Disclosure of Invention
The invention aims to provide a laser-ultrasonic-cooling composite surface strengthening device, a system and a processing method which can play a strengthening effect on metal materials with different performances.
In order to solve the technical problems, the technical scheme of the invention is as follows: laser-supersound-cooling composite surface reinforcing apparatus includes:
a base body as a base body to which the following devices are connected;
the laser auxiliary heating device is used for carrying out laser preheating treatment on the surface of the metal to be processed;
the ultrasonic surface strengthening device corresponds to the laser auxiliary heating device and is used for carrying out ultrasonic strengthening treatment on the metal surface after laser preheating;
the cooling quenching device corresponds to the ultrasonic surface strengthening device and is used for carrying out cooling quenching treatment on the metal surface after ultrasonic strengthening;
the laser auxiliary heating device, the ultrasonic surface strengthening device and the cooling quenching device are all arranged at one end of the seat body and correspond to a processing area formed on the surface of the metal to be processed.
As preferred technical scheme, laser auxiliary heating device is including installing the laser head of pedestal one end, the laser head orientation the tip slope of pedestal sets up, the laser head with install the drive between the pedestal laser head reciprocating motion is used for adjusting the laser head translation device of distance between laser head and the metal surface of waiting to process, laser head translation device with still be provided with the drive between the laser head rotates and is used for adjusting the laser beam of laser head and the laser head transposition device of contained angle between the metal surface of waiting to process.
As preferred technical scheme, laser head translation device includes that horizontal slidable mounting is in translation pinion rack on the pedestal, still install on the pedestal with the gear shaft of translation pinion rack meshing, the both ends of gear shaft are rotated and are installed on the pedestal and one end stretch out the pedestal external connection has the regulation drive arrangement.
As the preferred technical scheme, the laser head transposition device is including fixing the roating seat on the translation pinion rack, install on the laser instrument with roating seat normal running fit's installation piece, install on the roating seat power end with installation piece fixed connection can drive the installation piece winds roating seat pivoted transposition drive arrangement.
As a preferred technical scheme, the ultrasonic surface strengthening device comprises an ultrasonic energy conversion assembly installed in the seat body, one end of the ultrasonic energy conversion assembly extends out of the seat body and is connected with an ultrasonic tool head, and a driving and compressing device for driving the ultrasonic tool head to compress the surface of the metal to be processed is further arranged between the ultrasonic energy conversion assembly and the seat body.
As a preferable technical solution, the ultrasonic transduction assembly includes an ultrasonic transducer, one end of the ultrasonic transducer is connected with the driving compressing device, and the other end of the ultrasonic transducer is connected with an amplitude transformer.
As a preferable technical scheme, the cooling quenching device comprises a cooling nozzle corresponding to the surface of the metal to be processed, the cooling nozzle is connected to the seat body through a cooling conduit, and the seat body is further provided with a cooling pipeline communicated with the cooling conduit.
The technical scheme of the invention also provides a laser-ultrasonic-cooling composite surface strengthening system which comprises a laser-ultrasonic-cooling composite surface strengthening device, a machine tool for installing the composite surface strengthening device and a control cabinet for providing a power source for the composite surface strengthening device.
The technical scheme of the invention also provides a processing method of the laser-ultrasonic-cooling composite surface strengthening device, which comprises any one of the following modes;
the method comprises the following steps:
a) laser preheating is carried out on a processing area of the metal surface to be processed, and the uniformity and the machinability of the surface structure of the workpiece are improved by improving the thermoplasticity of the metal surface;
b) carrying out ultrasonic strengthening treatment on the metal surface after laser preheating, carrying out high-frequency forging and rolling treatment on the metal surface through an ultrasonic tool head to generate strong plastic deformation on the metal surface, and forming a pressure stress layer through metal structure remolding, refining and compacting to achieve the effect of strengthening treatment on the surface of a workpiece;
c) repeating the steps a) and b), and sequentially finishing the strengthening treatment on the surfaces of the parts to be processed according to a pre-planned path;
the method comprises the following two steps:
a) carrying out ultrasonic strengthening treatment on a processing area of the surface of the metal to be processed, carrying out high-frequency forging and rolling treatment on the surface of the metal through an ultrasonic tool head to generate strong plastic deformation on the surface of the metal, and forming a pressure stress layer through metal structure remolding, refining and compacting to achieve the effect of strengthening treatment on the surface of a workpiece;
b) the metal surface after ultrasonic strengthening is subjected to cooling quenching treatment, so that the dynamic recovery of plastic deformation of the material is inhibited, higher dislocation density is obtained, the metal structure on the surface of the workpiece is further refined and compact, and the comprehensive performance of the surface of the workpiece is improved;
c) repeating the steps a) and b), and sequentially finishing the strengthening treatment on the surfaces of the parts to be processed according to a pre-planned path;
the method comprises the following three steps:
a) laser preheating is carried out on a processing area of the metal surface to be processed, and the uniformity and the machinability of the surface structure of the workpiece are improved by improving the thermoplasticity of the metal surface;
b) carrying out ultrasonic strengthening treatment on the metal surface after laser preheating, carrying out high-frequency forging and rolling treatment on the metal surface through an ultrasonic tool head to generate strong plastic deformation on the metal surface, and forming a pressure stress layer through metal structure remolding, refining and compacting to achieve the effect of strengthening treatment on the surface of a workpiece;
c) the metal surface after ultrasonic strengthening is subjected to cooling quenching treatment, so that the dynamic recovery of plastic deformation of the material is inhibited, higher dislocation density is obtained, the metal structure on the surface of the workpiece is further refined and compact, and the comprehensive performance of the surface of the workpiece is improved;
d) and repeating the steps a) to c), and sequentially finishing the strengthening treatment on the surfaces of the parts to be processed according to the pre-planned path.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
(1) the laser assisted heating solves the problems that the shape precision of metal materials with uneven hardness, low-plasticity metal materials and the like cannot be ensured, the surface is cracked or crack defects are generated in the high-frequency ultrasonic impact rolling process;
(2) the reinforced cooling quenching can effectively inhibit the dynamic recovery of the plastic deformation of the material, is beneficial to obtaining higher dislocation density, and enables the metal structure on the surface of the workpiece to be further refined and compact, thereby improving the comprehensive performance of the surface of the workpiece;
(3) the device can strengthen metal materials with different performances by combined treatment such as laser auxiliary heating, ultrasonic rolling, cooling quenching and the like, thereby improving the surface comprehensive performance of the workpiece, having wider application range and better use value.
Detailed Description
The invention is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
As introduced in the background art, the existing ultrasonic surface strengthening device and method are still limited to be carried out at normal temperature, the strengthening effect depends heavily on the material performance of the metal material, and aiming at the defects in the prior art, the invention aims to provide the laser-ultrasonic-cooling composite surface strengthening device, system and processing method integrating laser auxiliary heating, ultrasonic rolling and cooling quenching, so that ultrasonic surface strengthening treatment at different auxiliary heating temperatures and cooling quenching treatment at different cooling temperatures can be realized, the applicability to metal materials with different performances is expanded, the surface strengthening quality is improved, and the comprehensive mechanical property of the surface of a workpiece is improved. In order to more clearly illustrate the present invention, the present invention is further described below with reference to preferred embodiments and the accompanying drawings.
As shown in fig. 1, 2 and 3, the laser-ultrasonic-cooling composite surface strengthening device includes a base body 1, the base body 1 is used as a base body for connecting and installing the following devices, a laser auxiliary heating device 2, an ultrasonic surface strengthening device 3 and a cooling quenching device 4 are installed on the base body 1, the laser auxiliary heating device 2, the ultrasonic surface strengthening device 3 and the cooling quenching device 4 are integrally installed on the base body 1, and are installed at one end of the base body 1 and correspond to a processing area formed on the surface of a metal 5 to be processed. The laser auxiliary heating device 2 is used for carrying out laser preheating treatment on the surface of a metal 5 to be processed; the ultrasonic surface strengthening device 3 corresponds to the laser auxiliary heating device 2 and is used for carrying out ultrasonic strengthening treatment on the metal surface after laser preheating; the cooling and quenching device 4 corresponds to the ultrasonic surface strengthening device 3 and is used for cooling and quenching the metal surface after ultrasonic strengthening.
In the present embodiment, the laser auxiliary heating device 2 is arranged above the ultrasonic surface strengthening device 3, and the laser auxiliary heating device 2 is arranged downwards to ensure that the formed processing area corresponds to the processing area formed by the ultrasonic surface strengthening device 3, and the cooling and quenching device 4 is positioned below the ultrasonic surface strengthening device 3, and the cooling and quenching device 4 is arranged towards the ultrasonic surface strengthening device 3, for ensuring that the formed machining area corresponds to the machining area formed by the ultrasonic surface enhancing device 3, of course, the laser auxiliary heating device 2 and the cooling quenching device 4 are not limited to the position above or below the ultrasonic surface strengthening device 3, and only the three devices are ensured to correspond to the processing area formed on the surface of the metal 5 to be processed, that is, the three devices are ensured to process the same area on the surface of the metal 5 to be processed.
The laser auxiliary heating device 2 comprises a laser head 21 arranged at one end of the seat body 1, the laser head 21 is arranged in a manner of inclining downwards towards the end part of the seat body 1, namely, the position of a light spot formed by the laser head 21 on the surface of the metal 5 to be processed corresponds to the processing position of the ultrasonic surface strengthening device 3 on the surface of the metal 5 to be processed; laser head 21 with install the drive between the pedestal 1 laser head 21 reciprocating motion is used for adjusting the laser head translation device 22 of distance between laser head 21 and the metal 5 surface of waiting to process, laser head translation device 22 with still be provided with the drive between the laser head 21 rotates and is used for adjusting the laser beam of laser head 21 and the laser head indexing means 23 of contained angle between the metal 5 surface of waiting to process. The common cooperation of the laser head translation device 22 and the laser head indexing device 23 can realize that the light spot emitted by the laser head 21 is in the region to be processed of the part to be processed, and further realize more comprehensive processing functions.
The laser head 21 is provided with a laser head light spot adjusting knob 24 for adjusting the diameter of a light spot irradiated on a part to be processed, so that the technical requirements of workpieces with different sizes and different materials are met. The laser head 21 and the laser head spot adjusting knob 24 are both prior art, and are known to those skilled in the art, and the detailed structure and the working principle thereof are not described herein again.
Laser head translation device 22 includes horizontal slidable mounting and is in translation pinion rack on the pedestal 1, be provided with on the pedestal 1 with translation pinion rack tip complex spout, translation pinion rack's tip stretch into to just can follow in the spout removes, still install on the pedestal 1 with the gear shaft of translation pinion rack meshing, the both ends of gear shaft are rotated and are installed 1 is gone up and one end is stretched out of pedestal have the regulation drive arrangement outward. The adjusting driving device is a manual adjusting handle, and can also be a rotating motor. When rotating manual adjustment handle, can drive the gear shaft drives, because the gear shaft with be the tooth meshing relation between the translation pinion rack, consequently can drive translation pinion rack along spout horizontal migration, drive promptly laser head 21 reciprocating motion to adjust the distance between laser head 21 and the part surface of waiting to process.
Laser head transposition device 23 is including fixing roating seat on the translation pinion rack, install on the laser instrument with roating seat normal running fit's installation piece, install on the roating seat power end with installation piece fixed connection can drive the installation piece winds roating seat pivoted transposition drive arrangement. Transposition drive arrangement is rotating electrical machines, be provided with on the installation piece and wind roating seat pivoted pivot, this pivot with rotating electrical machines's power shaft fixed connection, work as when rotating electrical machines rotates, the power end can drive pivot, installation piece rotatory, thereby changes laser head 21's swing angle adjusts laser beam of laser head 21 and the contained angle between the metal 5 surfaces of waiting to process. The rotating electric machine is not shown in the figures.
The ultrasonic surface strengthening device 3 comprises an ultrasonic energy conversion assembly installed in the seat body 1, one end of the ultrasonic energy conversion assembly extends out of the seat body 1, an ultrasonic tool head is connected outside the seat body 1, the ultrasonic energy conversion assembly and the seat body 1 are also provided with a driving mechanism, the ultrasonic tool head compresses a driving compressing device 31 on the surface of the metal 5 to be processed, and in the embodiment, the driving compressing device 31 can be a driving cylinder. The ultrasonic tool head is a roller 35.
The ultrasonic transduction assembly comprises a transducer shell 32, an ultrasonic transducer 33 is installed in the transducer shell 32, one end of the ultrasonic transducer 33 is connected with the driving compressing device 31, the other end of the ultrasonic transducer 33 is connected with an amplitude transformer 34, the outside of the amplitude transformer 34 is connected with the transducer shell 32 through a front end shell, a roller 35 matched with the end part of the amplitude transformer 34 is installed on the front end shell, the output end of the amplitude transformer 34 is compressed on the roller 35, and the roller 35 is used for performing ultrasonic rolling processing on the surface of a part to be processed. The front end shell is provided with a lubricating oil port and is divided into an oil inlet and an oil return port, so that the roller 35 is lubricated.
The structures and installation manners of the ultrasonic transducer 33, the amplitude transformer 34, the roller 35, etc. are all the prior art, and are well known to those skilled in the art, and will not be described herein again.
The cooling quenching device 4 comprises a cooling nozzle 41 corresponding to the surface of the metal 5 to be processed, the cooling nozzle 41 is connected to the seat body 1 through a cooling conduit 42, the cooling conduit 42 adopts a corrugated pipe, the angle can be adjusted according to actual use requirements, and the seat body 1 is further provided with a cooling pipeline communicated with the cooling conduit 42. The cooling temperature, the injection pressure and the jet form of the cooling nozzle 41 can be adjusted by the cooling source adjusting system, and the injection position of the cooling nozzle 41 can also be adjusted by the cooling conduit 42, so that the technical requirements of different materials and different sizes of parts to be processed on different temperature cooling quenching can be met. For certain materials, the quench hardening process may be replaced with cooling with nitrogen or other coolant.
Referring to fig. 4, the laser-ultrasonic-cooling composite surface strengthening system comprises a laser-ultrasonic-cooling composite surface strengthening device, a machine tool 61 for installing the composite surface strengthening device, and a control cabinet 62 for providing a power source for the composite surface strengthening device. In the present embodiment, the machine tool 61 is a lathe, but may be a machining device such as a milling machine, a machining center, or a robot arm.
In this embodiment, the machine tool 61 is further provided with an axially-moving axially-translating device 63 and a radially-moving radially-translating device 64 for adjusting the composite surface strengthening device, and a rotatable indexing table 65, the composite surface strengthening device is mounted on the indexing table 65, the bottom end of the indexing table 65 is rotatably mounted on the radially-translating device 64, and the bottom end of the radially-translating device 64 is further mounted on the axially-translating device 63. The axial translation device 63 and the radial translation device 64 both slide axially or radially through a sliding plate which is installed on a screw rod through a motor drive thread, and the indexing table 65 rotates through a worm and a worm wheel which are driven by a motor to rotate. The axial translation device 63 can drive the radial translation device 64, the indexing table 65 and the composite surface strengthening device mounted on the indexing table 65 to move back and forth, so that the composite surface strengthening device can move axially along a workpiece to be machined, the radial translation device 64 can drive the indexing table 65 and the composite surface strengthening device to approach or depart from the workpiece to be machined, the continuous machining of the workpiece to be machined and the machining of the workpiece to be machined adaptive to different sizes and shapes can be conveniently realized, and the indexing table 65 can rotate to drive the composite surface strengthening device to rotate, so that the non-flat end face of the workpiece to be machined can be strengthened. The composite surface strengthening device is arranged on a machine tool 61, and axial and radial translation and rotation are realized through an axial translation device 63, a radial translation device 64 and an indexing table 65, so as to machine shaft disc type, plane and various complex surface parts. The axial translation device 63, the radial translation device 64, and the indexing table 65 are commonly used in the prior art, and have various structures, and detailed structures and working principles thereof are not described herein again.
The shape of the part to be machined shown in fig. 4 is only for illustration purposes and does not limit the size, shape and material of the part to be machined, but is only one illustration of all parts suitable for machining with the laser-ultrasonic-cooling composite surface-enhancing device.
The control cabinet 62 is provided with a compaction power device 66, a lubricating oil pump system 67, a cooling source 68, an ultrasonic generator 69 and a laser generator 610.
The compressing power device 66 is connected with the driving compressing device 31 through a pipeline, the compressing power device 66 provides external force for the driving compressing device 31, so that the ultrasonic tool head can compress the surface of a part to be processed, and the contact between the surface and the part can be ensured.
The ultrasonic transducer assembly is provided with a transducer connecting hole 36 for connecting the ultrasonic generator 69 with the ultrasonic transducer 33; the laser head 21 is provided with an optical fiber interface 25 for connecting the laser head 21 and the laser generator 610 through an optical fiber; the cooling source 68 is connected with the connecting port of the cooling spray head 41 through a pipeline, fig. 4 only depicts a nitrogen tank as the cooling source, which is connected with the cooling spray head 41 through a pipeline and a fast pneumatic interface, and provides the cooling medium nitrogen for the cooling spray head 41, and the cooling medium and the structural composition of the cooling quenching device 4 are not limited. The lubricating oil pump system 67 is connected with the oil inlet and the oil return port of the lubricating oil port through pipelines, so that the roller 35 is fully lubricated, and the surface strengthening quality is improved.
The processing method of the laser-ultrasonic-cooling composite surface strengthening device comprises any one of the following modes:
the method comprises the following steps:
a) the laser auxiliary heating device 2 is used for carrying out laser preheating on a processing area on the surface of the metal 5 to be processed, so that the thermoplasticity of the metal surface is improved, and the uniformity and the machinability of the surface structure of the workpiece are improved;
b) the metal surface after laser preheating is subjected to ultrasonic strengthening treatment by using an ultrasonic surface strengthening device 3, and the metal surface is subjected to high-frequency forging and rolling treatment by using an ultrasonic tool head, so that the metal surface generates strong plastic deformation, and a pressure stress layer is formed by remolding, refining and compacting a metal structure, thereby achieving the effect of strengthening the surface of a workpiece;
c) repeating the steps a) and b), and sequentially finishing the strengthening treatment on the surfaces of the parts to be processed according to a pre-planned path;
the method comprises the following two steps:
a) carrying out ultrasonic strengthening treatment on a processing area of the metal surface to be processed by using an ultrasonic surface strengthening device 3, carrying out high-frequency forging and rolling treatment on the metal surface by using an ultrasonic tool head, so that the metal surface generates strong plastic deformation, and forming a compressive stress layer by remolding, refining and compacting a metal structure to play a role in strengthening treatment on the surface of a workpiece;
b) the metal surface after ultrasonic strengthening is subjected to cooling quenching treatment by using a cooling quenching device 4, so that the dynamic recovery of plastic deformation of the material is inhibited, higher dislocation density is facilitated to be obtained, the metal structure on the surface of the workpiece is further refined and compact, and the comprehensive performance of the surface of the workpiece is improved;
c) repeating the steps a) and b), and sequentially finishing the strengthening treatment on the surfaces of the parts to be processed according to a pre-planned path;
the method comprises the following three steps:
a) the laser auxiliary heating device 2 is used for carrying out laser preheating on a processing area on the surface of the metal 5 to be processed, so that the thermoplasticity of the metal surface is improved, and the uniformity and the machinability of the surface structure of the workpiece are improved;
b) the metal surface after laser preheating is subjected to ultrasonic strengthening treatment by using an ultrasonic surface strengthening device 3, and the metal surface is subjected to high-frequency forging and rolling treatment by using an ultrasonic tool head, so that the metal surface generates strong plastic deformation, and a pressure stress layer is formed by remolding, refining and compacting a metal structure, thereby achieving the effect of strengthening the surface of a workpiece;
c) the metal surface after ultrasonic strengthening is subjected to cooling quenching treatment by using a cooling quenching device 4, so that the dynamic recovery of plastic deformation of the material is inhibited, higher dislocation density is facilitated to be obtained, the metal structure on the surface of the workpiece is further refined and compact, and the comprehensive performance of the surface of the workpiece is improved;
d) and repeating the steps a) to c), and sequentially finishing the strengthening treatment on the surfaces of the parts to be processed according to the pre-planned path.
Because the laser-ultrasonic-cooling composite surface strengthening device comprises the three processing methods, the composite surface strengthening processing of ultrasonic rolling-cooling quenching, the composite surface strengthening processing of laser auxiliary heating-ultrasonic rolling and the composite surface strengthening processing of laser auxiliary heating-ultrasonic rolling-cooling quenching can be realized. In practical use, different processing methods can be selected for parts made of different materials, for example, for metal with better uniformity and processability, laser preheating is not adopted to improve thermoplasticity, and the second mode can be selected to directly perform ultrasonic strengthening on the metal surface; for the metal with compact refining and better surface comprehensive performance, the cooling quenching treatment can be omitted, and the first mode can be selected, namely the step of the cooling quenching treatment is omitted.
Because each step of machining is time-efficient, each machining area of the surface of the part to be machined needs to be sequentially processed step by step, and therefore the surface of the part to be machined needs to be sequentially strengthened according to a pre-planned path.
Example one
In a typical embodiment of the present invention, this embodiment discloses a laser-assisted thermal-ultrasonic rolling-cooling quenching composite surface strengthening processing method, that is, performing laser-ultrasonic-cooling composite surface strengthening processing on the end surface of a rotary part, using the laser-ultrasonic-cooling composite surface strengthening device of the present invention, as shown in fig. 4, a machine tool 61 drives the part to be processed to rotate, adjusting the working frequency of an ultrasonic generator 69, adjusting a roller 35 to an initial position of processing through an axial translation device 63, a radial translation device 64, and an indexing table 65, adjusting the power of a laser generator 610 and turning on a guiding light of the laser, adjusting the position and angle of a laser head 21 through the guiding light, adjusting the spraying position and cooling temperature of a cooling nozzle 41, and when the condition of assisted thermal processing is reached, the roller 35 of the laser-ultrasonic-cooling composite surface strengthening device is connected with the end surface of the part to be processed The driving pressing device 31 applies pretightening force to press the roller 35 and the part to be processed, and the feeding system drives the laser-ultrasonic-cooling composite surface strengthening device to feed to complete the strengthening treatment of the whole end face.
In detail, the specific feeding process of the feeding system for driving the laser-ultrasonic-cooling composite surface strengthening device to feed is determined according to the shape and size of the machined surface of the part to be machined, and the feeding process is completed through the mutual cooperation of the axial translation device 63, the radial translation device 64 and the indexing table 65, which is not described in detail herein.
Example two
In a typical embodiment of the present invention, this embodiment discloses another laser assisted hot-ultrasonic rolling-cooling quenching composite surface strengthening processing method, i.e. performing laser-ultrasonic-cooling composite surface strengthening processing on the outer circular surface of a rotary part, using a laser-ultrasonic-cooling composite surface strengthening device as described in example 1, as shown in fig. 5, a machine tool 61 drives the part to be processed to rotate, the operating frequency of an ultrasonic generator 69 is adjusted, a roller 35 is adjusted to the initial position of processing by an axial translation device 63, a radial translation device 64, and an indexing table 65, the power of the laser and the position and angle of a laser head 21 are adjusted, the spraying position and cooling temperature of a cooling spray head 41 are adjusted, and when the condition of assisted hot processing is reached, the roller 35 of the laser-ultrasonic-cooling composite surface strengthening device contacts with the outer circular surface of the part to be processed and is driven by a pressing device 31 to apply the laser-ultrasonic-cooling composite surface strengthening processing method The pre-tightening force is added to tightly press the roller 35 and the part to be processed, and the feeding system drives the laser-ultrasonic-cooling composite surface strengthening device to feed to complete the strengthening treatment of the whole outer circular surface.
Fig. 5 is a schematic view of the outer circumferential surface of the workpiece to be machined, and the surface strengthening method of example 2 is not limited, and the laser-ultrasonic-cooling composite surface strengthening device can also perform integrated surface strengthening treatment of laser-assisted heating-ultrasonic rolling-cooling quenching on the inner circumferential surface and the surface of revolution of the workpiece.
Fig. 4 and 5 are schematic diagrams showing two preferred embodiments of the present invention mounted on a lathe for more intuitive and detailed description of the structure and method of the present invention, and the laser-ultrasonic-cooling composite surface strengthening device can also be mounted on other processing equipment such as a milling machine, a machining center, a robot arm, etc. to perform strengthening treatment.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.