MOBILE DEVICE

Abstract

A mobile device includes a frame with displacement means, a working arm connected to the frame including at least a first and a second articulation which are hinged to each other. The working arm is hinged to the frame, and at least a first, second and third control devices are adapted for moving the first and second articulation of the working arm and a tool, respectively, at a free end of the second articulation. A control system is adapted for controlling the first, second and third control means. The control system is adapted to drive the first, second and third control means such that the free end of the second articulation follows a predetermined upward movement along an upwardly directed path and the tool remains in a lifting position, the first, second and third control means are simultaneously controlled.

Claims

1. A mobile device comprising: a main-frame with displacement means; a sub-frame rotatably connected on the main-frame, a working arm connected to the sub-frame and comprising at least a first and a second articulation which are hinged to each other, the working arm being pivotally connected to the sub-frame, at least a first, second and third control device adapted to move the first and second articulation of the working arm and a tool, respectively, at a free end of the second articulation, and a control system adapted to control the first, second and third control devices, wherein the control system is adapted to control the first, second and third control devices such that the free end of the second articulation follows a predetermined upward movement along an upwardly directed path and the tool remains in a lifting position, wherein the first, second and third control devices are driven simultaneously, wherein the working arm comprises a third articulation between the sub-frame and the first articulation, the third articulation being connected by means of pivot points with the first articulation and with the sub-frame.

2. The mobile device of claim 1, wherein the control system is further adapted to control the first, second and third control devices such that the free end of the second articulation performs a predetermined downward movement along a downward direction directional path follows and the tool remains in a lifting position, the first, second and third control devices being controlled and the third articulation being controlled simultaneously through a control device for the third articulation.

3. The mobile device of claim 2, wherein while following the predetermined downward movement, an angle between the sub-frame and the first articulation decreases, while the angle between the first articulation and the second articulation first decreases and then increases.

4. The mobile device of claim 1, wherein the third articulation is pivotally connected to the sub-frame via a pivot connection that has a rotation about a horizontal axis and a rotation about a vertical or substantially vertical axis.

5. The mobile device of claim 1, wherein a pivot point of the second articulation coincides with a pivot point or engagement point of a control device of the first articulation.

6. The mobile device of claim 1, wherein a pivot point of the first articulation coincides with a pivot point or engagement point of a control device of the second articulation.

7. The mobile device of claim 1, wherein a coupling structure is provided between the end of the second articulation and the tool, and that the third control device is coupled to the coupling structure or to the tool, and wherein the control system is further adapted to control a fourth control device for the third articulation during the movement of the tool or the coupling structure; and/or wherein the control system is further adapted to control the fourth control device and third articulation: during the movement of the first articulation and second articulation, so that the end of the second articulation can reach a greater height: and/or so that the end of the second articulation can extend further from the sub-frame: and/or such that movement over a pivot point between the sub-frame and the third articulation is blocked as soon as the third articulation moves into a reclined position: and/or such that movement over a pivot point between the main frame and the sub-frame is blocked as soon as the third articulation moves into a reclined position; and/or such that the third articulation is blocked in an extremely backward position.

8. The mobile device of claim 1, wherein the working arm and/or the tool are provided with one or more supports and that the main-frame is provided with a guide for the one or more supports, wherein the guide is adapted to guide the movement of the working arm and/or the tool during the predetermined upward movement.

9. The mobile device of claim 8, wherein the one or more supports comprise at least a first and a second support provided on opposite sides of the second articulation.

10. The mobile device of claim 8, wherein the control system is further adapted to guide the one or more supports along the guide during the predetermined upward and/or downward movement.

11. The mobile device of claim 8, wherein the guide comprises one or more upwardly directed surfaces against which the one or more supports are guided.

12. The mobile device of claim 8, wherein the main frame is further provided with a stop, for stopping the predetermined downward movement.

13. The mobile device of claim 8, wherein the at least one support is mounted or can rotate about a pivot point or an axis on the second articulation over which a coupling structure or a tool can move or rotate.

14. The mobile device of claim 1, wherein at least the end of the second articulation follows a guide on the main frame via a shaft or support or on a moving part thereof during the predetermined up or down movement.

15. The mobile device of claim 1, wherein the at least one shaft or support on one side of the second articulation is supported in horizontal direction by at least a third guide such that the movement of the second articulations is limited to an upward or downward direction.

16. The mobile device of claim 15, wherein the at least one third guide is movable with respect to the main frame or a moving part thereof.

17. The mobile device of claim 1, wherein energy recovery means are provided which are adapted to recover energy during the rotation of the first and/or second and/or third articulation.

18. The mobile device of claim 1, wherein energy recovery means are provided which are adapted to recover energy: when the first articulation moves down and recovers energy and and/or when the second articulation moves down and recovers energy.

19. The mobile device of claim 1, wherein energy recovery means are provided which are adapted to recover energy through hydraulic means and/or electrical means or a combination thereof.

20. The mobile device of claim 1, wherein in the control is adapted such that when a control device for an articulation uses energy, another control device for a different articulation simultaneously recovers energy.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0185] The above and other advantageous features and objects of the invention will become more apparent and the invention will be better understood with reference to the following detailed description when read in conjunction with the attached drawings, in which FIGS. 1A-1D, 2A-2D, 3A-3P, 4A-4J, 5A-5N, 6A-6X, 7A-7I, 8, 9A-9D, 10A-B illustrate embodiments of the invention.

DETAILED DESCRIPTION

[0186] Below is an overview of the reference numbers in the figures:

TABLE-US-00001 No. Description 1 Main frame with displacement means 20 on which a frame 2 can rotate 1 Adjustable part of a main frame 1 2 Frame with displacement means 20 or a frame without displacement means rotating on a main frame 1 2 Adjustable part of a frame 2 2A Fender or support block for an additional section 3 Lateral adjustment between a frame 2 and a section 4 Location for a driver or a cabin 5 Mudguard for means of transport, part of 1, 1 or 2, 2 4 Location for a driver or a cabin 20 Displacement means such as a wheel or a caterpillar or a plurality of wheels or a plurality of tracks 100 Additional section 100A Part of a structure or a plate in or on an additional section 100 100-100 Cross section of an additional section 100 101 First section 101A Part of a structure or a plate in or on a first section 101 101B Part of a structure or a fixed plate in or on a first section 101 101-101 Cross section of a first section 101 102 Second section, also a possible last section 102A Part of a structure or top plate in or on a second section 102 102B Conduit made of wear-resistant or stainless material for hoses, pipes or cables in or on a second section 102 102-102 Cross section of a second section 102 103 Quick-coupler system for connecting a tool or pivot and / or tilt joint, or adapter 104 Swivel and / or tilt joint 105 Adapter or a second quick-change system 106 Tools in various shapes and versions 107 Platform or safety cage for people / people for working at heights 200 Hinge point, vertical or nearly vertical between a main frame 1 and a frame 2 which allows more than 360 rotation between a main frame 1 and frame 2 201 Hinge point, vertical or nearly vertical between a frame 2 and a side adjustment 3 202 Hinge point, horizontal or almost horizontal between a frame 2 and an additional articulation 100 or between a lateral adjustment 3 and an additional articulation 100 203 Hinge point, horizontal or nearly horizontal between an additional articulation 100 and a first articulation 101 203 Hinge point, horizontal or almost horizontal between a frame (2) on displacement means 20 or between a frame 2 which can rotate on a main frame 1 204 Hinge point, horizontal or almost horizontal between a first section 101 and a second section 102 205 Hinge point, horizontal or nearly horizontal between a second articulation 102 and a quick-change system 103 or a pivot and / or tilting joint 104 or an adapter 105 or a tool 106 or a combination thereof. The pivot point is at the free end of the second articulation 102. This can also depict or be an axis or a pin. 205 Hinge point, horizontal or almost horizontal in line with hinge point 205 in or on a quick-change system 103 or a swivel and / or tilting joint 104 or an adapter 105 or a tool 106 or part thereof. This can also depict or be an axis or a pin. 206 Hinge point, horizontal or substantially horizontal between a second articulation 102 and a control member 1040 for a tool 317 300 Support for a quick-change system 103 or a turning and / or tilting joint 104 or an adapter 105 or a tool 106 or a combination thereof. The support is in line with or hinges around the line of pivot point 205. 310 Straight guide for a pin or axle of pivot point 205 or for a support 300, 350 in or on 1, 1, 2, 2 or a part thereof 310 Straight-line guide for a pin or axle of pivot point 205 or for a support (300, 350) opposite 310 in to 1, 1, 2, 2 or a part thereof 311 Curved guide for a pin or axle of pivot point 205, 205or for a support 300, 350 in or on 1, 1, 2, 2 or a part thereof 311 Curved guide for a pin or shaft of pivot point 205, 205 or for a support 300, 350 opposite 311 in or on 1, 1, 2, 2 or a part thereof 312 Flat, chamfered or rounded part of support 300 or shaft or pin 205 for lateral guidance 313 Flat, chamfered or rounded part of guide 310 or 311 for lateral guidance 313 Flat Curved guidance in or on 1, 1, 2, 2 opposite 313 315 Lower guide or lower vertical limit of a guide for an axle 205, 205 or support 300, 350 316 Space for movement in or border of a frame 2, 2 or a main frame 1, 1 for a section 102, 101, 100 317 Tools in various forms and designs 318 Guidance as part of 310 or 311 with a protrusion directed away from the main frame 1 or frame 2 319 Section as part of 310 or 311 with a chamfer or rounding in the direction of a main frame 1 or a frame 2 320 Height block for an axle 205 or support 300, 350 350 Support for a quick-change system 103 or a swivel and / or tilting joint 104 or an adapter 105 or a tool 106 or a combination thereof. The support is in line with or hinges around the line of pivot point 205 and 205 . 351 Flat, chamfered or rounded part of support 350 or shaft or pin 205 'for lateral guidance 352 Flat, chamfered or rounded part of guide 310 or 311 for lateral guidance 400 Straight vertical or nearly vertical up or down movement of pivot point 205 401 Oblique upward or downward movement of pivot point 205 with an upper part farther away from a frame 402 Upward or downward movement of pivot point 205 with one or more buckling points and with an upper part further away from a frame than a lower part 402 Buckling point in a lower part of an upward or downward movement of pivot point 205, wherein the buckling point is a transition between a vertical lower part and a slanted middle part 402 Buckling point in an upper part of an upward or downward movement of pivot point 205, wherein the buckling point is a transition between an inclined middle part and a vertical upper part and where the buckling point is further away from a frame than a lower angled part 403 Curved upward or downward movement of pivot point 205, with an upper part further away from a frame than a lower part 404 Curved upward or downward movement of pivot point 205, with a middle part farther away from a frame than a lower and an upper part 405 Multiple curved up or down movement of pivot point 205 406 Upward movement of pivot point 205, which via at least one pivot point passes to a horizontal movement of pivot point 205 or vice versa 407 Upward movement of pivot point 205, which flows smoothly to a horizontal movement of pivot point 205 or vice versa 408 Upward movement of pivot point 205, which via at least one pivot point passes to a horizontal movement of pivot point 205 or vice versa, wherein a frame 2 is rotated relative to a main frame 1 409 Upward movement of pivot point 205, which flows smoothly to a horizontal movement of pivot point 205 or vice versa, wherein a frame 2 is rotated relative to a main frame 1 500 Part of an additional articulation 100 or part of an engagement point of a control member 1000, which blocks a rotation of a frame 2 relative to a main frame 1 and / or ensures that a rotation of a lateral adjustment is blocked. 3 501 Plates of an additional articulation 100 or plates of an engagement point of a control member 1000, which blocks a rotation of a frame 2 relative to a main frame 1 and / or ensures that a rotation of a lateral adjustment 3 is blocked. 1000 Control device for the movement of an additional articulation 100, for example a cylinder or spindle or motor 1001 Point of engagement or pivot point of a control member 1000 1001 Point of engagement or pivot point of a control member 1000 for a more reclined position of an additional articulation 100 1002 Point of engagement or pivot point of a control member 1000 1003 Spacer between pivot point 202 and engagement point or pivot point 1001 or 1001 1004 Blocking point of engagement of control element for an additional articulation 100 1005 Hoses, lines or cables for control unit 1000 1010 Control device for the movement of a first articulation 101, for example a cylinder or spindle or motor 1011 Point of engagement or pivot point of a control member 1010 1012 Point of engagement or pivot point of a control member 1010 1015 Hoses, lines or cables for control unit 1010 1020 Control device for the movement of a second articulation 102, for example a cylinder or spindle or motor 1021 Point of engagement or pivot point of a control member 1020 1025 Hoses, lines or cables for control element 1020 1030 Control device for the movement of a quick-change system 103 or a turning and / or tilting joint 104 or an adapter 105 or a tool 106 or a combination thereof, for example a cylinder or spindle or motor 1035 Hoses, lines or cables for control unit 1030 1040 Control device for the movement of a tool 317, for example a cylinder or a spindle or a motor 1045 Hoses, lines or cables for a quick-change system 103 or a turning and / or tilting joint 104 or an adapter 105 or a tool 106 or a combination thereof 1055 Hoses, lines or cables for control unit 1040 2000 Electric motor or hydraulic motor or pneumatic motor for moving a frame 2 or a lateral adjustment 3 or an articulation 100, 101, 102 or a quick-change system 103 or a turning and / or tilting joint 104 or an adapter 105 or a tool 106 or a combination thereof 2001 Axle of electric motor or hydraulic motor or pneumatic motor 2002 Brake or braking device 2003 Transmission or gearbox or planetary system or a multiple or multi-stage transmission or gearbox or planetary system 2004 Transmission or gearbox or deceleration mechanism of a Strain Wave Gear (Harmonic Drive) type, or a Wittenstein Galaxie type or a cycloid type transmission 3000 Encoder, or a rotation angle sensor, or a rotation vector sensor, or a linear sensor, or an accelerator sensor, or a gyroscope sensor, or a gravity sensor, or a camera, or an optical fiber (photonic integrated circuit based sensing) 4000 View line for driver up to 205, 103, 104, 105, 106 5000 Hydraulic or pneumatic valve M Electric engine or combustion engine P Hydraulic or pneumatic pump G Electric generator

FIGS. 1A and 1B

[0187] Side view of a mobile device with displacement means and a first and a second articulation.

FIGS. 1C and 1D

[0188] Side view of a mobile device with displacement means and a first and a second articulation with a bend control.

FIG. 2A

[0189] Side view of a mobile device with displacement means, a frame rotating on a main frame with a first and a second articulation.

FIG. 2B

[0190] Side view of a mobile device with displacement means, a frame rotating on a main frame with a first, second and additional articulation.

FIG. 2C

[0191] Side view of a mobile device with displacement means, a frame rotating on a main frame with a first, second and additional articulation and a lateral adjustment and an embodiment of an articulated steering.

FIG. 2D

[0192] Side view of a mobile device with displacement means, a frame rotating on a main frame with a first, second and additional articulation, a lateral adjustment and a location for a driver or cabin.

FIGS. 3A-3F

[0193] Side view of a first, second and additional articulation, with the additional articulation in a backward position, with the end of the second articulation 205 making an upward movement per successive figure, with the pivot point, pin or shaft 205 and the support 300 or support 350 are guided in the lower positions by guides 300 or 310, wherein the orientation of the different hinge points of the articulations with respect to each other is visible and wherein the tool retains a horizontal position in each position.

FIG. 3B

[0194] Side view of a first, second and additional section, with a position of a driver positioned next to or behind the sections.

FIG. 3G

[0195] Side view of a first, second and additional articulation, the additional articulation being in a more vertical position allowing the end of the second articulation 205 to move into a higher position.

FIG. 3H

[0196] Side view of a first, second and additional articulation, the additional articulation being in a backward position and end of the second articulation 205 making a stretching movement.

FIG. 3I

[0197] Side view of a first, second and additional articulation, with the additional articulation being more vertical allowing the end of the second articulation 205 to make a further stretching movement.

FIG. 3J

[0198] Side view of a first, second and additional articulation, the end of the second articulation making a digging movement.

FIGS. 3K-3M

[0199] Graphs of an upward movement, wherein the vertical axis of the graph represents the required energy level with a rotation of the indicated hinge points 202, 203, 203, 204 and 205 of sections or quick-change system, swivel and/or tilting joint, adapter or tool in ratio to the height of the upward movement on the horizontal axis.

FIG. 3K

[0200] It can be seen here that only the first and second articulation and the pivot point 205 pivot and at what point in the height of the upward movement whether energy is required or energy can be generated.

FIG. 3L

[0201] It can be seen here that the first and second articulation and pivot point 205 pivots and at the end of an upward movement also the additional articulation hinges and at which moment in the height of the upward motion whether energy is required or energy can be generated.

FIG. 3L

[0202] It can be seen that all pivot points pivot simultaneously. It is then dependent on the mass of the load at the end of the second articulation and the mass of the articulations and controls whether energy is needed for the additional articulation or whether energy can be generated. Various scenarios have been depicted.

FIGS. 3N-3P

[0203] Graphs of a downward movement, the vertical axis of the graph representing the required energy level with rotation of the indicated pivot points 202, 203, 203, 204 and 205 of sections or quick-change system, swivel and/or tilting joint, adapter or tool in ratio to the height of the downward movement on the horizontal axis.

FIG. 3N

[0204] It can be seen here that only the first and second articulation and the pivot point 205 pivot and at which moment in the height of the downward movement energy is required or energy can be generated.

FIG. 3O

[0205] It can be seen here that the first and second articulation and pivot point 205 pivots and at the start of a downward movement also the additional articulation hinges and at which moment in the height of the downward motion whether energy is required or energy can be generated.

FIG. 3P

[0206] It can be seen here that all pivot points pivot simultaneously. It depends on the mass of the load at the end of the second articulation and the mass of the articulations and control members whether energy is needed for the additional articulation or whether energy can be generated. Various scenarios have been depicted.

FIGS. 4A-4J

[0207] Different forms of upward and downward movements, already described with the indicated figure numbers and wherein FIGS. 4A to 4H are side views of a mobile device and wherein FIGS. 4I and 4J are front or rear views.

FIG. 4I

[0208] Front or rear view of a mobile device with a tool as a platform or safety cage for people/people for working at heights.

FIGS. 5A-5B

[0209] Side view of a mobile device where FIG. 5A indicates that the additional articulation is in a more vertical position and is thereby no blocking between the frame and main frame and is not blocking the lateral adjustment, with FIG. 5B showing the additional articulation in a backward position and there is a blockage of the frame and the lateral adjustment.

FIGS. 5C-5D

[0210] Side views of a blocking of a point of engagement of a control member for an additional articulation, in which FIG. 5D shows a blocking of the frame on the main frame and of a lateral adjustment.

FIGS. 5E-5F

[0211] Side views of articulated embodiments, with the orientation of articulated in relation to the pivot points thereof, to control members to engagement points or pivot points of control members, to structural parts and to pipes, hoses and cables.

FIG. 5F

[0212] Side view of embodiments of sections, with sections of these sections indicated.

FIGS. 5G-5N

[0213] Cross sections of embodiments of sections, indicating the orientation and proportions of structures of sections, of forms of structures and forms of parts thereof, of control members, of pipes, hoses and cables. In these figures, embodiments of controls are shown as cylinders or spindles.

FIG. 5M

[0214] Cross sections of embodiments of a second articulation wherein it is indicated that the pipes, hoses or cables can shift in height (dotted lines) during the movement of this second articulation relative to the first articulation.

FIGS. 5J, 5L, 5N

[0215] Cross sections of embodiments of sections, wherein the control members are shown as spindles with associated motors.

FIGS. 6A-6X

[0216] Various views of embodiments of guides for the end of the second articulation 205 or pin or shaft 205 or support 300 or 350 for a quick-change system, a pivot and/or tilt joint, an adapter or a tool during an upward or downward movement thereof, flowing shapes of the guides rounded off in a number of views are indicated.

FIG. 6A

[0217] Side view of an embodiment of a linear guide.

FIG. 6B

[0218] Side view of an embodiment of a linear guide on two sides and the underside, wherein also a blocking in the height (320) is indicated.

FIG. 6C

[0219] Side view of an embodiment of a guide, wherein the height of the guide is adjustable relative to the frame or main frame.

FIG. 6D

[0220] Side view of an embodiment of an articulation on two sides and the underside, wherein a guide can be adjusted in height and in a horizontal direction relative to a frame or main frame and where a damping construction of a guide is visible on the underside.

FIG. 6E

[0221] Side view of an embodiment of a guide with a curved shape.

FIG. 6F

[0222] Side view of an embodiment of a guide with a curved shape on two sides and on a bottom side.

FIGS. 6G-6H

[0223] Side views of embodiments of a guide, where it is visible that an upward or downward movement of the end of the second articulation has no influence on the freedom of rotation of a tool, or quick-change system or swivel and/or tilting joint or adapter.

FIGS. 6I-6P

[0224] Top views of embodiments of guides, wherein a tool, or quick change system, or pivot and/or tilting joint or adapter is guided in one or more directions on one or more sides of one or more guides. Relations with relocation means are also given. Moreover, it is shown in which way implementations of a tool, quick-change system, pivot and/or tilting joint can be coupled and oriented to an axis or pin through a pivot point 205 and various supports 300, 350.

FIGS. 6Q-6S

[0225] Side views of embodiments of guides, wherein the orientation and ratios of guides are indicated to displacement means, to sight lines, to a frame and a main frame, to movement space of sections (316) and to possible mudguards.

FIGS. 6T-6W

[0226] Front or rear views of guide embodiments, wherein the orientation and ratios of guides are indicated to displacement means, to sight lines, to a frame and a main frame, to a second articulation, to a location for a driver or cabin and to possible mudguards. It can also be seen that guides can be funnel-shaped at the top

FIG. 6U

[0227] Front or rear view of an embodiment of a guide in which a last articulation can be placed centrally, but also from the center of the mobile device and in which a location for a driver or cabin can be placed centrally, but also from the center.

FIG. 6X

[0228] Top view of an embodiment of a guide, wherein the orientation and proportions are indicated to a lateral adjustment of a second articulation.

FIGS. 7A-7I

[0229] Various views of embodiments of controls in the form of electric, hydraulic, or pneumatic motors, indicating the orientation and ratios of articulations, a frame, a main frame, a lateral adjustment, sensors, transmissions, and a brake.

FIG. 7A

[0230] Side view or top view of an embodiment of an electric, hydraulic or pneumatic motor with a direct drive of a section or a lateral adjustment or a frame. A cross-section thereof is shown in FIG. 7B.

FIG. 7C

[0231] Side view or top view of an embodiment of an electric, hydraulic or pneumatic motor with a planetary system transmission of a joint or a lateral adjustment or a frame, the motor being positioned next to the transmission. A cross-section thereof is shown in FIG. 7D.

FIG. 7E

[0232] Side view or top view of an embodiment of an electric, hydraulic or pneumatic motor with a planetary system transmission in a second planetary system transmission of an articulation or a lateral adjustment or a frame, the motor being positioned next to the transmissions, is a cross section thereof in FIG. 7F.

FIG. 7G

[0233] Side view or top view of an embodiment of an electric, hydraulic or pneumatic motor with a planetary system transmission in a second planetary system transmission of a joint or a lateral adjustment or a frame, wherein the motor is positioned in the transmission, is a cross section thereof in FIG. 7H.

FIG. 7I

[0234] Side view or top view of an embodiment of an electric, hydraulic or pneumatic motor with a Transmission or gearbox or deceleration mechanism of a Strain Wave Gear (Harmonic Drive) type, or a Wittenstein Galaxie type or a cycloid type transmission.

FIG. 8

[0235] Side view of an embodiment of different types of sensors in or on control members or between sections or between a lateral adjustment and a frame.

FIGS. 9A-9D

[0236] Side views of various embodiments of a hinge structure for moving a tool, or quick change system, or pivot and/or tilting joint or adapter relative to a second articulation.

FIG. 9A

[0237] Side view of a motor connected to a parallelogram structure on a second articulation for moving a tool, or quick change system, or pivot and/or tilt joint or adapter.

FIG. 10A

[0238] Schematic representation of an electric motor/generator (M/G), which supplies energy via a hydraulic or pneumatic pump/motor (P/M), via a valve (5000) to a control unit (1000-1030 in the form of a hydraulic or pneumatic motor or cylinder) to move this control and a joint. As soon as an articulation, and therefore a control unit, supplies energy, it is transmitted via a valve to the pump/motor (P/M), which drives the electric motor/generator thereon.

FIG. 10B

[0239] Schematic representation of an electric motor (M1), which supplies energy via a hydraulic or pneumatic pump (P/M), via a valve (5000) to a control unit (1000-1030 in the form of a hydraulic or pneumatic motor or cylinder) to move this control member and a joint. As soon as an articulation, and therefore a control element, supplies energy, it is transmitted via a different valve to a hydraulic or pneumatic motor (M2), which drives the electric generator thereon.

[0240] Those skilled in the art understand that the invention is not limited to the exemplary embodiments of the figures described above, and that many variants are conceivable within the scope of the invention.