A kind of multi-purpose robot with arc orbitTechnical field
The present invention relates to machining technology field, more particularly to a kind of multi-purpose robot with arc orbit.
Background technology
With the development of automated arm and robot technology, various co-ordinate-type lathes, machining center and joint type workIndustry robot comes out one after another, and has gradually formed co-ordinate-type and the class popular motion platform of articulated type two, in this two type games platformEnd connects different work head, can complete various job tasks.
But had the following disadvantages for pipe fitting manipulating object, this two classes popular motion platform：First, realize complete cycleThe complicated movement of operation is, it is necessary to which more than three free degree linkages are completed；Second, this two type games platform uses spatial dataOperation head operation is driven, thus needs to be known a priori by the accurate dimension of pipe profiles；Third, because operation head needs to reach accurateLocus, it is desirable to each free degree of this two type games platform has a high precision, thus cost is high.
The content of the invention
, can not only be to plate and song it is an object of the invention to propose a kind of multi-purpose robot with arc orbitFace operation, additionally it is possible to be perfectly suitable for all kinds of pipe fitting job tasks, including center line is spatial form or close-shaped answeredMiscellaneous pipe fitting, during applied to pipe fitting operation, clear and definite pipe fitting position of center line is only needed without knowing pipe fitting before there is low cost, operationProfile exact position, realize around the free degree needed for pipe fitting complete cycle Working motion it is few, be easy to use safeguard the advantages that.
To use following technical scheme up to this purpose, the present invention：
A kind of multi-purpose robot with arc orbit；Including connecting portion, arc orbit, drive mechanism, telescoping mechanism,Working arm and work head；Mutually rotary freedom is connected the connecting portion each other with the arc orbit, and the rotary freedom turnsAxle axis is located at the middle part of the arc orbit, the working arm perpendicular to plane where the center line of the arc orbitIt can be moved under the driving of the drive mechanism along the arc orbit, the work head can be stretched under telescoping mechanism driveContracting.
Further, the arc orbit is remained perpendicular to when the working arm runs on the arc orbit.
Further, the arc orbit includes front side rail, track rack and rear side rail, and the drive mechanism includesFront side sliding block, rear side sliding block, front side board, telescopic arm pedestal, drive gear and drive gear actuating unit；
The front side rail and rear side rail are fixedly installed in the track rack, front side sliding block and the rear side sliding block pointDo not moved along the front side rail and rear side rail, front side board and the telescopic arm pedestal be respectively arranged in the front side sliding block andRear side sliding block, the drive gear be installed on by bearing between front side board and the telescopic arm pedestal and with the track rackEngagement, drives the drive gear actuating unit of drive gear to be arranged on the telescopic arm pedestal.
Further, the tooth of the track rack is arranged on outside；The front side rail and rear side rail are installed on instituteState the same side of track rack, and inside and outside setting.
Further, the telescoping mechanism includes upper side rails, lower side rails, upper side slide, lower sliding block, work headPedestal, nut, screw mandrel and screw mandrel actuating unit；The upper side rails and lower side rails are installed on the telescopic arm pedestal, describedUpper side slide and lower sliding block slide along the upper side rails and lower side rails respectively, and the work head pedestal is fixedly mounted simultaneouslyIn the upper side slide and lower sliding block, the nut is fixedly installed in the work head pedestal and matched somebody with somebody with the wire rod threadClose, the screw mandrel actuating unit is installed on the telescopic arm pedestal and drives the screw mandrel to rotate, and the work head is installed on instituteState work head pedestal.
Further, the upper side rails and lower side rails are located at the side of the telescopic arm pedestal, the track toothBar, front side rail and rear side rail are located at the opposite side of the telescopic arm pedestal.
Further, the arc orbit includes shell, inner track and outer side track, and the drive mechanism includes someOutside driven wheel, some inner side driven pulleys, inside block, outer side slide, belt, belt pulley and working arm pedestal；
The inner track, outer side track, inner side driven pulley and outside driven wheel are fixedly mounted on the shell, and in fromOrder from inside to outside, the inside block and outer side slide slide in the inner track and outer side track respectively, the workArm pedestal is fixedly installed in the inside block and outer side slide simultaneously, and the belt sleeve is in all inner side driven pulleys, outerSide driven pulley and belt pulley, the belt pulley drive the belt movement, working arm base motion described in the belt drive；
Or：The arc orbit includes shell, inner track and outer side track, and the drive mechanism includes some outsidesDriven sprocket, some inner side driven sprockets, inside block, outer side slide, chain, sprocket wheel and working arm pedestal；
The inner track, outer side track, inner side driven sprocket and outside driven sprocket wheel are fixedly mounted on the shell, andIn order from inside to outside, the inside block and outer side slide slide in the inner track and outer side track respectively, describedWorking arm pedestal is fixedly installed in the inside block and outer side slide simultaneously, and the chain is enclosed on all inner side driven chainsWheel, outside driven sprocket wheel and sprocket wheel, the sprocket wheel drive the chain movement, and working arm pedestal described in the chain-driving is transportedIt is dynamic..
Further, the telescoping mechanism includes upper siding track, lower side rail, upper side slide, lower sliding block, work head baseSeat, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel；The upper siding track and lower side rail are installed onThe telescopic arm pedestal, the upper side slide and lower sliding block slide on the upper siding track and lower side rail, the work respectivelyMake head pedestal while be installed on the upper side slide and lower sliding block, the work head pedestal is stretched by the contiguous block with describedContracting belt is fixedly connected, and the telescopic belt is enclosed on the telescopic belt wheel, and in the drive of the telescopic belt actuating unitThe lower driving work head pedestal；
Or：The telescoping mechanism include upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal,Contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel；The upper siding track and lower side rail are installed on described stretchContracting arm pedestal, the upper side slide and lower sliding block slide on the upper siding track and lower side rail, the work head base respectivelySeat is installed on the upper side slide and lower sliding block simultaneously, and the work head pedestal passes through the contiguous block and the flexible sprocket wheelIt is fixedly connected, the stretching chain is enclosed on the flexible sprocket wheel, and drives institute under the drive of the stretching chain actuating unitState work head pedestal.
Further, the telescoping mechanism includes upper siding track, lower side rail, upper side slide, lower sliding block, work headPedestal, flexible rack, flexible gear and expansion teeth wheel power machine structure；The upper siding track and lower side rail are installed on described flexibleArm pedestal, the upper side slide and lower sliding block slide on the upper siding track and lower side rail, the work head pedestal respectivelyThe upper side slide and lower sliding block are installed on simultaneously, and flexible gear and expansion teeth the wheel power machine structure is installed on described flexibleArm pedestal, the flexible rack are fixedly installed in the work head pedestal, and the flexible gear engages with the flexible rack；
Or：The telescoping mechanism include upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal,Flexible rack, flexible gear and expansion teeth wheel power machine structure；The upper siding track and lower side rail are installed on the telescopic arm baseSeat, the upper side slide and lower sliding block slide on the upper siding track and lower side rail respectively, and the work head pedestal is simultaneouslyThe upper side slide and lower sliding block are installed on, flexible gear and expansion teeth the wheel power machine structure is installed on the work head baseSeat, the flexible rack are fixedly installed in the telescopic arm pedestal, and the flexible gear engages with the flexible rack.
Further, the arc orbit includes mobile rack and shifting sledge, the drive mechanism include mobile sliding block,Telescopic arm pedestal, carrier wheel and carrier wheel actuating unit；The telescoping mechanism includes a flexible slide rail, a flexible cunningBlock, work head pedestal, telescopic screw rod and telescopic screw rod actuating unit；
The mobile sliding block is fixedly connected with telescopic arm pedestal, and the mobile sliding block slides in the shifting sledge, describedCarrier wheel engages with the mobile rack, and drive under the driving of the carrier wheel actuating unit the mobile sliding block andTelescopic arm pedestal moves along the shifting sledge；
The flexible slide rail is installed on the telescopic arm pedestal, and the flexible sliding block slides on the flexible slide rail, describedTelescopic screw rod is installed on the telescopic arm pedestal and is engaged in the nut that the work head pedestal is set, and the telescopic screw rod is in instituteState and drive the work head pedestal to move under the driving of telescopic screw rod actuating unit.
Beneficial effects of the present invention：Machining center with more than one free degree, working arm are connected to by connecting portionPipe fitting part complete cycle operation is completed along the stretching motion of the motion of arc orbit and working arm itself, circular arc is stretched out by working armPlate or curved surface operation are completed outside track opening.Pass through the head that more changes jobs；Work head can be stretched under the drive of telescoping mechanismWhen the distance between contracting, machined surface of irregular workpiece and work head change, telescoping mechanism is worked head by telescopic adjustmentThe distance for adapting to work pieces process is reached, the range of work is more flexible extensively；A kind of multi-purpose robot with arc orbitIt can be various pipe fittings, plate or song that body, which can be used for operation, the manipulating object such as being ground, polish, welding, spraying, drilling, riveting,Face；It is described a kind of more with arc orbit when it is spatial form or close-shaped shape tube that manipulating object, which is center line,Purposes robot only needs clear and definite pipe fitting position of center line without knowing pipe profiles exact position, realizing around pipe before having operationThe free degree needed for part complete cycle Working motion is few, low cost, is easy to use the advantages that safeguarding.
In the technical program, the link position of the connecting portion and the arc orbit is arranged in the arc orbitThe bottom in portion, the connecting portion form rotational freedom when being installed on machining center, the axis of the rotational freedom and the circleThe center line of arc track is generally aligned in the same plane；The position that connecting portion is set stability at the middle part of arc orbit, rotation is high, protectsDemonstrate,prove machining accuracy.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present of invention；
Fig. 2 is the structural representation after embodiment rotation in Fig. 1；
Fig. 3 is the structural representation of second embodiment of the present invention；
Fig. 4 is the structural representation of the 3rd embodiment of the present invention；
Fig. 5 is the installation diagram of one embodiment of arc orbit and drive mechanism in the present invention；
Fig. 6 is the installation diagram of one embodiment of telescoping mechanism in the present invention；
Fig. 7 is the installation diagram of second embodiment of arc orbit and drive mechanism in the present invention；
Fig. 8 is the installation diagram of second embodiment of telescoping mechanism in the present invention；
Fig. 9 is the installation diagram of the 3rd embodiment of telescoping mechanism in the present invention；
Figure 10 is the installation diagram of the 3rd embodiment of arc orbit and drive mechanism in the present invention.
Wherein：Connecting portion 1, arc orbit 2, front side rail 201, track rack 202, rear side rail 203, shell 211 are interiorSiding track 212, outer side track 213, mobile rack 221, shifting sledge 222
Front side sliding block 301, rear side sliding block 302, front side board 303, telescopic arm pedestal 304, drive gear 305, drive gearActuating unit 306, outside driven wheel 311, inner side driven pulley 312, inside block 313, outer side slide 314, belt 315, beltWheel 316, mobile sliding block 321, carrier wheel 322, carrier wheel actuating unit 323；
Upper side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, work head pedestal 405, nut406, screw mandrel 407, screw mandrel actuating unit 408, upper siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414,Contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418, telescopic belt wheel 419, stretch rack 426, and stretch gear427, expansion teeth wheel power machine structure 428, stretch slide rail 431, and stretch sliding block 432, telescopic screw rod 433, telescopic screw rod actuating unit434；
Working arm 5, work first 6, workpiece 7.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As shown in Figures 1 and 2, a kind of multi-purpose robot with arc orbit；Including connecting portion 1, arc orbit 2,Drive mechanism, telescoping mechanism, working arm 5 and work first 6；The connecting portion 1 and the phase of arc orbit 2 rotary freedom each otherConnection, the shaft axis of the rotary freedom are located at the circular arc perpendicular to plane where the center line of the arc orbit 2The middle part of track 2, the working arm 5 can move under the driving of the drive mechanism along the arc orbit 2, the work head6 is scalable under telescoping mechanism drive.
The working arm 5 remains perpendicular to the arc orbit 2 when running on the arc orbit 2.
In the present invention, the machining center with more than one free degree is connected to by connecting portion 1, working arm 5 is along circular arcThe stretching motion of the motion of track 2 and working arm 5 itself completes pipe fitting part complete cycle operation, stretches out circular arc rail by working arm 5Road 2 is open outer completion plate or curved surface operation.
By more changing jobs first 6；Work first 6 can be stretched under the drive of telescoping mechanism, the processing of irregular workpieceWhen face changes with work first the distance between 6, telescoping mechanism is reached by telescopic adjustment work first 6 and adapts to work pieces processDistance, the range of work are more flexible extensively；A kind of multi-purpose robot's body with arc orbit can be used for being ground, throwingThe operations such as light, welding, spraying, drilling, riveting, manipulating object can be various pipe fittings, plate or curved surface；In manipulating object isWhen heart line is spatial form or close-shaped shape tube, a kind of multi-purpose robot with arc orbit is with operationThe clear and definite pipe fitting position of center line of preceding need is without knowing pipe profiles exact position, realizing around needed for pipe fitting complete cycle Working motionThe free degree is few, low cost, is easy to use the advantages that safeguarding.
In the technical program, rotary freedom is connected the connecting portion 1 each other with the phase of arc orbit 2, and the rotation is certainlyBy the shaft axis spent perpendicular to plane where the center line of the arc orbit 2, and positioned at the middle part of the arc orbit 2,Place plane internal rotation is convenient to process to adjust processing stations at the center line for arc orbit 2；And connecting portion 1 and arc orbit 2Connected by such mode, can flexibly change quantity of arc orbit etc. for particular problem, to adapt to specifically process operating mode：
As shown in figure 3, two working arms 5 can be set on arc orbit 2 simultaneously, arc orbit 2 is set in a positionWhen, while two positions on workpiece 7 are processed, two working arms 5 by same 2 unified adjusting position of arc orbit,Keep the high efficiency and uniformity of processing；
As shown in figure 4, two arc orbits 2 can be set simultaneously, while workpiece 7 is processed, two arc orbits canSeparately adjustable, the convenient male and fomale(M＆F) structure for handling different workpieces 7 adapts to the processing of irregular workpiece 7, high efficient and flexible during processing.
As shown in figure 5, the arc orbit 2 includes front side rail 201, track rack 202 and rear side rail, the drivingMechanism includes front side sliding block 301, rear side sliding block 302, front side board 303, telescopic arm pedestal 304, drive gear 305 and drive gearActuating unit 306；
The front side rail 201 and rear side rail are fixedly installed in the track rack 202, the He of front side sliding block 301Rear side sliding block 302 moves along the front side rail 201 and rear side rail respectively, and the front side board 303 and telescopic arm pedestal 304 divideThe front side sliding block 301 and rear side sliding block 302 are not installed on, and the drive gear 305 is installed on the front side board by bearingEngaged between 303 and telescopic arm pedestal 304 and with the track rack 202, the sliding tooth that regulation drive gear 305 moves moves in turnForce mechanisms 306 are arranged on the telescopic arm pedestal 304.
In the present embodiment, drive mechanism driving drive gear 305 rotates, so as to drive telescopic arm pedestal 304 according to front and rearThe track motion of two side rails constraint.Drive gear actuating unit 306 drives the drive gear 305 to rotate, drive gear 305Moved along the track rack 202 on arc orbit, while with the front side sliding block 301 on front side board 303 in front side rail 201Rear side sliding block 302 in upper motion and telescopic arm pedestal 304 moves in rear side rail, fixed work on telescopic arm pedestal 304Make arm 5 and carry out operation processing with the first 6 pairs of workpiece that work.
When drive mechanism is driven, certain mechanical oscillation are inevitably produced, so drive gear 305 is led toCross bearing to be installed between the front side board 303 and telescopic arm pedestal 304 and engage with the track rack 202, pass through front sidePlate 303 and telescopic arm pedestal 304 bear the weight of drive gear 305 together, and the stability that drive gear 305 is set is high；ProcessingDuring motion, the rear side sliding block 302 on front side sliding block 301 and telescopic arm pedestal 304 on front side board 303 is respectively in front side rail201 and rear side rail (be located at figure in coordinate rear side sliding block 302 slide position, do not drawn directly in figure) on move, twoThe cooperation of track and two sliding blocks, the stability of operation are high.
As shown in fig. 6, the tooth of the track rack 202 is arranged on outside；The front side rail 201 and rear side rail 203It is installed on the same side of the track rack 202, and inside and outside setting.
The tooth of track rack 202 is arranged on outside, it is possible to reduce to the occupancy of the inner space of arc orbit 2, working motionWhen flexibility ratio it is higher；In the present embodiment, the front side rail 201 and rear side rail 203 are installed on the track rack 202The same side, during the processing of two guide rails, after processing one in the side of arc orbit 2, without by ability after the turn-over of arc orbit 2The processing of Article 2 guide rail is carried out, improves processing efficiency.
In the present embodiment, the telescoping mechanism includes upper side rails 401, lower side rails 402, upper side slide 403, lower sideslipBlock 404, work head pedestal 405, nut 406, screw mandrel 407 and screw mandrel actuating unit 408；The upper side rails 401 and downside are ledRail 402 is installed on the telescopic arm pedestal 304, and the upper side slide 403 and lower sliding block 404 are respectively along the upper side rails401 and lower side rails 402 slide, the work head pedestal 405 is fixedly installed in the upper side slide 403 and lower sliding block simultaneously404, the nut 406 is fixedly installed in the work head pedestal 405 and coordinated with the screw thread of screw mandrel 407, and the screw mandrel movesForce mechanisms 408 are installed on the telescopic arm pedestal 304 and drive the screw mandrel 407 to rotate, and the work first 6 is installed on the workMake head pedestal 405.
In the present embodiment, screw mandrel actuating unit 408 provides power drive screw mandrel 407 and rotated, and screw mandrel 407 is sent out with nut 406After raw relative rotation, the upper side slide 403 and lower sliding block 404 on the work head pedestal 405 of fixing nut 406 are respectively along upperSide rails 401, lower side rails 402 are for linear motion, then are fixed on the work first 6 of work head pedestal 405 simultaneously by remote with makingFrom or close to workpiece linear motion.
The upper side rails 401 and lower side rails 402 are located at the side of the telescopic arm pedestal 304, the track rack202nd, front side rail 201 and rear side rail 201 are located at the opposite side of the telescopic arm pedestal 304.
Upper side rails 401, lower side rails 402 and track rack 202, front side rail 201, rear side rail 201 are set respectivelyThe both sides of telescopic arm pedestal 304, the weight of each portion's installation is admirably balanced, improve the stability of plant running.
As shown in fig. 7, the arc orbit includes shell 211, inner track 212 and outer side track 213, the driving machineStructure includes some outside driven wheels 311, some inner side driven pulleys 312, inside block 313, outer side slide 314, belt 315, skinBelt wheel 316 and working arm pedestal 304；
The inner track 212, outer side track 213, inner side driven pulley 312 and outside driven wheel 311 are fixedly mounted on instituteShell 211 is stated, and in order from inside to outside, the inside block 313 and outer side slide 314 are respectively in the inner track212 and outer side track 213 slide, the working arm pedestal 304 is fixedly installed in the inside block 313 and outer side slide simultaneously314, the belt 315 is enclosed on all inner side driven pulley 312, outside driven wheel 311 and the belt pulley 316, the belt pulley316 drive the belt 315 to move, and the belt 315 drives the working arm pedestal 304 to move.
Several outside driven wheels 311 and several inner side driven pulleys 312 are arranged on shell 211, and belt 315 is by beltThe driving operating of wheel 316, working arm pedestal 304 are connected with belt 315, and the operating of belt 315 drives working arm pedestal 304 by interiorSide slide 313 and outer side slide 314 move along the track that inner track 212 and outer side track 213 constrain.In the present embodiment,The kind of drive of arc orbit 2 is belt transmission, similarly, can also use chain drive:The precision of belt transmission is high, is applicableIn the transmission of light small workpiece；The bearing capacity of chain drive is big, suitable for the transmission of large-scale workpiece.
As can be seen from figures 8 and 9, the telescoping mechanism include upper siding track 411, lower side rail 412, upper side slide 413, underSide slide, work head pedestal 405, contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418 and telescopic belt wheel419；The upper siding track 411 and lower side rail 412 are installed on the telescopic arm pedestal 304, the upper side slide 413 and downsideSliding block slides on the upper siding track 411 and lower side rail 412 respectively, and the work head pedestal 405 is installed on described simultaneouslySide slide 413 and lower sliding block 414, the work head pedestal 405 are solid by the contiguous block 416 and the telescopic belt 417Fixed connection, the telescopic belt 417 are enclosed on the telescopic belt wheel 419, and in the drive of the telescopic belt actuating unit 418The lower driving work head pedestal 405.
Work head pedestal 405 is fixedly connected by contiguous block 416 with telescopic belt 417, by telescopic belt actuating unit 418Driving telescopic belt wheel 419, which rotates, drives telescopic belt 417 to operate, so as to drive working arm pedestal 304 to pass through upper side slide 413Moved with lower sliding block 414 along the track that upper siding track 411 and lower side rail 412 constrain.In the present embodiment, working arm pedestalThe 304 flexible kind of drive is belt transmission, similarly, can also use chain drive:The precision of belt transmission is high, is applied toThe transmission of light small workpiece；The bearing capacity of chain drive is big, suitable for the transmission of large-scale workpiece.
As shown in figure 9, the telescoping mechanism includes upper siding track 411, lower side rail 412, upper side slide 413, lower sideslipBlock 414, work head pedestal 405, flexible rack 426, flexible gear 427 and expansion teeth wheel power machine structure 428；The upper siding track411 and lower side rail 412 be installed on the telescopic arm pedestal 304, the upper side slide 413 and lower sliding block 414 slide respectivelyIn the upper siding track 411 and lower side rail 412, the work head pedestal 405 is installed on the upper side slide 413 with simultaneouslySide slide 414, the flexible gear 427 and expansion teeth wheel power machine structure 428 are installed on the telescopic arm pedestal 304, described to stretchContracting rack 426 is fixedly installed in the work head pedestal 405, and the flexible gear 427 engages with the flexible rack 426.
Working arm 5 realizes that the flexible kind of drive is rack pinion.Wherein, work head pedestal 405 and flexible rack426 are fixedly connected, and the gear 427 that stretches is arranged on telescopic arm pedestal 304, by the flexible rack of the rotation driving for the gear 427 that stretches426 motions, so as to drive work head pedestal 405 by upper side slide 413 and lower sliding block 414 along upper siding track 411 and downsideThe track motion that track 412 constrains.In the present embodiment, flexible rack 426 is arranged on work head pedestal 405, stretch gear 427Telescopic arm pedestal 304 is arranged on, according to specific operating mode, both installation sites can be exchanged with each other, and it is equal to exchange front and rear structureFall in the protection domain of the technical program.
As shown in Figure 10, the arc orbit 2 includes mobile rack 221 and shifting sledge 222, and the drive mechanism includesMobile sliding block 321, telescopic arm pedestal 304, carrier wheel 322 and carrier wheel actuating unit 323；The telescoping mechanism includes one431, flexible sliding blocks 432 of the flexible slide rail of bar, work head pedestal 405, telescopic screw rod 433 and telescopic screw rod actuating unit 434；
The mobile sliding block 321 is fixedly connected with telescopic arm pedestal 304, and the mobile sliding block 321 is in the shifting sledge222 slide, and the carrier wheel 322 engages with the mobile rack 221, and in the drive of the carrier wheel actuating unit 323The mobile sliding block 321 and telescopic arm pedestal 304 is driven to be moved along the shifting sledge 222 under dynamic；
The flexible slide rail 431 is installed on the telescopic arm pedestal 304, and the flexible sliding block 432 slides on described flexibleSlide rail 431, the telescopic screw rod 433 are installed on the telescopic arm pedestal 304 and are engaged in what the work head pedestal 405 was setNut, the telescopic screw rod 433 drive the work head pedestal 405 to move under the driving of the telescopic screw rod actuating unit 434It is dynamic.
Single track can be used in arc orbit 2 and the drive rail of work head pedestal 405, smaller with guide rail vertical direction moment of torsionWhen, cost can be saved using this mode, structure is reduced and taken up space.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention'sPrinciple, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this areaPersonnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen withinWithin protection scope of the present invention.