PROTECTION DEVICE FOR A DC ELECTRIC GRID
20260039109 ยท 2026-02-05
Inventors
Cpc classification
H02H3/025
ELECTRICITY
International classification
Abstract
The present disclosure relates to a protection device for a DC electric grid. The protection device comprises a first terminal for coupling to a first branch portion of an electric grid and a second terminal for coupling to a second branch portion of an electric grid. The protection device further comprises a switching assembly including one or more switching devices and a magnetic device electrically connected in series with said switching assembly between the first and second terminals of said protection device. The magnetic device has an inductance value that can vary in operation depending on the current flowing through said protection device.
Claims
1. A protection device for a direct current (DC) electric grid, wherein said protection device comprises: a first terminal configured to couple to a first branch portion of an electric grid and a second terminal configured to couple to a second branch portion of an electric grid; a switching assembly including one or more switching devices; and a magnetic device electrically connected in series with said switching assembly between said first and second terminals, wherein said magnetic device has an inductance value that varies during operation based on the current flowing through said protection device.
2. The protection device according to claim 1, wherein said magnetic device has: a first inductance value, if a current flowing through said protection device is lower than or equal to a characteristic threshold value; and a second inductance value, if the current flowing through said protection device is higher than said characteristic threshold value, wherein said first inductance value is lower than said second inductance value.
3. The protection device according to claim 1, wherein said magnetic device has an inductance value for a given current flowing through said protection device which is selected based on a position of said protection device in said electric grid.
4. The protection device according to claim 1, wherein the switching assembly of said protection device includes one or more switching devices of solid-state type.
5. The protection device according to claim 4, wherein said switching assembly includes a pair of switching devices of solid-state type arranged according to an anti-parallel or anti-series configuration to control bi-directional currents flowing through said protection device.
6. The protection device according to claim 4, wherein said switching assembly of said protection device includes a switching device of electromechanical type electrically connected in series to said one or more switching devices of solid-state type.
7. The protection device according to claim 1, wherein the switching assembly of said protection device includes one or more switching devices of electromechanical type.
8. The protection device according to claim 7, wherein the switching assembly of said protection device includes one or more switching devices of solid-state type electrically connected in parallel to said one or more switching devices of electromechanical type.
9. The protection device according to claim 1, wherein said magnetic device includes comprises: a magnetic circuit including a magnetic body and one or more permanent magnets coupled to said magnetic body and feeding said magnetic body with a corresponding magnetic flux when said permanent magnets are in a magnetized condition; and one or more excitation coils configured to be fed with a current flowing through said protection device, wherein each excitation coil is wound on said magnetic body to feed said magnetic body with a corresponding magnetic flux when said excitation coil is fed, wherein: said one or more permanent magnets generate a magnetic flux bring said magnetic circuit to a saturated condition in absence of a current feeding said one or more excitation coils, and at least an excitation coil generates a magnetic flux having an opposite direction compared to the direction of the magnetic flux generated by said permanent magnets, when said excitation coil is fed.
10. The protection device according to claim 9, wherein said magnetic device includes a single excitation coil electrically connected in series to the switching assembly of said protection device between the first and second terminals of said protection device.
11. The protection device according to claim 9, wherein said magnetic device includes a plurality of excitation coils electrically connected in series with each other and to the switching assembly of said protection device between the first and second terminals of said protection device.
12. The protection device according to claim 9, wherein one or more airgaps are formed in said magnetic body.
13. The protection device according to claim 9, wherein said magnetic body includes a first branch and a second branch forming a single magnetic loop.
14. The protection device according to claim 9, wherein said magnetic body includes a first branch, a second branch and a third branch, and wherein said magnetic circuit includes a first magnetic loop formed by said first and second branches and a second magnetic loop formed by said second and third branches.
15. The protection device according to claim 10, wherein said excitation coil is wound on said first branch and said one or more permanent magnets are coupled to said second branch.
16. The protection device according to claim 11, wherein a first excitation coil is wound on said first branch, a second excitation coil is wound on said third branch and said one or more permanent magnets are coupled to said second branch, and wherein said first and second excitation coils are arranged such that currents having opposite directions flow along said first and second excitation coils.
17. The protection device according to claim 2, wherein the first inductance value is selected based on a position of said protection device in said electric grid.
18. The protection device according to claim 2, wherein the second inductance value is selected based on a position of said protection device in said electric grid.
19. The protection device according to claim 1, wherein the switching assembly of said protection device includes one or more switching devices of solid-state type.
Description
BRIEF DESCRIPTION OF DRAWINGS
[0022] Further characteristics and advantages of the present disclosure shall emerge more clearly from the description of non-exclusive embodiments illustrated purely by way of example and without limitation in the attached drawings.
[0023]
[0024]
[0025]
DETAILED DESCRIPTION
[0026] With reference to the cited figures, the present disclosure relates to a protection device P for a DC electric grid.
[0027]
[0028] Within the framework of the present disclosure, the term low voltage relates to operational voltages up to 1.5 kV DC (which may be extended even to 3 kV) whereas the term medium voltage generally relates to operational voltages higher than 2.5 kV DC up to several tens of kV, for example up to 100 kV DC.
[0029] The electric grid 100 may be employed in industrial, commercial, and residential buildings or plants. As an example, it may be characterized by average power consumption levels in the range between 0.05 MW and 10 MW.
[0030] The electric grid 100 comprises a plurality of electric nodes N.sub.1, N.sub.2, N.sub.3, N.sub.4, . . . , N.sub.P and one or more electric branches B.sub.1, B.sub.2, B.sub.3, . . . , B.sub.R electrically connecting said electric nodes.
[0031] The electric grid 100 can be electrically connected to one or more electric loads EL.sub.1, EL.sub.2, EL.sub.3, . . . , EL.sub.T, each of which is fed with a certain amount of electric power provided by the electric grid. The electric loads may be electrically connected to various electric branches of the electric grid, according to the needs.
[0032] In principle, the electric loads may be of any type, according to the needs. For example, they may be electric motors, electrical systems, electrical appliances, or the like. In general terms, an electric load may be any device or system consuming an amount of electric power in operation.
[0033] The electric grid 100 can be electrically connected to one or more electric power sources EG.sub.1, EG.sub.2, . . . , EG.sub.Q, each of which feeds the electric grid with a certain amount of electric power. The electric power sources may be electrically connected to various electric branches of the electric grid, according to the needs.
[0034] In principle, the electric power sources may be of any type. For example, they may be solar panel plants, wind turbine plants, combined heat and power systems, marine power generation systems, diesel power generation systems, geothermal or biomass power generation systems, energy storage systems, and the like. In general terms, an electric power source may be any device or system generating an amount of electric power in operation.
[0035] The electric grid 100 may be electrically connected to further electric systems 101, 102 according to the needs. These further electric systems may be of any type, and they may behave as equivalent electric loads or equivalent electric power sources depending on their operating conditions.
[0036] During the operation of the electric grid 100, DC electric currents flow through the above-mentioned electric branches and electric nodes.
[0037] DC electric currents can always flow according to a same direction. This may occur, for example, when the electric grid 100 is electrically connected to a sole electric power source (for example, a further electrical system) and to one or more electric nodes.
[0038] As an alternative, DC electric currents can flow according to opposite directions. This may happen, for example, when the electric grid 100 is electrically connected to multiple electric power sources and/or is electrically connected to electrical systems that can change their behavior (as electric loads or electric power sources) depending on their operating conditions.
[0039] The electric grid 100 comprises a plurality of protection devices P.sub.1, P.sub.2, P.sub.3, P.sub.4, . . . , P.sub.S for electrically disconnecting or connecting electric loads, power sources and/or electric branches from or with the remaining portions of the electric grid.
[0040]
[0041] The protection device P comprises a first terminal T.sub.A for coupling to a corresponding first branch portion B.sub.A of an electric grid and a second terminal T.sub.B for coupling to a second branch portion B.sub.B of an electric grid.
[0042] The protection device P comprises a switching assembly SD including one or more switching devices electrically connected to the first and second terminals T.sub.A, T.sub.B.
[0043] According to some embodiments of the present disclosure, the switching assembly SD includes one or more switching devices of the solid-state type (
[0044] In response to receiving suitable input control signals, each solid-state switching device can reversibly switch between a closed state (on-state), at which it conducts a current, and an open state (off-state), at which it blocks a current.
[0045] A solid-state switching device is turned off when it switches from an on-state to an off-state, and it is turned on when it switches from an off-state to an on-state.
[0046] In some embodiments, each switching device of the solid-state type is electrically connected in parallel to a protection circuit (not shown) adapted to protect said switching device (for example from voltage transients) and dissipate energy, whenever necessary. A protection circuit may be integrated with the associated switching device, and it can include, for example, snubbers, spark gaps, discharge tubes, Metal-Oxide Varistors, or suitable semiconductor components.
[0047] When DC currents can flow according to a sole direction through the protection device, the switching assembly SD can include a single switching device of the solid-state type or a plurality of switching devices of the solid-state type electrically connected in series.
[0048] When DC currents can flow according to opposite directions through the protection device, the switching assembly SD advantageously include multiple switching devices of the solid-state type arranged according to an anti-parallel or anti-series configuration.
[0049] According to some embodiments of the present disclosure, the switching assembly SD includes at least a switching device of the electromechanical type electrically connected in series to the above-mentioned one or more switching devices of the solid-state type (
[0050] Each switching device of electromechanical type has electric contacts that can be mechanically coupled or separated to conduct or block a current, respectively.
[0051] Each switching device of electro-mechanical type is in a closed state when its electric contacts are mutually coupled to conduct a current, whereas it is in an open state when its electric contacts are mutually uncoupled to block a current.
[0052] The one or more switching devices of electro-mechanical type can be of the self-acting type for what concerns the execution of an opening maneuver. In this case, the transition from a closed state to an open state (opening maneuver) occurs by exploiting electrodynamic forces generated by the circulation of current through the protection device.
[0053] Alternatively, the one or more switching devices of electro-mechanical type can be of the fully controllable type. In this case, any transition from a closed state to an open state (opening maneuver) or from an open state to a closed state (closing maneuver) occurs in response to receiving suitable input control signals, which cause the activation of a driving mechanism moving the movable contacts or tripping the motion of said movable contacts.
[0054] The arrangement of one or more additional electromechanical switching devices electrically connected in series with the one or more switching devices of the solid-state type ensures a galvanic separation between the electric terminals T.sub.A, T.sub.B when the protection device intervenes to interrupt a current passing therethrough.
[0055] According to further embodiments of the present disclosure, the switching assembly SD includes one or more switching devices of the electro-mechanical type, in some embodiments a single switching device of the electro-mechanical type (
[0056] Each switching device of electromechanical type has electric contacts that can be mechanically coupled or separated to conduct or block a current, respectively.
[0057] Each switching device of electro-mechanical type is in a closed state when its electric contacts are mutually coupled to conduct a current, whereas it is in an open state when its electric contacts are mutually uncoupled to block a current.
[0058] According to these embodiments of the present disclosure, at least one among the one or more electromechanical switching devices of the switching assembly SD is of the fully controllable type. Possible additional electromechanical switching devices may be either of the self-acting type or the fully controllable type.
[0059] According to further embodiments of the present disclosure, the switching assembly SD includes one or switching devices of the solid-state type electrically connected in parallel to said one or more one or more switching devices of the electro-mechanical type (
[0060] In general, the switching devices included in the protection devices of the electric grid 100 may be realized according to solutions of known type. Therefore, they will be described in the following only in relation to the aspects of interest for the present disclosure.
[0061] In some embodiments, the protection device P includes or is operatively coupled to a control device CD.
[0062] The control device CD is configured to control one or more switching devices of the switching assembly SD to cause said switching devices to switch selectively between a closed state and open state. To this aim, the control device CD is configured to send suitable control signals to the controlled switching devices.
[0063] In some embodiments, the control device CD is configured to receive suitable detection signals from one or more sensors arranged to monitor the behavior of currents, voltages, and/or other physical quantities and is configured to process these detection signals to generate the control signals needed to operate the controlled switching devices.
[0064] In some embodiments, the control device CD is configured to process the detection information provided by the above-mentioned sensors and check whether certain criteria for operating the controlled switching devices are satisfied. More specifically, the control device CD is configured to cause one or more switching devices of the protection device P to switch from a closed state to an open state to interrupt the current flowing through said protection device, when such a control device determines that the current flowing through the protection device exceeds a fault threshold value set for said protection device.
[0065] In other words, the control device CD is configured to cause the protection device P to interrupt the current flowing therethrough, if it determines that said current is a fault current (for example, a short-circuit current).
[0066] In some embodiments, the control device CD calculates a current value indicative of the current flowing through the associated protection device based on the received detection information and compares the calculated current value with a fault threshold value set for said protection device. If the calculated current value exceeds said current threshold value, the control device CD generates suitable control signals to switch one or more switching devices of the protection device in an open state in such a way to interrupt the current flowing through said protection device.
[0067] The control device CD may obviously carry out other functionalities in addition to those described above. For example, a given control device may provide control signals to operate one or more switching devices of an associated protection device upon receiving suitable input signals from an HMI or from a remote computerized device.
[0068] According to the present disclosure, the protection device P comprises a magnetic device MD electrically connected in series to the switching assembly SD between the first and second terminals T.sub.A, T.sub.B.
[0069] The magnetic device MD of the protection device is advantageously formed by an inductor including a magnetic body and one or more excitation windings wound around said magnetic body. Said one or more excitation windings are electrically connected in series one to another and to the switching assembly SD. In this way, they can be fed with the current passing through the protection device.
[0070] According to the present disclosure, the magnetic device MD has an inductance value that can vary depending on the current flowing through the protection device.
[0071] In some embodiments, the magnetic device MD takes a first inductance value L.sub.A, if the current flowing through the protection device is lower than or equal to a characteristic threshold value I.sub.0, and takes a second inductance value L.sub.B, if the current flowing through the protection device is higher than the characteristic threshold value I.sub.0.
[0072] Advantageously, the above-mentioned first inductance value L.sub.A is lower than the above-mentioned second inductance value L.sub.B.
[0073]
[0074]
[0075] In normal conditions, a current having a nominal value I.sub.n flows through the protection device. If an electric fault (for example a short circuit) occurs at the fault instant t.sub.f, a fault current flows through the protection device. Initially, the fault current increases in time with a higher rate of change as the magnetic device MD has a lower inductance value L.sub.A for currents lower than the characteristic current threshold value I.sub.0. As soon as it exceeds the characteristic current threshold value I.sub.0, the fault current raises with a lower rate of change as the magnetic device MD has a higher inductance value L.sub.B.
[0076] As it is possible to notice, the behavior of a protection device in presence of an electric fault can be tuned by suitably selecting the different inductance values L.sub.A, L.sub.B characterizing the magnetization curve of the magnetic device MD.
[0077] In some embodiments, the magnetic device MD has an inductance value, which is selected, for a given current flowing through the protection device P, depending on the position of said protection device in the electric grid where it is intended to be installed.
[0078] According to this solution, the magnetic device MD has a magnetization curve that can be selected depending on the position of the protection device in the electric grid.
[0079] A magnetic device MD may be designed to have a certain magnetization curve by suitably selecting the structural parameters of said magnetic device (for example, the geometric parameters of the magnetic body and of the one or more excitation coils), which influence the magnetic behavior of said magnetic device.
[0080] In some embodiments, for a given current flowing along a current path of the electric grid according to a given direction, the magnetic device MD of a protection device arranged in an upstream position along said current path has a lower inductance value than the magnetic device of another protection device arranged in a downstream position along said current path.
[0081] For the sake of clarity, the relative terms upstream position and downstream position are referred to the direction of the current along the current path taken into consideration.
[0082] When the magnetic device MD has different inductance values L.sub.A, L.sub.B depending on the current passing through the protection device (
[0083] Referring to
[0084] Being arranged in distinct positions, the magnetic devices MD of the protection devices P.sub.1 and P.sub.3 have different magnetization curves Z.sub.1 and Z.sub.3 (
[0085] The above-described solution provided by the present disclosure allows managing the protection devices of a DC electric grid with elevated levels of selectivity. Therefore, when a fault event occurs, it is possible to disconnect specific grid portions and allow the remaining grid portions to continue to operate normally.
[0086] In view of the above, it is evident how the behavior of the protection device P in presence of an electric fault can be tuned by suitably selecting the different inductance values L.sub.A, L.sub.B characterizing the magnetization curve of the magnetic device MD.
[0087] As an example, let us consider again a current path extending along the branches B.sub.1, B.sub.2, B.sub.6 of the electric grid (
[0088] Since the magnetic devices MD of the protection devices P.sub.1 and P.sub.3 have different magnetization curves Z.sub.1 and Z.sub.3, the behavior of the fault current depends much more on the position of the electric fault relative to the protection devices P.sub.1 and P.sub.3 (
[0089] If the electric fault occurs downstream both the protection devices P.sub.1 and P.sub.3, the fault current raises more slowly (curve C.sub.3) as the magnetic device MD of the third protection device P.sub.3 has a higher inductance value.
[0090] If the electric fault occurs downstream the protection device P.sub.1 and upstream the protection devices P.sub.3, the fault current raises more quickly (curve C.sub.1) as the magnetic device MD of the first protection device P.sub.1 has a lower inductance value.
[0091] The behavior (namely the slope) of the fault current feeding the electric fault is therefore a sort of signature, which allows identifying the position of the electric fault.
[0092] The adoption of magnetic devices with highly differentiated magnetization curves allows differentiating more effectively the behavior of the fault current depending on the position of the electric fault. This latter can thus be identified much more effectively, which allows carrying out the electrical disconnection of different grid portions with higher levels of selectivity.
[0093]
[0094] The magnetic device MD comprises a magnetic circuit 10 configured to form one or more magnetic loops.
[0095] The magnetic circuit 10 includes a magnetic body 11, made of, for example, ferromagnetic iron or another material having suitable magnetic properties.
[0096] The magnetic body 11 may be realized according to know solutions of the state of the art. For example, it may be formed by a single shaped piece of magnetic material or by distinct pieces of magnetic material joined one to another.
[0097] According to the variant of
[0098] According to the variant of
[0099] In some embodiments, the opposite first and second branches 111, 112 are arranged such that the magnetic body 11 has an overall symmetric configuration.
[0100] Advantageously, in both the variants of
[0101] The magnetic circuit 10 further includes one or more permanent magnets 12 coupled to the magnetic body 11 and arranged in such a way to feed said magnetic body with a magnetic flux .sub.1 having a predefined direction, when said permanent magnets are in a magnetized condition. To this aim, in some embodiments the permanent magnets 12 are sandwiched between opposite facing portions of the magnetic body 11 as shown in
[0102] In both the embodiments shown in
[0103] The magnetic device MD further comprises one or more excitation coils 13, 13a, 13b that are adapted to be fed with a current flowing through the protection device, in which the magnetic device is arranged. The one or more excitation coils 13, 13a, 13b are thus electrically connected in series with the switching assembly SD between the first and second terminals T.sub.A, T.sub.B of the protection device.
[0104] Each excitation coil 13, 13a, 13b is wound on the magnetic body 11 to feed said magnetic body with a corresponding magnetic flux .sub.0, .sub.2 and .sub.3, when said excitation coil is fed with a current passing through the protection device.
[0105] In the embodiment of
[0106] A first important aspect of these embodiments of the present disclosure consists in that the permanent magnets 12 are arranged in such a way to generate a magnetic flux .sub.1, which is sufficiently high to bring the magnetic circuit 10 in a saturated condition.
[0107] A further important aspect of these embodiments of the present disclosure consists in that at least one excitation coil 13, 13a is wound on the magnetic body 11 in such a way to generate a corresponding magnetic flux having an opposite direction compared to the magnetic flux .sub.1 generated by the permanent magnets 12, when said excitation coil is fed with a current flowing through the protection device.
[0108] In the embodiment of
[0109] The above-illustrated solution allows to bring the magnetic circuit 10 in a saturated condition or in linear condition depending on the current flowing through the protection device and feeding the one or more excitation coils. In turn, this allows obtaining a magnetization curve for the magnetic device, according to which the magnetic device can take different values of inductance depending on the current flowing through the protection device.
[0110] With reference to the embodiment of
[0111] As mentioned above, in absence of a current feeding the excitation coil 13 of the magnetic device, the permanent magnets 12 generate a magnetic flux .sub.1 bringing the magnetic circuit 10 in a saturated condition.
[0112] If the current flowing through the protection device and feeding the excitation coil 13 is lower than or equal to a characteristic threshold value I.sub.0, the magnetic circuit 10 remains in a saturated condition as the magnetic flux .sub.1, which is generated by the permanent magnets 12, is still higher than the magnetic flux .sub.0, which is generated by the excitation coil 13.
[0113] The magnetic device MD has a first inductance value L.sub.A, which is relatively low (
[0114] It is evidenced how the first inductance value L.sub.A can be tuned according to the needs by suitably designing the geometric parameters of the magnetic body 11, the excitation coil 13 and of possible airgaps in the magnetic body 11.
[0115] When the current flowing through the protection device and feeding the excitation coil 13 exceeds the characteristic threshold value I.sub.0, the magnetic circuit 10 enters in a linear condition as the magnetic flux .sub.1, which is generated by the permanent magnets 12, becomes lower than the magnetic flux .sub.0, which is generated by the excitation coil 13.
[0116] The magnetic device MD now takes a second inductance value L.sub.B, which is higher than the first inductance value L.sub.A (
[0117] Obviously, if the current flowing through the protection device and feeding the excitation coil 13 continues to increase, the magnetic circuit 10 is brought again is a saturated condition as the magnetic flux .sub.0, which is generated by the excitation coil 13, would be sufficiently high to saturate magnetic circuit. However, the current would exceed the fault threshold value set for the protection device, which would intervene to interrupt it.
[0118] It is evidenced how the magnetic device MD operates as described above only if the current flowing through the protection device and feeding the excitation coils 13 takes a certain predefined direction. In the variant of
[0119] The operation of the magnetic device MD is substantially the same, when realized according to the variant of
[0120] In this case, depending on the direction of the current flowing along the excitation coils, the magnetic flux .sub.2 generated by the excitation coil 13a or the magnetic flux .sub.3 generated by the excitation coil 13b has an opposite direction compared to the magnetic flux .sub.1, which is generated by the permanent magnets 12.
[0121] The magnetic circuit 10 is brought in saturated condition or in a linear condition depending on whether the magnetic flux .sub.1, which is generated by the permanent magnets 12, is higher or lower than the sum of the fluxes .sub.2, .sub.3 generated by the excitation coils 13a, 13b and having opposite directions compared to the magnetic flux .sub.1.
[0122] It is evidenced how the magnetic device MD operates as described above independently from the direction of the current flowing through the protection device and feeding the excitation coils 13a, 13b. In the variant of
[0123] The magnetic device MD may be realized according to further variants operating similarly to the variants shown in
[0124] In principle, the magnetic body 11 may have any shape provided that one or more magnetic loops are formed. Additionally, the permanent magnets 12 and the excitation coils 13, 13a, 13b can be coupled to any section of the magnetic body 11. Also, possible airgaps in the magnetic body 11 can be arranged in any position along the magnetic body 11.
[0125] The protection device, according to the present disclosure, provides relevant technical advantages.
[0126] The protection device, according to the present disclosure, is equipped with a magnetic device electrically connected in series to the switching assembly and having different inductance values depending on the current flowing through said protection device.
[0127] An important advantage of this solution consists in that it is possible to reduce the energy to be dissipated during the intervention of a protection device by suitably tuning the inductance value of the magnetic device onboard. This allows reducing the size and manufacturing costs of the switching devices onboard the protection device.
[0128] A further advantage consists in that it is possible to avoid, or limit reduce the ripple of the current flowing through the protection device by suitably tuning the inductance value of the magnetic device onboard. This allows remarkably reducing the harmonic content introduced in the electric grid.
[0129] Yet an additional advantage consists in that it is possible to differentiate more easily the magnetization curves of the magnetic devices of the protection devices in the electric grid. As a result, improved levels of selectivity can be achieved while disconnecting grid portions.
[0130] As illustrated above, the different inductance values of the magnetic device can be selected depending on the position of the protection device in the electric grid. Selectivity criteria like those normally applied in AC electric grids can be adopted. As a result, the management of the electric grid is quite facilitated.
[0131] The electric grid can thus be managed in a robust and efficient manner in such a way to avoid or reduce unnecessary over-shedding interventions of normally operating grid portions when a fault event occurs.
[0132] The protection device, according to the present disclosure, is relatively easy to manufacture at industrial level at competitive costs compared to traditional protection devices of the state of the art.
[0133] The disclosed systems and methods are not limited to the specific embodiments described herein. Rather, components of the systems or activities of the methods may be utilized independently and separately from other described components or activities.
[0134] This written description uses examples to disclose various embodiments, which include the best mode, to enable any person skilled in the art to practice those embodiments, including making and using any devices or systems and performing any incorporated methods. The patentable scope is defined by the claims and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences form the literal language of the claims.