Hydraulic system and method for controlling an implement of a working machine

Abstract

A hydraulic system is provided for a working machine that includes a hydraulic cylinder for raising and lowering an implement. The hydraulic system includes a sensor for measuring a pressure in the hydraulic cylinder; and a control unit for controlling the movement of the hydraulic cylinder; wherein the control unit is configured to compare a pressure value measured by the sensor with a preset target pressure level range and to control the pressure in the hydraulic cylinder to be within the preset target pressure level range by adding or draining hydraulic fluid to/from a pressure side of the hydraulic cylinder for maintaining a substantially constant ground contact force between the implement and the ground.

Claims

1. A hydraulic system for a working machine comprising a hydraulic cylinder for raising and lowering an implement, the hydraulic system comprising a sensor for measuring a pressure in the hydraulic cylinder; a control unit for controlling the movement of the hydraulic cylinder; and a hydraulic accumulator unit arranged in fluid communication with a pressure side of the hydraulic cylinder and the sensor; wherein the control unit is configured to compare a pressure value measured by the sensor with a preset target pressure level range and to control the pressure in the hydraulic cylinder to be within the preset target pressure level range by adding or draining hydraulic fluid to/from the pressure side of the hydraulic cylinder solely by receiving hydraulic fluid from the hydraulic accumulator unit or by, providing hydraulic fluid to the hydraulic accumulator unit for maintaining a substantially constant ground contact force between the implement and the ground.

2. The hydraulic system according to claim 1, wherein the sensor is in fluid communication with the pressure side of the hydraulic cylinder and electrically connected to the control unit.

3. The hydraulic system according to claim 1, wherein the pressure side of the hydraulic cylinder is a piston side of the hydraulic cylinder, wherein hydraulic fluid is added or drained to/from the piston side of the hydraulic cylinder for maintaining the substantial constant ground contact force between the implement and the ground.

4. The hydraulic system according to claim 3, wherein the control unit is configured to control a control valve such that hydraulic fluid is drained from the piston side of the hydraulic cylinder if the measured pressure value is above the preset pressure level range.

5. The hydraulic system according to claim 3, wherein a piston side sensor valve is arranged In fluid communication with the piston side of the hydraulic cylinder and the sensor.

6. The hydraulic system according to claim 5, wherein the control unit, is configured to position the piston side sensor valve and a piston rod side drain valve in an open state when adding or draining hydraulic fluid to/from the piston side of the hydraulic cylinder, and wherein the piston rod side drain valve is arranged in fluid communication with the piston rod side of the hydraulic cylinder and a drain tank.

7. The hydraulic system according to claim 3, wherein a piston rod side drain valve is arranged in fluid communication with the piston rod side of the hydraulic cylinder and a drain tank.

8. The hydraulic system according to claim 3, wherein a piston rod side sensor valve is arranged in fluid communication with the piston rod side of the hydraulic cylinder and the sensor.

9. The hydraulic system according to claim 8, wherein the control unit is configured to position the piston rod side sensor valve and a piston side drain valve in an open state when adding or draining hydraulic fluid to/from the piston rod side of the hydraulic cylinder, and wherein the piston side drain valve is arranged in fluid communication with the piston side of the hydraulic cylinder and a drain tank.

10. The hydraulic system according to claim 3, wherein a piston side drain valve is arranged in fluid communication with the piston side of the hydraulic cylinder and a drain tank.

11. A hydraulic system for a working machine comprising a hydraulic cylinder for raising and lowering an implement, the hydraulic system comprising a sensor for measuring a pressure in the hydraulic cylinder; a control unit for controlling the movement of the hydraulic cylinder; and a hydraulic accumulator unit arranged in fluid communication with a pressure side of the hydraulic cylinder and the sensor; wherein the control unit is configured to compare a pressure value measured by the sensor with a preset target pressure level range and to control the pressure in the hydraulic cylinder to be within the preset target pressure level range by adding or draining hydraulic fluid to/from the pressure side of the hydraulic cylinder by receiving hydraulic fluid from the hydraulic accumulator unit or by providing hydraulic fluid to the hydraulic accumulator unit for maintaining a substantially constant ground contact force between the implement and the ground, wherein the pressure side of the hydraulic cylinder is a piston side of the hydraulic cylinder, wherein hydraulic fluid is added or drained to/from the piston side of the hydraulic cylinder for maintaining the substantial constant ground contact force between the implement and the ground, and wherein the control unit is configured to control a control valve such that a pump unit adds hydraulic fluid to the piston side of the hydraulic cylinder if the measured pressure value is below the preset pressure level range.

12. A hydraulic system for a working machine comprising a hydraulic cylinder for raising and lowering an implement, the hydraulic system comprising a sensor for measuring a pressure in the hydraulic cylinder; a control unit for controlling the movement of the hydraulic cylinder; and a hydraulic accumulator unit arranged in fluid communication with a pressure side of the hydraulic cylinder and the sensor; wherein the control unit is configured to compare a pressure value measured by the sensor with a preset target pressure level range and to control the pressure in the hydraulic cylinder to be within the preset target pressure level range by adding or draining hydraulic fluid to/from the pressure side of the hydraulic cylinder by receiving hydraulic fluid from the hydraulic accumulator unit or by providing hydraulic fluid to the hydraulic accumulator wilt for maintaining a substantially constant ground contact force between the implement and the ground, wherein the pressure side of the hydraulic cylinder is a piston rod side of the hydraulic cylinder, wherein hydraulic fluid is added or drained to/from the piston rod side of the hydraulic cylinder for maintaining the substantial constant ground contact force between the implement and the ground.

13. The hydraulic system according to claim 12, wherein the control unit is configured to control a control valve such that a pump unit adds hydraulic fluid to the piston rod side of the hydraulic cylinder if the measured pressure value is below the preset pressure level range.

14. The hydraulic system according to claim 12, wherein the control unit is configured to control a control valve such that hydraulic fluid is drained from the piston rod side of the hydraulic cylinder if the measured pressure value is above the preset pressure level range.

15. A control unit for controlling an implement of a working machine comprising a hydraulic cylinder for raising and lowering the implement, a sensor for measuring a pressure in the hydraulic cylinder, and a hydraulic accumulator unit arranged in fluid communication with a pressure side of the hydraulic cylinder and the sensor, wherein the control unit is configured to compare a pressure value measured by the sensor with a preset target pressure level range and to control the pressure in the hydraulic cylinder to be within the preset target pressure level range by adding or draining hydraulic fluid to/from a pressure side of the hydraulic cylinder solely by receiving hydraulic fluid from the hydraulic accumulator unit or by providing hydraulic fluid to the hydraulic accumulator unit for maintaining a substantially constant ground contact force between the implement and the pound.

16. A method for controlling an implement of a working machine comprising a hydraulic cylinder for raising and lowering the implement, the method comprising: comparing a pressure value in the hydraulic cylinder with a preset target pressure level range; and controlling the pressure in the hydraulic cylinder to be within the preset target pressure level range by adding or draining hydraulic fluid to/from a pressure side of the hydraulic cylinder solely by receiving hydraulic fluid from a hydraulic accumulator unit or by providing hydraulic fluid to the hydraulic accumulator unit for maintaining a substantially constant ground contact force between the implement and the ground.

17. A control system for a working machine provided with an implement and a hydraulic cylinder for raising and lowering the implement, the control system has a selectable mode for controlling the lift arm, in which selectable mode hydraulic fluid is added or drained to/from a pressure side of the hydraulic cylinder solely by receiving hydraulic fluid from a hydraulic accumulator unit or by providing hydraulic fluid to the hydraulic accumulator unit for maintaining a substantially constant ground contact force between the implement and the ground.

18. The control system according to claim 17, wherein the selectable mode has a first operating mode in which the substantially constant ground contact force being lower than a ground contact force caused by the dead weight of the lift arm and the implement when the implement passively rest against the ground.

19. The control system according to claim 18, wherein hydraulic fluid is configured to be added or drained to/from a piston side of the hydraulic cylinder when the control system is in the first operating mode.

20. The control system according to claim 17, wherein the selectable mode has a second operating mode in which the substantially constant ground contact force being higher than a ground contact force caused by the dead weight of the lift arm and the implement when the implement passively rest against the ground.

21. The control system according to claim 20, wherein hydraulic fluid is configured to be added or drained to/from a piston rod side of the hydraulic cylinder when the control system is In the second operating mode.

22. The control system according to claim 21, wherein the control system is further configured to switch from the first operating mode to the second operating mode by moving a piston rod side drain valve from an open position to a closed position and moving a piston side drain valve from a closed position to an open position, wherein the piston rod side drain valve is arranged in fluid communication with the piston rod side of the hydraulic cylinder and a drain tank and the piston side drain valve is arranged in fluid communication with the piston side of the hydraulic cylinder and the drain tank.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The above, as well as additional features and advantages of the present invention, will be better understood through the following illustrative and non-limiting detailed description of exemplary embodiments of the present invention, wherein:

(2) FIG. 1 is a side view of a working machine provided with a hydraulic system according to an example embodiment of the present invention;

(3) FIG. 2 is a schematic view illustrating a hydraulic system according to an example embodiment of the present invention;

(4) FIG. 3 is a schematic view illustrating a hydraulic system according to another example embodiment of the present invention; and

(5) FIG. 4 is a flow chart of a method according to an example embodiment of the present invention.

DETAIL DESCRIPTION

(6) The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness. Like reference character refer to like elements throughout the description.

(7) Reference is now made to FIG. 1 illustrating a working machine 101, here in the form of a wheel loader having a lift arm arrangement 102 with an implement 103. The term implement is intended to be any kind of tool using hydraulics, such as a bucket, a fork or a gripping tool arranged on a wheel loader. The illustrated implement is a bucket 103 which is arranged on a lift arm 104 for lifting and lowering the bucket 103. The bucket 103 can further be tilted or pivoted relative to the lift arm 04. The wheel loader 101 is provided with a hydraulic system 200, 300 (see FIGS. 2 and 3) comprising at least one hydraulic machine (not shown). The hydraulic machine can be a hydraulic pump, although it is preferred that the hydraulic machine can work as a hydraulic pump as well as a hydraulic motor with a reversed flow of hydraulic fluid. Such a hydraulic machine with said both functions can be used as a pump for providing the hydraulic system with hydraulic fluid, for example to lift and tilt the bucket, and as a hydraulic motor for recuperation of energy, for example during a lowering operation of the implement 103. In the example embodiment illustrated in FIG. 1 the hydraulic system comprises two hydraulic cylinders 105a, 105b for the operation of the lift arm 104 and a hydraulic cylinder 106 for tilting the bucket 103 relative to the lift arm 104. Furthermore the hydraulic system comprises two hydraulic cylinders 107a, 107b arranged on opposite sides of the wheel loader for turning the wheel loader by means of relative movement of a front body part 108 and a rear body part 109. In other words; the working machine is frame-steered by means of the steering cylinders 107a, 107b.

(8) The following will now describe the hydraulic system according to example embodiments of the present invention. More specifically, the following will describe the hydraulic system n relation to the hydraulic cylinders 105a, 105b for operation of the lift arm 104 and the implement 103. However, the invention should not be construed as limited to the hydraulic cylinders 105a, 105b for operation of the lift arm 104, the invention works equally as well for the hydraulic cylinder 106 for tilting the bucket 103. However, no further description of the hydraulic cylinder 106 for tilting the bucket 103 as well as the hydraulic cylinders 107a, 107b arranged for turning the wheel loader will be given.

(9) Turning first to FIG. 2, which illustrates an example embodiment of a hydraulic system 200 according to the present invention. The hydraulic system 200 comprises a pump unit 202 which is configured to supply hydraulic fluid to the hydraulic system 200 via a control valve 204. The control valve 204 comprises different positions 226, 228, 229 for guiding the hydraulic fluid to different positions of the system, which will be described further below. The system also comprises two hydraulic cylinders 105a, 105b. Each of the cylinders 105a, 105b has a piston side 206 and a piston rod side 208. The piston side 206 and the piston rod side 208 can both be in fluid communication with the pump unit 202 via the control valve 204, depending on the positioning of the control valve 204. Furthermore, the piston side 206 and the piston rod side 208 of the hydraulic cylinders 105a, 105b can also be in fluid communication with a drain tank 210 of the hydraulic system 200. Hereby, hydraulic fluid can be provided to the piston side 206 or the piston rod side 208 of the hydraulic cylinders 105a, 105b from the pump unit 202, or hydraulic fluid can be drained from the piston side 206 and the piston rod side 208 to the drain tank 210.

(10) Moreover, the hydraulic system 200 further comprises a sensor 212, a control unit 214 and a hydraulic accumulator unit 216. The sensor 212 is, in the example embodiment depicted in FIG. 2, arranged in fluid communication with the piston side 206 of the hydraulic cylinders 105a, 105b, for measuring a pressure in the piston side 206. The hydraulic accumulator unit 216 is arranged between, and in fluid communication with, the sensor 212 and the piston side 206 of the hydraulic cylinders 105a, 105b.

(11) The control unit 214 is connected to the sensor 212 and to a piston rod side drain valve 218 arranged in fluid communication between the piston rod side 208 of the hydraulic cylinder 105a, 105b and the drain tank 210, as well as connected to a piston side sensor valve 220 arranged in fluid communication between the sensor 212 and the piston side 206 of the hydraulic cylinders 105a, 105b. Furthermore, the control unit is also connected to two valve units 222, 224 for controlling the control valve 204.

(12) It should be understood that the positioning of the sensor 212 in FIG. 2 is mainly for illustrative purposes. The sensor 212 may instead, for example, be positioned in fluid communication between the piston side 206 of the hydraulic cylinders 105a, 105b and the piston side sensor valve 220, or between the piston side sensor valve 220 and the hydraulic accumulator unit 216. The purpose of the sensor 212 in FIG. 2 is hence to measure the pressure level in the piston side 206 of the hydraulic cylinders 105a, 105b.

(13) The hydraulic system 200 depicted in FIG. 2 is configured to execute a first operating mode in which the ground contact force between the implement 103 (see FIG. 1) and the ground is kept substantially constant and below the dead weight of the lift arm 104 and the implement 103. It should be readily understood that the dead weight of the lift arm 104 and the implement 103 should be construed, throughout the entire description, as the gravitational three resulting from the lift arm 104 and the implement 103 which rests on the ground. Since the lift arm 104 is in connection to the working machine, a portion of the gravitational force is acting on the joint which connects the lift arm 104 to the working machine 101 and a remaining portion of the gravitational force is acting on the ground. How to calculate the portion of the gravitational three acting on the ground is well known to the person skilled in the art. Accordingly, in the first operating mode, the ground contact force between the implement 103 and the ground is kept substantially constant and lower than the weight on the ground if the implement 103 would passively rest on the ground. The following will describe the first operating mode in further detail.

(14) When the hydraulic system 200 is arranged to execute the first operating mode, the driver of the working machine can provide input to the control unit 214 regarding the desired ground contact force between the implement and the ground that is desired during the operation. This desired ground contact three, which corresponds to a desired pressure in the piston side 206 of the hydraulic cylinders 105a, 105b, is set as a preset target pressure level range, in which range the pressure in the piston side 206 should be maintained during the operation of the first operating mode. The preset target pressure level range can be set by the operator of the working machine via a HMI or the like.

(15) In the first operating mode, the control unit 214 controls each of the piston rod side drain valve 218 and the piston side sensor valve 220 to be positioned in an open state, respectively. Hereby, the piston rod side 208 of the hydraulic cylinders 105a, 105b is connected to the drain tank 210 and the piston side 206 of the hydraulic cylinders 105a, 105b is connected to the sensor 212 and the hydraulic accumulator unit 216. Further, the control unit 21 controls the control valve 204 such that hydraulic fluid can be added to the piston side 206, by moving the control valve 204 to the first valve box 226, or to drain hydraulic fluid from the piston side 206 by moving the control valve 204 to the second valve box 228.

(16) When the working machine is operating in the first operating mode, the pressure in the piston side 206 of the hydraulic cylinders 105a, 105b is continuously measured by means of the sensor 212, which in turn provides a signal to the control unit 214 indicative of the current pressure in the piston side 206. In the event that the working machine is, for example, running over a bump or the like, the pressure in the piston side 206 of the hydraulic cylinders 105a, 105b will decrease such that the force between the implement and the ground will increase. In order to maintain the pressure in the piston side to be within the preset target pressure level range, hydraulic fluid is added to the piston side 206. The hydraulic fluid can be provided from the pump unit 202 via the control valve 204 or from the hydraulic accumulator unit 216. The hydraulic fluid may also be provided from both the pump unit 202 as well as from the hydraulic accumulator unit 216. Hereby, the pressure in the piston side 206 of the hydraulic cylinders 105a, 105b will increase to be within the preset target pressure level range, such that the ground contact force between the implement and the ground is maintained substantially constant.

(17) On the other hand, in the event that the implement will be forced downwards due to e.g. a hole in the ground or the like, the pressure in the piston side 206 of the hydraulic cylinders 105a, 105b will increase and thus the ground contact force between the implement and the ground will be reduced. In order to maintain the pressure in the piston side 206 to be within the preset target pressure level range, hydraulic fluid is drained from the piston side 206 of the hydraulic cylinders 105a, 105b, either to the drain tank 210, the hydraulic accumulator unit 216 or to both the drain tank 210 as well as to the hydraulic accumulator unit 216. Hereby, the pressure in the piston side 206 of the hydraulic cylinders will decrease to be within the preset target pressure level range, such that the ground contact force between the implement and the ground is maintained substantially constant.

(18) Reference is now made to FIG. 3, which, illustrates another example embodiment of a hydraulic system 300 according to the present invention. The hydraulic system depicted in FIG. 3 is able to execute the first operating mode as described above, but can also execute a second operating mode, in which the ground contact force between the implement 103 (see FIG. 1) and the ground is kept substantially constant and above the dead weight of the lift arm 104 and the implement 103.

(19) The difference between the hydraulic system 300 depicted in FIG. 3 and the hydraulic system 200 depicted in FIG. 2 is that a piston rod side sensor valve 302 and a piston side drain valve 304 is added to the hydraulic system 300 depicted in FIG. 3. The piston rod side sensor valve 302 is arranged in fluid communication between the sensor 212 and the piston rod side 208 of the hydraulic cylinders 105a, 105b, while the piston side drain valve 304 is arranged in fluid communication between the piston side 206 of the hydraulic cylinders 105a, 105b and the drain tank 210. Hereby, the sensor is in fluid communication with the piston rod side 208 when the piston rod side sensor valve 302 is positioned in an open state.

(20) When the hydraulic system 300 is arranged to execute the second operating mode, the driver of the working machine can provide input to the control unit in a similar manner as described above for the first operating mode.

(21) In the second operating mode, the control unit 214 controls each of the piston rod side drain valve 218 and the piston side sensor valve 220 to be positioned in a closed state, respectively. Further, the control unit 214 also controls each of the piston rod side sensor valve 302 and the piston side drain valve 304 to be positioned in an opened state, respectively. Hereby, the piston side 206 of the hydraulic cylinders 105a, 105b is connected to the drain tank 210 and the piston rod side 208 of the hydraulic cylinders 105a, 105b is connected to the sensor 212 and the hydraulic accumulator unit 216. Further, the control unit 214 controls the control valve 204 such that hydraulic fluid pan be added to the piston rod side 208 of the hydraulic cylinders 105a, 105b by moving the control valve to the second valve box 228, or to drain hydraulic fluid from the piston rod side 208 of the hydraulic cylinders 105a, 105b by moving the control valve 204 to the first valve box 226.

(22) When the working machine is operating in the second operating mode, the pressure in the piston rod side 208 is continuously measured by means of the sensor 212, which in turn provides a signal to the control unit 214 indicative of the current pressure in the piston rod side 208 of the hydraulic cylinders 105a, 105b. In the event that the working machine is, for example, running over a bump or the like, the pressure in the piston rod side 208 of the hydraulic cylinders 105a, 105b will increase such that the force between the implement and the ground will also increase in order to maintain the pressure in the piston rod side to be within the preset target pressure level range, hydraulic fluid is drained from the piston rod side 208, either to the drain tank 210, the hydraulic accumulator unit 216 or to both the drain tank 210 as well as to the hydraulic accumulator unit 216. Hereby, the pressure in the piston rod side 208 of the hydraulic cylinders 105a, 105b will decrease to be within the preset target pressure level range, such that the ground contact force between the implement and the ground is maintained substantially constant.

(23) On the other hand, in the event that the implement will be forced downwards due to e.g. a hole in the ground or the like, the pressure in the piston rod side 208 of the hydraulic cylinders 105a, 105b will be reduced and thus the ground contact force between the implement and the ground will also be reduced. In order to maintain the pressure in the piston rod side 208 to be within the preset target pressure level range, hydraulic fluid is added to the piston rod side 208, either from the pump unit 202 or from the hydraulic accumulator unit 216, or from both the pump unit 202 and the hydraulic accumulator unit 216. Hereby, the pressure in the piston rod side 208 of the hydraulic cylinders will increase to be within the preset target pressure level range, such that the ground contact force between the implement and the ground is maintained substantially constant.

(24) During operation of the working machine, the operator may switch from the first operating mode to the second operating mode, or vice versa. This can be executed by means of the operator providing input regarding the switch between the modes to a HMI or the like, which is connected to the control unit 214. The following will describe the procedure for switching from the second operating mode to the first operating mode with reference to FIG. 3.

(25) As can be seen in FIG. 3, the hydraulic system has activated the second operating mode. This is achieved by positioning the piston rod side sensor valve 302 and the piston side drain valve 304 in a respective open state, thus allowing hydraulic fluid to pass there through. The hydraulic system is hence operated in the second operating mode as described above.

(26) When the operator of the working machine wants to switch from the second operating mode to the first operating mode, the control unit 214 positions the piston rod side sensor valve 302 and the piston side drain valve 304 in, a closed state and positions the piston rod side drain valve 218 and the piston side sensor valve 220 in an open state. Hereby, hydraulic fluid is allowed to pass through the piston rod side drain valve 218 and the piston side sensor valve 220, while being prevented from passing through the piston rod side sensor valve 302 and the piston side drain valve 304. The hydraulic system 300 depicted in FIG. 3 is then operated and works as the hydraulic system 200 depicted in FIG. 2.

(27) Still further, the operator may also arrange the hydraulic system in a float triode. This float mode allows the ground contact force between the implement and the ground to always correspond to the dead weight of the lift arm and the implement. Positioning the hydraulic system in the float mode is achieved by positioning the piston rod side drain valve 218, the piston side sensor valve 220, the piston rod side sensor valve 302 and the piston side drain valve 304 in a closed state and to position the control valve 204 in the box to the right 229 as depicted in FIG. 3. In the float mode, both the piston side 206 and the piston rod side 208 of the hydraulic cylinders are connected to the drain tank 210. The float mode may also be achieved by positioning both of the piston rod side drain valve 218 and the piston side drain valve 304 in an open state.

(28) Moreover, in order to increase the accuracy of the first and second operating modes, the hydraulic system may need to be calibrated from time to time. For the first operating mode, this calibration can be executed by calculating the weight of the lift arm and the implement by receiving a pressure value from the sensor 212 when the first mode is activated and the implement is just above the ground. For the second operating mode, the calibration is executed by calculating the weight of the working machine by receiving a pressure value from the sensor 212 when the second operating mode is activated and the working machine, here in the form of a wheel loader, is lifted such that the front wheels are above the ground and thus only the rear wheels and the implement of the wheel loader is in contact with the ground.

(29) Finally, reference is made to FIG. 4 which illustrates a flow chart of a method according to an example embodiment of the present invention, which method summarizes the above description of the functionality for the first and second operating modes. The method for controlling the lift arm of the working machine is executed as follows. At a first step, the pressure value in the hydraulic cylinders 105a, 105b is compared S1 to the preset target pressure level range. This preset target pressure level range can be set differently and is described above in relation to the first and the second operating modes. Thereafter, the method controls S2 the pressure in the hydraulic cylinders 105a, 105b to be within the preset target pressure level range. This is executed by either adding S3 hydraulic fluid to the pressure side of the hydraulic cylinders 105a, 105b, which pressure side can be either the piston side 206 or the piston rod side 208 depending on which mode being activated, or draining S4 hydraulic fluid from the pressure side of the hydraulic cylinders 105a, 105b. It is naturally understood that if the step of comparing S1 the pressure value in the hydraulic cylinders 105a, 105b with the preset target pressure level range results in that the pressure is within the range, no further action is taken at the moment. Hence, no adding or draining of hydraulic fluid to/from the hydraulic cylinders 105a, 105b is performed.

(30) It is to be understood that the present invention is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.