阅读说明：本技术 一种喷洒范围广的植保用无人机 (Unmanned aerial vehicle for plant protection that sprays wide range ) 是由 何兴扬 李文峰 王显凤 仇星 柳强 于 2020-12-03 设计创作，主要内容包括：本发明公开了一种喷洒范围广的植保用无人机,包括无人机本体、臂杆、固定块、驱动电机、螺旋桨、洒水装置和驱动装置,所述臂杆设有四个,四个所述臂杆两个对称固定在无人机本体上,所述洒水装置安装在无人机本体的一侧,所述驱动装置安装在洒水装置和无人机本体之间,本发明通过驱动装置的齿轮传动和带传动,驱动第二转轴转动,进而带动固定杆和喷头转动,实现在低空位置时,洒水装置内的水通过喷头转动产生的离心力,将喷出的水,更大范围的作用在农作物上,同时通过导水块中导水环的作用,保证了喷头在转动的过程中,能有源源不断的水源供应,两者的共同作用,解决了植保无人机低处洒水范围小的问题,提高了工作效率。(The invention discloses an unmanned aerial vehicle for plant protection with wide spraying range, which comprises an unmanned aerial vehicle body, four arm rods, four fixing blocks, a driving motor, propellers, a water sprinkling device and a driving device, wherein the four arm rods are symmetrically fixed on the unmanned aerial vehicle body, the water sprinkling device is arranged on one side of the unmanned aerial vehicle body, and the driving device is arranged between the water sprinkling device and the unmanned aerial vehicle body, the problem of plant protection unmanned aerial vehicle low department watering scope is little is solved, work efficiency has been improved.)

1. The utility model provides an unmanned aerial vehicle for plant protection that spray range is wide which characterized in that: the method comprises the following steps:

the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), four arm rods (2), a fixing block (3), a driving motor (4) and propellers (5), wherein the number of the arm rods (2) is four, two of the four arm rods (2) are symmetrically fixed on the unmanned aerial vehicle body (1), the fixing block (3) is fixed at one end, away from the unmanned aerial vehicle body (1), of each arm rod (2), the driving motor (4) is fixed on the fixing block (3) through a motor base, and the propellers (5) are fixed on an output shaft of the driving motor (4);

the unmanned aerial vehicle is characterized by comprising a water spraying device (6), wherein the water spraying device (6) is mainly used for storing and spraying liquid medicine to be sprayed, and the water spraying device (6) is installed on one side of the unmanned aerial vehicle body (1);

drive arrangement (7), when drive arrangement (7) mainly used sprayed for the medicine, provide centrifugal force, the medicine of being convenient for can spray bigger scope when the low flight sprays, install between watering device (6) and unmanned aerial vehicle body (1) drive arrangement (7).

2. The unmanned aerial vehicle for plant protection that sprays wide range of claim 1, characterized in that: the water spraying device (6) comprises a connecting block (8) and two supporting frames (9), wherein the two supporting frames (9) are fixed on an unmanned aerial vehicle body (1), a plurality of connecting rods (10) are fixed between the two supporting frames (9), a water tank (11) is fixed on the connecting rods (10), the connecting block (8) is provided with four connecting blocks (8), the connecting block (8) is fixedly connected with the unmanned aerial vehicle body (1), a mounting plate (12) is fixed on one side, away from the unmanned aerial vehicle body (1), of the four connecting blocks (8), a water pump (13) is fixed on one side, away from the unmanned aerial vehicle body (1), of the mounting plate (12), a water suction pipe (14) and a water outlet pipe (15) are communicated with the water pump (13), the water suction pipe (14) extends into the water tank (11), the water outlet pipe (15) is connected with a water distribution pipe (16), and the water distribution pipe (16) is fixedly connected with the, the water distribution pipe (16) is connected with water spray components (17) with the number corresponding to that of the arm rods (2).

3. The unmanned aerial vehicle for plant protection that sprays wide range of claim 2, characterized in that: the water spraying assembly (17) comprises a guide pipe (18) and a mounting rack (19), the mounting rack (19) is provided with a plurality of mounting racks (19), one side of each mounting rack (19) is fixedly connected with the guide pipe (18), one end of each guide pipe (18) is fixedly connected with a distribution water pipe (16), the other end of each guide pipe is fixedly provided with a water guide block (20), a support block (21) is fixed outside each water guide block (20), the support block (21) is fixedly connected with a fixing block (3), a first through hole (22) is formed in each water guide block (20), a water guide ring (23) is formed in each first through hole (22), a guide hole (24) penetrating through the water guide blocks (20) and the guide pipe (18) is formed in each water guide ring (23), a fixing rod (25) is rotatably connected in each first through hole (22), a communication hole (26) is formed in each fixing rod (25), and a spray head (27, and a plurality of water spraying channels of the spray head (27) are communicated with the communication hole (26).

4. The unmanned aerial vehicle for plant protection that sprays wide range of claim 1, characterized in that: drive arrangement (7) are including setting up mounting hole (28) on unmanned aerial vehicle body (1), mounting hole (28) internal fixation has driving motor (29), be fixed with driving gear (30) on the output shaft of driving motor (29), the one end of output shaft is passed through the bearing and is connected with mounting panel (12) rotation, meshing is connected with drive assembly (31) with the corresponding quantity of armed lever (2) on driving gear (30).

5. The unmanned aerial vehicle for plant protection that sprays wide range of claim 4, characterized in that: the driving component (31) comprises a first rotating shaft (32), two ends of the first rotating shaft (32) are respectively and rotatably connected with the unmanned aerial vehicle body (1) and the mounting plate (12) through bearings, a driven gear (33) which is meshed with the driving gear (30) is fixed on the first rotating shaft (32), a first belt pulley (34) is fixed on the first rotating shaft (32) between the driven gear (33) and the mounting plate (12), a transmission belt (35) is sleeved on the first belt pulley (34), a second belt pulley (36) is sleeved at the other end of the transmission belt (35), a second rotating shaft (37) fixedly connected with the fixed rod (25) is fixed on the second belt pulley (36), a connecting component (38) which is convenient for the second rotating shaft (37) to rotate is arranged between the other end of the second rotating shaft (37) and the fixed block (3), a tensioning device (39) for tensioning a belt is fixed on the arm lever (2).

6. The unmanned aerial vehicle for plant protection that sprays wide range of claim 5, characterized in that: coupling assembling (38) are including setting up slotted hole (40) on fixed block (3), seted up in slotted hole (40) and rotated rotation hole (41) of being connected with second pivot (37), spacing hole (42) have been seted up to one side that slotted hole (40) were kept away from in rotation hole (41), spacing hole (42) internal rotation is connected with spacing ring (43) with second pivot (37) fixed connection, one end that second pivot (37) are located slotted hole (40) is fixed with spacing board (44).

7. The unmanned aerial vehicle for plant protection that sprays wide range of claim 5, characterized in that: tensioning device (39) include with armed lever (2) fixed connection's tensioning frame (45), spacing jack (46) have been seted up on tensioning frame (45), it has inserted block (47) to slide in spacing jack (46), be fixed with tensioning bull stick (48) on inserted block (47), tensioning bull stick (48) are close to both sides of driving belt (35) and all rotate and are connected with take-up pulley (49) of laminating with driving belt (35), the one end that inserted block (47) were kept away from in tensioning bull stick (48) is fixed with axostylus axostyle (50) that rotate in proper order and run through tensioning frame (45) and armed lever (2), the one end that tensioning bull stick (48) were kept away from in axostylus axostyle (50) is fixed with knob (51).

8. The unmanned aerial vehicle for plant protection that sprays wide range of claim 7, characterized in that: the knob (51) is provided with anti-skid lines.

Technical Field

The invention relates to the technical field of plant protection unmanned aerial vehicles, in particular to a plant protection unmanned aerial vehicle with a wide spraying range.

Background

Plant protection unmanned aerial vehicle, also called unmanned vehicles, as the name implies is the unmanned aircraft who is used for agriculture and forestry plant protection operation, and this type unmanned aircraft comprises flight platform (fixed wing, helicopter, multiaxis aircraft), navigation flight control, spraying mechanism triplex, flies through ground remote control or navigation and controls, realizes spraying the operation, can spray medicament, seed, powder etc..

Present plant protection unmanned aerial vehicle's shower nozzle all is fixed, when the co-altitude sprays the medicine, the scope density that sprays can be different, especially, when spraying crops on the terrace, need often jump to co-altitude to remove to spray the medicine, the difficult even transition of control that unmanned aerial vehicle is right, when higher apart from terrace ground, it is wider to spray the scope, when lower, the scope of spraying is less, the medicine density that sprays will be very big, not only can form extravagantly, and it is little to spray the scope in the low place, influence work efficiency. Therefore, the unmanned aerial vehicle for plant protection with the wide spraying range is provided.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle for plant protection with a wide spraying range, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned aerial vehicle for plant protection that spray wide range, includes unmanned aerial vehicle body, armed lever, fixed block, driving motor, screw, watering device and drive arrangement, the armed lever is equipped with four, four two symmetries of armed lever are fixed on the unmanned aerial vehicle body, the one end of unmanned aerial vehicle body is kept away from to the fixed block at the armed lever, driving motor passes through the motor cabinet to be fixed on the fixed block, the screw is fixed on driving motor's output shaft, watering device mainly used waits to spray the storage of liquid medicine and sprays, watering device installs the one side at the unmanned aerial vehicle body, drive arrangement mainly is used for when spraying for the medicine, provides centrifugal force, and the medicine of being convenient for can spray bigger scope when low flight sprays, drive arrangement installs between watering device and unmanned aerial vehicle body.

Preferably, the water spraying device comprises a connecting block and two supporting frames, wherein the two supporting frames are fixed on the unmanned aerial vehicle body, a plurality of connecting rods are fixed between the two supporting frames, a water tank is fixed on the connecting rods, the connecting blocks are four, the four connecting blocks are fixedly connected with the unmanned aerial vehicle body, a mounting plate is fixed on one side of the four connecting blocks away from the unmanned aerial vehicle body, a water pump is fixed on one side of the mounting plate away from the unmanned aerial vehicle body, a water suction pipe and a water outlet pipe are communicated with the water pump, the water suction pipe extends into the water tank, the water outlet pipe is connected with a water distribution pipe, the water distribution pipe is fixedly connected with the water tank, the water distribution pipe is connected with water spraying assemblies with the number corresponding to the arm rods, water in the water tank is distributed out through the water pump, the water distribution pipe and the water spraying assemblies, a plurality of water spray assembly make spray the scope wider, improve work efficiency.

Preferably, the water spraying assembly comprises a plurality of guide pipes and a plurality of mounting frames, one side of each mounting frame is fixedly connected with each guide pipe, one end of each guide pipe is fixedly connected with each water distribution pipe, the other end of each guide pipe is fixedly provided with a water guide block, a supporting block is fixed outside each water guide block, each supporting block is fixedly connected with each fixing block, each water guide block is internally provided with a first through hole, each first through hole is internally provided with a water guide ring, each water guide ring is provided with a guide hole penetrating through each water guide block and communicated with each guide pipe, each first through hole is rotatably connected with a fixing rod, each fixing rod is provided with a communication hole, one end of each fixing rod is fixedly provided with a spray head, a plurality of water spraying channels of each spray head are communicated with the communication holes, each guide pipe in each water spraying assembly conveys water into the corresponding water guide ring of each water guide, the supply of the spraying water source is ensured, the structure is simple, and the operation is convenient.

Preferably, drive arrangement is including setting up the mounting hole on the unmanned aerial vehicle body, the mounting hole internal fixation has driving motor, be fixed with the driving gear on driving motor's the output shaft, the one end of output shaft is passed through the bearing and is rotated with the mounting panel and be connected, the meshing is connected with the drive assembly with the corresponding quantity of armed lever on the driving gear, drives all drive assembly motion through driving motor, simple structure, and the practicality is high, and is with low costs, easily realizes.

Preferably, drive assembly includes first pivot, the both ends of first pivot are all rotated with unmanned aerial vehicle body and mounting panel respectively through the bearing and are connected, be fixed with the driven gear with driving gear engaged with in the first pivot, first pivot is fixed with first belt pulley between driven gear and mounting panel, driving belt has been cup jointed on the first belt pulley, driving belt's the other end has cup jointed the second belt pulley, be fixed with on the second belt pulley with dead lever fixed connection's second pivot, be equipped with the second pivot pivoted coupling assembling of being convenient for between the second pivot other end and the fixed block, be fixed with the overspeed device tensioner who is used for tensioning belt on the armed lever, realize the transmission of driving motor energy through drive assembly, drive the second pivot and rotate simple structure convenient operation.

Preferably, coupling assembling is including setting up the slotted hole on the fixed block, set up in the slotted hole and rotate the rotation hole of being connected with the second pivot, rotate the hole and keep away from one side of slotted hole and seted up spacing hole, spacing downthehole internal rotation is connected with the spacing ring with second pivot fixed connection, the one end that the second pivot is located the slotted hole is fixed with the limiting plate, has both realized the spacing of second pivot through coupling assembling, has guaranteed the effective rotation of second pivot, simple structure easily realizes.

Preferably, the tensioning device comprises a tensioning frame fixedly connected with the arm rod, a limiting insertion hole is formed in the tensioning frame, an insertion block is inserted in the limiting insertion hole in a sliding mode, a tensioning rotating rod is fixed to the insertion block, tensioning wheels attached to the transmission belt are rotatably connected to the two sides, close to the transmission belt, of the tensioning rotating rod, a shaft rod which penetrates through the tensioning frame and the arm rod in a rotating mode is fixed to one end, far away from the insertion block, of the tensioning rotating rod, a knob is fixed to one end, far away from the tensioning rotating rod, of the shaft rod, the transmission belt can be kept in a tensioning state through the tensioning device, and the tensioning device can be adjusted even after the tensioning device is used for a period of time, so that the belt is tensioned, the replacement frequency of.

Preferably, the knob is provided with anti-skidding lines, so that the shaft lever can be conveniently plugged and pulled out, and labor is saved.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the second rotating shaft is driven to rotate through the gear transmission and the belt transmission of the driving device, so that the fixing rod and the spray head are driven to rotate, the water in the sprinkling device is enabled to act on crops in a larger range through the centrifugal force generated by the rotation of the spray head when the sprinkling device is in a low-altitude position, and meanwhile, through the action of the water guide ring in the water guide block, the continuous water source supply of the spray head in the rotating process is ensured, the problem of small sprinkling range at the low position of the plant protection unmanned aerial vehicle is solved through the combined action of the water guide ring and the water guide ring, and the working efficiency is improved.

Drawings

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

FIG. 2 is a schematic structural diagram of a driving device according to the present invention;

FIG. 3 is a schematic view of a connecting assembly according to the present invention;

FIG. 4 is a schematic view of the water spray assembly of the present invention;

FIG. 5 is a schematic view of the tensioner of the present invention;

FIG. 6 is a schematic view of the driving motor mounting position according to the present invention;

FIG. 7 is an enlarged view of area A of FIG. 1;

FIG. 8 is an enlarged view of area B of FIG. 2;

FIG. 9 is an enlarged view of area C of FIG. 3;

FIG. 10 is an enlarged view of area D of FIG. 4;

fig. 11 is an enlarged view of region E in fig. 5.

In the figure: 1-an unmanned aerial vehicle body; 2-arm lever; 3, fixing blocks; 4-driving the motor; 5, a propeller; 6-a watering device; 7-a drive device; 8-connecting blocks; 9-a support frame; 10-a connecting rod; 11-a water tank; 12-a mounting plate; 13-a water pump; 14-a suction pipe; 15-water outlet pipe; 16-distribution water pipes; 17-a water spray assembly; 18-a catheter; 19-a mounting frame; 20-a water guide block; 21-a support block; 22-a first via; 23-a water guiding ring; 24-a guide hole; 25-a fixation rod; 26-a communication hole; 27-a spray head; 28-mounting holes; 29-a drive motor; 30-a drive gear; 31-a drive assembly; 32-a first shaft; 33-a driven gear; 34-a first pulley; 35-a drive belt; 36-a second pulley; 37-a second shaft; 38-a connecting assembly; 39-a tensioning device; 40-slotted holes; 41-rotation hole; 42-a limiting hole; 43-a stop collar; 44-a limiting plate; 45-a tension frame; 46-a limit jack; 47-insert block; 48-tensioning the rotating rod; 49-a tensioner; 50-shaft lever; 51-knob.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-11, the present invention provides a technical solution: an unmanned aerial vehicle for plant protection with wide spraying range comprises an unmanned aerial vehicle body 1, an arm rod 2, a fixed block 3, a driving motor 4, a propeller 5, a water spraying device 6 and a driving device 7, four arm rods 2 are arranged, two of the four arm rods 2 are symmetrically fixed on the unmanned aerial vehicle body 1, the fixed block 3 is fixed at one end of the arm rod 2 far away from the unmanned aerial vehicle body 1, the driving motor 4 is fixed on the fixed block 3 through a motor base, the propeller 5 is fixed on the output shaft of the driving motor 4, the sprinkler 6 is mainly used for storing and spraying the liquid medicine to be sprayed, the sprinkling device 6 is arranged at one side of the unmanned aerial vehicle body 1, the driving device 7 is mainly used for sprinkling medicines, provide centrifugal force, the medicine of being convenient for can spray bigger scope when the low flight sprays, drive arrangement 7 is installed between watering device 6 and unmanned aerial vehicle body 1.

Wherein, the water spraying device 6 comprises a connecting block 8 and two supporting frames 9, two supporting frames 9 are fixed on the unmanned aerial vehicle body 1, a plurality of connecting rods 10 are fixed between the two supporting frames 9, a plurality of water tanks 11 are fixed on the connecting rods 10, the connecting block 8 is provided with four, four connecting blocks 8 are fixedly connected with the unmanned aerial vehicle body 1, one sides of the four connecting blocks 8 far away from the unmanned aerial vehicle body 1 are fixed with a mounting plate 12, one sides of the mounting plate 12 far away from the unmanned aerial vehicle body 1 are fixed with a water pump 13, the water pump 13 is communicated with a water suction pipe 14 and a water outlet pipe 15, the water suction pipe 14 extends into the water tank 11, the water outlet pipe 15 is connected with a water distribution pipe 16, the water distribution pipe 16 is fixedly connected with the water tank 11, the water distribution pipe 16 is connected with water spraying components 17 with the number corresponding to the arm rods 2, and the water in the water tank, the plurality of water spraying assemblies 17 make the spraying range wider and improve the working efficiency when the water containing the medicine is sprayed to the crops.

Wherein, the water spray component 17 comprises a plurality of guide pipes 18 and a plurality of mounting frames 19, one side of the plurality of mounting frames 19 is fixedly connected with the guide pipes 18, one end of each guide pipe 18 is fixedly connected with the distribution water pipe 16, the other end of each guide pipe is fixed with a water guide block 20, a supporting block 21 is fixed outside the water guide block 20, the supporting block 21 is fixedly connected with the fixed block 3, a first through hole 22 is formed in the water guide block 20, a water guide ring 23 is formed in the first through hole 22, a guide hole 24 penetrating through the water guide block 20 and communicated with the guide pipes 18 is formed in the water guide ring 23, a fixing rod 25 is rotatably connected in the first through hole 22, a communication hole 26 is formed in the fixing rod 25, a spray head 27 is fixed at one end of the fixing rod 25, a plurality of water spray channels of the spray head 27 are all communicated with the communication hole 26, the guide pipes 18 in, when the fixed rod 25 continuously rotates, the energy source continuously supplies water source to the collision head, the supply of spraying water source is guaranteed, the structure is simple, and the operation is convenient.

In this scheme, watering device 6's theory of operation: the water pump 13 is started, the water in the water outlet pipe 15 passes through the distribution water pipe 16 and enters the guide pipe 18 of each water spraying assembly 17, the medicine-containing water in the guide pipe 18 is conveyed into the spray head 27 through the guide hole 24, the water guide ring 23 and the communication hole 26 and is sprayed out through the spray head 27, the spray head 27 is driven to rotate when the fixed rod 25 rotates, and the spraying range is large even at a low position under the action of centrifugal force.

Drive arrangement 7 is including setting up mounting hole 28 on unmanned aerial vehicle body 1, the mounting hole 28 internal fixation has driving motor 29, be fixed with driving gear 30 on driving motor 29's the output shaft, the one end of output shaft is passed through the bearing and is rotated with mounting panel 12 and be connected, the meshing is connected with the drive assembly 31 with the corresponding quantity of armed lever 2 on the driving gear 30, drives all drive assembly 31 movements through driving motor 29, and simple structure, the practicality is high, and is with low costs, easily realizes.

In addition, drive assembly 31 includes first pivot 32, the both ends of first pivot 32 all rotate with unmanned aerial vehicle body 1 and mounting panel 12 through the bearing respectively and are connected, be fixed with driven gear 33 with driving gear 30 engaged with on the first pivot 32, first pivot 32 is fixed with first belt pulley 34 between driven gear 33 and mounting panel 12, driving belt 35 has been cup jointed on the first belt pulley 34, second belt pulley 36 has been cup jointed to the other end of driving belt 35, be fixed with on the second belt pulley 36 with dead lever 25 fixed connection's second pivot 37, be equipped with the second pivot 37 pivoted coupling assembling 38 of being convenient for between the second pivot 37 other end and the fixed block 3, be fixed with the overspeed device tensioner 39 who is used for tensioning belt on the armed lever 2, realize the transmission of drive motor 29 energy through drive assembly 31, drive second pivot 37 and rotate, simple structure and convenient operation.

Coupling assembling 38 is including setting up slotted hole 40 on fixed block 3, set up in the slotted hole 40 and rotate the rotation hole 41 of being connected with second pivot 37, rotate hole 41 and keep away from one side of slotted hole 40 and seted up spacing hole 42, spacing downthehole 42 internal rotation is connected with the spacing ring 43 with second pivot 37 fixed connection, second pivot 37 is located the one end of slotted hole 40 and is fixed with limiting plate 44, has both realized the spacing of second pivot 37 through coupling assembling 38, has guaranteed the effective rotation of second pivot 37, simple structure, easily realizes.

The tensioning device 39 comprises a tensioning frame 45 fixedly connected with the arm lever 2, a limiting insertion hole 46 is formed in the tensioning frame 45, an insertion block 47 is inserted into the limiting insertion hole 46 in a sliding mode, a tensioning rotating rod 48 is fixed on the insertion block 47, tensioning wheels 49 attached to the transmission belt 35 are rotatably connected to two sides, close to the transmission belt 35, of the tensioning rotating rod 48, one end, far away from the insertion block 47, of the tensioning rotating rod 48 is fixedly provided with a shaft rod 50 which sequentially rotates to penetrate through the tensioning frame 45 and the arm lever 2, one end, far away from the tensioning rotating rod 48, of the shaft rod 50 is fixedly provided with a knob 51, the transmission belt 35 can be kept in a tensioning state through the tensioning device 39, and even after the tensioning device is used for a period of time, the tensioning device 39 can be adjusted, so that the belt is tensioned, the.

The knob 51 is provided with anti-skid lines, so that the shaft lever 50 can be conveniently inserted and pulled out, and labor is saved.

In this embodiment, the operation principle of the driving device 7 is as follows: the driving motor 29 is started to drive the driving gear 30 to rotate, and further drive the driven gear 33 to rotate, and the rotation of the first belt pulley 34 is driven by the rotation of the first rotating shaft 32, and further the rotation of the second rotating shaft is driven by the driving belt 35, and the rotation of the fixing rod 25 and the nozzle 27 is driven by the rotation of the second rotating shaft 37.

In this scheme, overspeed device tensioner 39 theory of operation grasps knob 51, upwards stimulates for plug 47 extracts from spacing jack 46, rotates axostylus axostyle 50, and to the tensioning of drive belt 35, then presses, can realize drive belt 35's tensioning in inserting plug 47 spacing jack 46.

In the scheme, the driving motor 4 and the driving motor 29 are preferably of a PC-FF-130SHV-15165 model, the motors are supplied by commercial power, the motor operation circuit is a normal and reverse rotation control program of a conventional motor, the circuit operates as the conventional circuit, the circuits and the control related to the scheme are the prior art, and redundant description is not repeated herein.

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

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