阅读说明：本技术 一种智能巡检机器人 (Intelligent inspection robot ) 是由 孙财平 于 2021-09-03 设计创作，主要内容包括：本发明公开了一种智能巡检机器人,包括底座,所述底座内壁一侧设有锂电池,所述锂电池外壁一侧设有控制器,所述控制器外壁一侧设有无线数传模块,所述底座顶部两侧均设有有害气体检测报警器。本发明通过第一电机输出轴带动转动杆与活动筒进行转动,使活动筒内部的螺杆随之转动带动防护盒内部的可见光摄像机盒红外热像仪进行升降,第一电机输出轴带动旋转杆进行转动,从而使丝杆进行转动的同时带动套环进行移动,达到放置板顶部的可见光摄像机和红外热像仪进行移动至防护盒内部,第三电机输出轴带动螺纹杆转动,使螺纹杆转动的同时带动防护罩移动至激光雷达顶部,以保证巡检机器人正常工作,节省巡检成本,提升巡检的效率。(The invention discloses an intelligent inspection robot which comprises a base, wherein a lithium battery is arranged on one side of the inner wall of the base, a controller is arranged on one side of the outer wall of the lithium battery, a wireless data transmission module is arranged on one side of the outer wall of the controller, and harmful gas detection alarms are arranged on two sides of the top of the base. According to the invention, the rotating rod and the movable barrel are driven to rotate by the output shaft of the first motor, the screw rod in the movable barrel rotates to drive the infrared thermal imager of the visible light camera box in the protection box to lift, the output shaft of the first motor drives the rotating rod to rotate, so that the screw rod rotates and simultaneously drives the lantern ring to move, the visible light camera and the infrared thermal imager at the top of the placing plate move to the inside of the protection box, the output shaft of the third motor drives the threaded rod to rotate, the threaded rod rotates and simultaneously drives the protection cover to move to the top of the laser radar, the normal work of the inspection robot is ensured, the inspection cost is saved, and the inspection efficiency is improved.)

1. The utility model provides an intelligence inspection robot, includes base (1), its characterized in that: a lithium battery (33) is arranged on one side of the inner wall of the base (1), a controller (34) is arranged on one side of the outer wall of the lithium battery (33), a wireless data transmission module (35) is arranged on one side of the outer wall of the controller (34), harmful gas detection alarms (36) are arranged on two sides of the top of the base (1), and an intelligent obstacle avoidance radar (37) is arranged on one side of the top of the base (1);

a movable cylinder (2) is arranged on the central axis of the top of the base (1), a rotating rod (3) is arranged on the axis of the interior of the base (1), the top of the rotating rod (3) is fixedly connected with the movable cylinder (2), a first motor (5) is arranged on one side of the inner wall of the base (1), a steering gear (4) is fixedly connected to one side of the outer wall of the rotating rod (3), a bevel gear (6) is arranged on an output shaft of the first motor (5), and the steering gear (4) is meshed with the bevel gear (6);

a screw rod (7) is inserted into the movable barrel (2), a protective box (8) is fixedly connected to the top of the screw rod (7), a placing plate (9) is arranged inside the protective box (8), a visible light camera (14) is arranged on one side of the top of the placing plate (9), an infrared thermal imager (15) is arranged on one side of the outer wall of the visible light camera (14), movable grooves (10) are formed in two sides of the inner wall of the protective box (8), a lead screw (11) is arranged on the inner wall of each movable groove (10), fixing rods (12) are fixedly connected to two sides of the outer wall of the placing plate (9), a lantern ring (13) is fixedly connected to one side, away from the placing plate (9), of the outer wall of each fixing rod (12), and the lead screw (11) penetrates through the lantern ring (13) and is in threaded connection with the lantern ring (13);

the laser radar fixing device is characterized in that a laser radar (23) is arranged at the top end of the outer wall of the base (1), a protective cover (24) is arranged on the outer wall of the laser radar (23), mounting blocks (20) are arranged on two sides of the outer wall of the protective cover (24), the mounting blocks (20) are fixedly connected with the base (1), the number of the mounting blocks (20) in each group is two, the two groups of the mounting blocks (20) are symmetrically arranged on the central axis of the protective cover (24), a threaded rod (22) is arranged between the two mounting blocks (20), sliding blocks (25) are fixedly connected to two sides of the outer wall of the protective cover (24), and the threaded rod (22) penetrates through the sliding blocks (25) and is in threaded connection with the sliding blocks (25);

base (1) outer wall fixedly connected with movable block (26), the quantity of movable block (26) sets up to four, four movable block (26) evenly distributed is in base (1) outer wall four sides, movable block (26) inner wall sliding connection has slide bar (27), the quantity of slide bar (27) sets up to a plurality ofly, and is a plurality of slide bar (27) outer wall one side fixedly connected with anticollision board (28), anticollision board (28) outer wall one side fixedly connected with rubber protection casing (29), anticollision board (28) inner wall one side is equipped with keeps away barrier sensor (30).

2. The intelligent inspection robot according to claim 1, wherein: a first bearing is arranged at the joint of the movable cylinder (2) and the rotating rod (3) with the base (1), and the movable cylinder (2) and the rotating rod (3) are rotatably connected with the base (1) through the first bearing.

3. The intelligent inspection robot according to claim 1, wherein: the screw rod (7) is equipped with the second bearing with a movable section of thick bamboo (2) junction, screw rod (7) rotates through second bearing and a movable section of thick bamboo (2) to be connected, lead screw (11) is equipped with the third bearing with protection box (8) junction, lead screw (11) rotates through the third bearing and is connected with protection box (8).

4. The intelligent inspection robot according to claim 1, wherein: lead screw (11) outer wall one side fixedly connected with drive gear (16), protection box (8) inner wall is close to and places board (9) one side and is equipped with second motor (17).

5. The intelligent inspection robot according to claim 1, wherein: the output end of the second motor (17) is provided with a rotating rod (18), one side, far away from the second motor (17), of the outer wall of the rotating rod (18) is fixedly connected with a transmission gear (19), and the transmission gear (19) is meshed with the driving gear (16).

6. The intelligent inspection robot according to claim 1, wherein: the threaded rod (22) is equipped with the fourth bearing with installation piece (20) junction, one installation piece (20) outer wall one side is equipped with third motor (21), third motor (21) output shaft runs through one installation piece (20) and with one threaded rod (22) are corresponding.

7. The intelligent inspection robot according to claim 1, wherein: keep away barrier sensor (30) and be located inside one side of rubber protection casing (29), fixedly connected with compression spring (31) between rubber protection casing (29) and crashproof board (28), slide bar (27) outer wall activity has cup jointed reset spring (32), reset spring (32) outer wall both sides offset with crashproof board (28) and movable block (26) respectively.

8. The intelligent inspection robot according to claim 1, wherein: base (1) bottom four corners department all is equipped with pulley (39), protection box (8) top one side is equipped with mount pad (40), mount pad (40) top is equipped with light (41).

9. The intelligent inspection robot according to claim 1, wherein: the intelligent obstacle avoidance system is characterized in that the controller (34) is electrically connected with the lithium battery (33), and the illuminating lamp (41), the visible light camera (14), the thermal infrared imager (15), the first motor (5), the second motor (17), the third motor (21), the laser radar (23), the obstacle avoidance sensor (30), the wireless data transmission module (35), the harmful gas detection alarm (36), the intelligent obstacle avoidance radar (37) and the remote control receiver (38) are all electrically connected with the controller (34).

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent inspection robot.

Background

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The intelligent inspection robot is a trackless navigation-based intelligent inspection robot which is provided by the company based on advanced technologies such as artificial intelligence, Internet of things, AI identification technology, big data and the like, and in the era of rapid development of science and technology and informatization of various domestic oil and gas fields, the digitization has been developed from artificial single monitoring of initial hand-held instruments and meters into a closed-loop digital monitoring system for connecting operation sites and various business departments, and the intelligent inspection robot has a perfect digital operation flow. The potential value of the digital oil-gas field is realized by the comprehensive digitization of the oil-gas field, and the digital oil-gas field is used for protecting the driving and navigating of the petroleum industry in a rapid development way. Wherein, the collection of ground data in digital oil and gas fields is usually operated manually, thereby increasing the time that the staff is in contact with harmful gases.

Robot is patrolled and examined to current intelligence.

Therefore, it is necessary to invent a smart inspection robot to solve the above problems.

Disclosure of Invention

The invention aims to provide an intelligent inspection robot, wherein a rotating rod and a movable barrel are driven to rotate through an output shaft of a first motor, a screw rod in the movable barrel rotates along with the rotating rod to drive a visible light camera box thermal infrared imager in a protection box to lift so as to meet the requirement of image information acquisition at different heights, and a sleeve ring is driven to move while the screw rod rotates so as to move a visible light camera and a thermal infrared imager on the top of a placing plate to the inside of the protection box, so that the defects in the technology are overcome.

In order to achieve the above purpose, the invention provides the following technical scheme: the intelligent inspection robot comprises a base, wherein a lithium battery is arranged on one side of the inner wall of the base, a controller is arranged on one side of the outer wall of the lithium battery, a wireless data transmission module is arranged on one side of the outer wall of the controller, harmful gas detection alarms are arranged on two sides of the top of the base, and an intelligent obstacle avoidance radar is arranged on one side of the top of the base;

a movable cylinder is arranged on the central axis of the top of the base, a rotating rod is arranged on the axis of the inner part of the base, the top of the rotating rod is fixedly connected with the movable cylinder, a first motor is arranged on one side of the inner wall of the base, a steering gear is fixedly connected to one side of the outer wall of the rotating rod, a bevel gear is arranged on the output shaft of the first motor, and the steering gear is meshed with the bevel gear;

a screw rod is inserted into the movable cylinder, a protective box is fixedly connected to the top of the screw rod, a placing plate is arranged inside the protective box, a visible light camera is arranged on one side of the top of the placing plate, an infrared thermal imager is arranged on one side of the outer wall of the visible light camera, movable grooves are formed in two sides of the inner wall of the protective box, a lead screw is arranged on the inner wall of each movable groove, fixed rods are fixedly connected to two sides of the outer wall of the placing plate, a lantern ring is fixedly connected to one side, away from the placing plate, of the outer wall of each fixed rod, and the lead screw penetrates through the lantern ring and is in threaded connection with the lantern ring;

the laser radar is arranged at the top end of the outer wall of the base, the outer wall of the laser radar is provided with a protective cover, mounting blocks are arranged on two sides of the outer wall of the protective cover, the mounting blocks are fixedly connected with the base, the number of the mounting blocks is two, the number of the mounting blocks in each group is two, the two groups of the mounting blocks are symmetrically arranged around the central axis of the protective cover, a threaded rod is arranged between the two mounting blocks, sliding blocks are fixedly connected with two sides of the outer wall of the protective cover, and the threaded rod penetrates through the sliding blocks and is in threaded connection with the sliding blocks;

the utility model discloses a safety protection device, including base outer wall fixedly connected with movable block, the quantity of movable block sets up to four, four movable block evenly distributed is on base outer wall four sides, movable block inner wall sliding connection has the slide bar, the quantity of slide bar sets up to a plurality ofly, and is a plurality of slide bar outer wall one side fixedly connected with anticollision board, anticollision board outer wall one side fixedly connected with rubber protection casing, anticollision board inner wall one side is equipped with keeps away the barrier sensor.

Preferably, the joints of the movable cylinder and the rotating rod with the base are provided with first bearings, and the movable cylinder and the rotating rod are rotatably connected with the base through the first bearings.

Preferably, a second bearing is arranged at the joint of the screw rod and the movable barrel, the screw rod is rotatably connected with the movable barrel through the second bearing, a third bearing is arranged at the joint of the screw rod and the protection box, and the screw rod is rotatably connected with the protection box through the third bearing.

Preferably, one side of the outer wall of the screw rod is fixedly connected with a driving gear, and one side, close to the placing plate, of the inner wall of the protection box is provided with a second motor.

Preferably, the output end of the second motor is provided with a rotating rod, one side, far away from the second motor, of the outer wall of the rotating rod is fixedly connected with a transmission gear, and the transmission gear is meshed with the driving gear.

Preferably, a fourth bearing is arranged at the joint of the threaded rod and the mounting block, a third motor is arranged on one side of the outer wall of one mounting block, and an output shaft of the third motor penetrates through one mounting block and corresponds to one threaded rod.

Preferably, keep away the barrier sensor and be located inside one side of rubber protection casing, fixedly connected with compression spring between rubber protection casing and the crashproof board, reset spring has been cup jointed in the activity of slide bar outer wall, reset spring outer wall both sides respectively with crashproof board and movable block counterbalance.

Preferably, the four corners of the bottom of the base are respectively provided with a pulley, one side of the top of the protection box is provided with a mounting seat, and the top of the mounting seat is provided with a lighting lamp.

Preferably, the controller is electrically connected with the lithium battery, and the illuminating lamp, the visible light camera, the thermal infrared imager, the first motor, the second motor, the third motor, the laser radar, the obstacle avoidance sensor, the wireless data transmission module, the harmful gas detection alarm, the intelligent obstacle avoidance radar and the remote control receiver are all electrically connected with the controller.

In the technical scheme, the invention provides the following technical effects and advantages:

1. drive the dwang through first motor output shaft and rotate with a movable section of thick bamboo, make the inside screw rod of a movable section of thick bamboo rotate along with it and drive the inside visible light camera box thermal infrared imager of protection box and go up and down, in order to satisfy the image information acquisition of co-altitude, first motor output shaft drives the rotary rod and rotates, thereby make the lead screw drive the lantern ring and remove when carrying out the pivoted, reach visible light camera and the thermal infrared imager of placing the board top and move to inside the protection box, third motor output shaft drives the threaded rod and rotates, make the threaded rod pivoted drive the protection casing simultaneously and remove to the laser radar top, there is rainwater or the place that the water droplet dropped, can play the effect of sheltering from the water, in order to guarantee to patrol and examine the normal work of robot, save and patrol and examine the cost, promote the efficiency of patrolling and examining.

2. Carry out the environmental scan through laser radar and carry out map reconstruction and path planning, the mutual cooperation of obstacle radar and obstacle avoidance sensor is kept away to intelligence, it has the barrier to detect whether intelligence patrols and examines robot the place ahead, can protect the intelligence and patrols and examines the robot effectively, simultaneously through compression spring's elasticity effect, make anticollision board and rubber protection casing have good guard action to it on its base accident hits the wall, avoid patrolling and examining the inside part of robot impaired, improve the life of robot, detect alarm real-time detection through harmful gas, automatic alarm, the picture that the control was shot in real time to the visible light camera simultaneously, transmit the remote terminal through wireless data transmission module, therefore, the suitability is strong, the effectual intensity of labour who has reduced the control personnel, also be convenient for carry out real-time control more.

Drawings

In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of the overall construction of the present invention;

FIG. 3 is a cross-sectional view of the internal structure of the base of the present invention;

FIG. 4 is a schematic view of the connection structure of the placing plate and the screw rod of the present invention;

FIG. 5 is a sectional view showing the internal structure of the protective case according to the present invention;

FIG. 6 is an enlarged view of the structure of FIG. 1 at A according to the present invention;

FIG. 7 is an enlarged view of the structure of FIG. 1 at B according to the present invention;

fig. 8 is an enlarged view of the structure of fig. 2 at C according to the present invention.

Description of reference numerals:

1. a base; 2. a movable barrel; 3. rotating the rod; 4. a steering gear; 5. a first motor; 6. a bevel gear; 7. a screw; 8. a protective case; 9. placing the plate; 10. a movable groove; 11. a screw rod; 12. fixing the rod; 13. a collar; 14. a visible light camera; 15. a thermal infrared imager; 16. a drive gear; 17. a second motor; 18. rotating the rod; 19. a transmission gear; 20. mounting blocks; 21. a third motor; 22. a threaded rod; 23. a laser radar; 24. a protective cover; 25. a slider; 26. a movable block; 27. a slide bar; 28. an anti-collision plate; 29. a rubber protective cover; 30. an obstacle avoidance sensor; 31. a compression spring; 32. a return spring; 33. a lithium battery; 34. a controller; 35. a wireless data transmission module; 36. a harmful gas detection alarm; 37. an intelligent obstacle avoidance radar; 38. a remote control receiver; 39. a pulley; 40. a mounting seat; 41. an illuminating lamp.

Detailed Description

In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.

The invention provides an intelligent inspection robot as shown in figures 1-5, which comprises a base 1, wherein a lithium battery 33 is arranged on one side of the inner wall of the base 1, a controller 34 is arranged on one side of the outer wall of the lithium battery 33, a wireless data transmission module 35 is arranged on one side of the outer wall of the controller 34, harmful gas detection alarms 36 are arranged on two sides of the top of the base 1, and an intelligent obstacle avoidance radar 37 is arranged on one side of the top of the base 1;

a movable cylinder 2 is arranged on the central axis of the top of the base 1, a rotating rod 3 is arranged on the axis of the inside of the base 1, the top of the rotating rod 3 is fixedly connected with the movable cylinder 2, a first motor 5 is arranged on one side of the inner wall of the base 1, a steering gear 4 is fixedly connected on one side of the outer wall of the rotating rod 3, an output shaft of the first motor 5 is provided with a bevel gear 6, and the steering gear 4 is meshed with the bevel gear 6;

a screw rod 7 is inserted into the movable barrel 2, a protection box 8 is fixedly connected to the top of the screw rod 7, a placing plate 9 is arranged inside the protection box 8, a visible light camera 14 is arranged on one side of the top of the placing plate 9, an infrared thermal imager 15 is arranged on one side of the outer wall of the visible light camera 14, movable grooves 10 are formed in two sides of the inner wall of the protection box 8, a lead screw 11 is arranged on the inner wall of each movable groove 10, fixed rods 12 are fixedly connected to two sides of the outer wall of the placing plate 9, a sleeve ring 13 is fixedly connected to one side, far away from the placing plate 9, of the outer wall of each fixed rod 12, and the lead screw 11 penetrates through the sleeve ring 13 and is in threaded connection with the sleeve ring 13;

the laser radar device is characterized in that a laser radar 23 is arranged at the top end of the outer wall of the base 1, a protective cover 24 is arranged on the outer wall of the laser radar 23, mounting blocks 20 are arranged on two sides of the outer wall of the protective cover 24, the mounting blocks 20 are fixedly connected with the base 1, the number of the mounting blocks 20 is two, the number of the mounting blocks 20 in each group is two, the two groups of the mounting blocks 20 are symmetrically arranged relative to the central axis of the protective cover 24, a threaded rod 22 is arranged between the two mounting blocks 20, sliding blocks 25 are fixedly connected on two sides of the outer wall of the protective cover 24, and the threaded rod 22 penetrates through the sliding blocks 25 and is in threaded connection with the sliding blocks 25;

base 1 outer wall fixedly connected with movable block 26, the quantity of movable block 26 sets up to four, four movable block 26 evenly distributed is in base 1 outer wall four sides, 26 inner wall sliding connection of movable block has slide bar 27, the quantity of slide bar 27 sets up to a plurality ofly, and is a plurality of slide bar 27 outer wall one side fixedly connected with anticollision board 28, anticollision board 28 outer wall one side fixedly connected with rubber protection casing 29, anticollision board 28 inner wall one side is equipped with keeps away barrier sensor 30.

Further, in the above technical scheme, the joints of the movable cylinder 2 and the rotating rod 3 with the base 1 are both provided with first bearings, and the movable cylinder 2 and the rotating rod 3 are rotatably connected with the base 1 through the first bearings.

Further, in the above technical solution, a second bearing is arranged at a joint of the screw rod 7 and the movable barrel 2, the screw rod 7 is rotatably connected with the movable barrel 2 through the second bearing, a third bearing is arranged at a joint of the screw rod 11 and the protection box 8, and the screw rod 11 is rotatably connected with the protection box 8 through the third bearing.

Further, in the above technical solution, a driving gear 16 is fixedly connected to one side of the outer wall of the screw rod 11, and a second motor 17 is disposed on one side of the inner wall of the protection box 8, which is close to the placing plate 9.

Further, in the above technical solution, the output end of the second motor 17 is provided with a rotating rod 18, one side of the outer wall of the rotating rod 18, which is far away from the second motor 17, is fixedly connected with a transmission gear 19, and the transmission gear 19 is meshed with the driving gear 16.

Further, in the above technical solution, a fourth bearing is disposed at a connection position of the threaded rod 22 and the mounting block 20, a third motor 21 is disposed on one side of an outer wall of one of the mounting blocks 20, and an output shaft of the third motor 21 penetrates through one of the mounting blocks 20 and corresponds to one of the threaded rods 22.

Further, in the above technical solution, the obstacle avoidance sensor 30 is located at one side inside the rubber protective cover 29, a compression spring 31 is fixedly connected between the rubber protective cover 29 and the anti-collision plate 28, a return spring 32 is movably sleeved on the outer wall of the sliding rod 27, and two sides of the outer wall of the return spring 32 respectively abut against the anti-collision plate 28 and the movable block 26.

Further, in the above technical scheme, pulleys 39 are arranged at four corners of the bottom of the base 1, a mounting seat 40 is arranged on one side of the top of the protection box 8, and an illuminating lamp 41 is arranged on the top of the mounting seat 40.

Further, in the above technical solution, the controller 34 is electrically connected to the lithium battery 33, and the lighting lamp 41, the visible light camera 14, the thermal infrared imager 15, the first motor 5, the second motor 17, the third motor 21, the laser radar 23, the obstacle avoidance sensor 30, the wireless data transmission module 35, the harmful gas detection alarm 36, the intelligent obstacle avoidance radar 37, and the remote control receiver 38 are all electrically connected to the controller 34.

This practical theory of operation:

referring to the attached figures 1-8 of the specification, when the thermal imaging system is used, firstly, the output shaft of the first motor 5 drives the bevel gear 6 to rotate, so that the steering gear 4 meshed with the outer wall of the bevel gear 6 rotates along with the bevel gear, the rotating rod 3 and the movable barrel 2 are driven to rotate, the screw 7 in the movable barrel 2 rotates along with the movable barrel 2 to drive the visible light camera 14 in the protective box 8 to lift the thermal infrared imager 15 so as to meet the image information acquisition at different heights, and further, different inspection tasks can be flexibly executed according to requirements, then, the second motor 17 and the third motor 21 are started, the output shaft of the second motor 17 drives the rotating rod 18 to rotate, the transmission gear 19 on the outer wall of the rotating rod 18 drives the driving gear 16 to rotate, the screw rod 11 drives the lantern ring 13 to move, and accordingly, the visible light camera 14 and the thermal infrared imager 15 on the top of the thermal imaging plate 9 move into the protective box 8 The portion, third motor 21 output shaft drives threaded rod 22 simultaneously and rotates, drives protection casing 24 and removes to 23 tops of laser radar when making threaded rod 22 pivoted, has the rainwater or has the place that the water droplet dropped, can play the effect that hides the water to guarantee to patrol and examine the normal work of robot, save and patrol and examine the cost, promote the efficiency of patrolling and examining.

Referring to the attached drawings 1-8 of the specification, the invention performs environmental scanning and map reconstruction and path planning through the laser radar 23, detects whether an obstacle exists in front of the intelligent inspection robot through the mutual matching of the intelligent obstacle avoidance radar 37 and the obstacle avoidance sensor 30 so as to prevent the intelligent inspection robot from colliding with the obstacle, can effectively protect the intelligent inspection robot, simultaneously enables the anti-collision plate 28 and the rubber protective cover 29 to have good protection effect on the intelligent inspection robot when the base 1 of the intelligent inspection robot accidentally collides with a wall through the elastic force action of the compression spring 31, avoids the damage of internal parts of the inspection robot, avoids the maintenance of the interior of the inspection robot, saves time and labor, avoids economic loss, prolongs the service life of the robot, replaces manual inspection with the harmful gas detection alarm 36 to detect the concentration of leaked harmful gas, detects the concentration of the toxic and harmful gas in real time, and performs real-time detection, Automatic alarm, the picture that the visible light camera 14 will shoot in real time and monitor simultaneously transmits to remote terminal through wireless data transmission module 35, makes things convenient for the staff to carry out the long-range confirmation and reveals the dew point to detect out concentration, the suitability is strong, the effectual intensity of labour who reduces monitoring personnel, also is convenient for more carry out real-time control.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.