difference, after compensation is completed, whether the data at the moment are the same as the processing parameters of the target or not is compared, if the data are the same as the processing parameters of the target, the next step is carried out, if the data are different from the processing parameters of the target, the steps are repeated until the target parameter setting is met, and the spatial position cooperative control is realized.

And when the target machining parameters are met, controlling the brake to lock. And monitoring the spatial position and the acting force parameter of each movable platform in real time by using a grating ruler and a multi-axis force sensor, pausing the processing if deviation exists, controlling a brake to release locking, and repeating the compensation step.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another device, or some features may be omitted, or not executed.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.