Patent Publication Number: US-2020287539-A1

Title: Phase loss detection device, compressor including the same, and phase loss detection method

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims foreign priority benefits under 35 U.S.C. § 119 to Chinese Patent Application No. 201910174017.1 filed on Mar. 7, 2019, the content of which is hereby incorporated by reference in its entirety. 
     TECHNICAL FIELD 
     The present disclosure generally relates to the field of electric motors, and more particularly, to a phase loss detection device, a compressor including the same, and a phase loss detection method. 
     BACKGROUND 
     Many electrical equipment, such as compressors, require phase loss detection during their operation in order to realize phase loss protection since motors may rotate reversely due to a voltage difference in a case of phase loss. Currently, the following two methods are commonly used for the phase loss detection. The first one is to detect the presence or absence of current signals of the motor to realize the phase loss detection for the compressor or motor at any time. However, this method requires an additional current sensor. The second one is to detect the presence or absence of voltage signals of the motor to realize the phase loss detection for the compressor or motor at start-up. However, the motor itself can generate an induced electromotive force during its operation, and thus some voltage signal of the motor can still be detected. As a result, it is impossible for this method to really achieve the phase loss detection when the compressor or motor is operating after star-up. 
     SUMMARY 
     In view of the above, a phase loss detection device, a compressor including the same and a phase loss detection method are disclosed to at least partially suppress or even solve the above problems. 
     According to an aspect of the present disclosure, a phase loss detection device for a motor, comprising a signal converting circuit and a processor. The signal converting circuit is configured to convert respective voltage signals corresponding to respective phases of multiphase alternating current (AC) power monitored from the motor. The processor is configured to receive the converted voltage signals from the signal converting circuit and configured to calculate, based on the converted voltage signals, one or more phase angles between the respective voltage signals. The processor is configured to determine that phase loss occurs if any one or more of the calculated phase angles deviate from a nominal value of a corresponding phase angle of the multiphase AC power by a value higher than a predetermined threshold. 
     In the conventional scheme of detecting phase loss based on the presence or absence of voltage signals, missing a voltage signal of a certain phase may not be found because of an induced electromotive force generated by the motor in the missing phase. In contrast, according to embodiments of the present disclosure, even if there is an induced electromotive force, the phase loss detection is still feasible because the phase angle between the induced electromotive force and the other phases will deviate from the nominal value of the corresponding phase angle. 
     According to an embodiment of the present disclosure, a voltage signals may be a line voltage or a phase voltage of the motor. The AC power may be, for example, three-phase AC power, the nominal value of the phase angle between the respective phases may be 120°, and the threshold may be 4% of the nominal value. 
     According to an embodiment of the present disclosure, the processor may be configured to calculate the phase angle by: calculating a period of the voltage signals, determining a difference in time between any two of the voltage signals, and determining the phase angle between the two voltage signals based on the difference and the calculated period. In the following description, a time interval between two voltage signals is interchangeable with a phase angle between the two voltage signals. To reduce randomness of the measurement and ensure accuracy of the calculation, the processor may be further configured to perform average filtering on at least one of the period or the difference before calculating the phase angle. 
     The signal converting circuit may be configured to convert the voltage signals into a form suitable to be processed by the processor. 
     According to an embodiment of the present disclosure, the signal converting circuit may comprise a step-down circuit configured to reduce the voltage of the voltage signal to a voltage suitable for the processor. For example, the step-down circuit may comprise a voltage divider circuit. 
     According to an embodiment of the present disclosure, the signal converting circuit may comprise a pulse generator circuit configured to generate, based on the voltage signal, a pulse waveform with a same period and same phase as a waveform of the voltage signal. 
     For example, the pulse generator circuit may include an optocoupler having an input side photodiode configured to receive the voltage signal or a voltage proportional to the voltage signal, and an output side transistor configured to output, at an output node, a low level if the input side photodiode is on or to output a high level if the input side photodiode is off. It is possible to decouple the high voltage side from the low voltage side by the optocoupler. 
     According to another aspect of the present disclosure, compressor includes: a compression component configured to compress suctioned gas and discharge the compressed gas; a motor configured to drive the compression component; the above-mentioned phase loss detection device; and a protection switch configured to switch on to turn off the motor if the phase loss detection device detects phase loss. According to an embodiment of the present disclosure, the phase loss detection device can detect the voltage signals of the motor in the compressor. The compressor can be, for example, a scroll compressor. 
     According to yet another aspect of the present disclosure, a phase loss detection method for a motor includes: calculating, based on voltage signals corresponding to respective phases of multi-phase AC power monitored from the motor, one or more phase angles between the respective voltage signals; and determining that phase loss occurs if any one or more of the calculated phase angles deviate from a nominal value of a corresponding phase angle of the multiphase AC power by a value higher than a predetermined threshold. 
     According to embodiments of the present disclosure, phase loss protection can be achieved by detecting the voltage signals of the motor, without additional signals. The motor is protected from switching to high current operation or reverse operation due to the blocking caused by the phase loss. The phase loss detection mechanism according to the present disclosure is simple for implementation and low in cost, can be applied to a compressor protection module without changing the traditional wiring and installation configuration, providing competitiveness and cost performance of modular products. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       The above and other objectives, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawing, in which: 
         FIG. 1  is a schematic diagram illustrating a detection principle according to an embodiment of the present disclosure; 
         FIG. 2  is a schematic block diagram illustrating a phase loss detection device according to an embodiment of the present disclosure; 
         FIG. 3  is a schematic diagram illustrating an example of waveform generation according to an embodiment of the present disclose; 
         FIG. 4  is a circuit diagram illustrating an example of a pulse generator circuit according to an embodiment of the present disclosure; 
         FIGS. 5( a ) and 5( b )  illustrate examples of pulse generator circuits according to embodiments of the present disclosure, respectively; 
         FIG. 6  illustrates an example of a step-down circuit according to an embodiment of the present disclosure; 
         FIG. 7  is a schematic diagram illustrating a detection algorithm principle according to an embodiment of the present disclosure; 
         FIG. 8  is a flow diagram illustrating a phase loss detection method according to an embodiment of the present disclosure; and 
         FIG. 9  is a schematic diagram illustrating circuit connections of a phase loss detection device for a compressor according to an embodiment of the present disclosure. 
     
    
    
     Throughout the figures, the same or similar components are denoted by the same or similar reference signs. 
     DETAILED DESCRIPTION 
     Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood, however, that these descriptions are for illustrative purposes only and are not to be construed as limiting the present disclosure. In addition, the description of well-known structures and technologies will be omitted to avoid unnecessary obscuring the concept of the present disclosure. 
     The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The words “a”, “an”, “the” or the like as used herein shall also cover the meanings of “several” or “a plurality”, unless the context clearly indicates otherwise. In addition, the terms “including”, “comprising”, or the like used herein indicate the presence of the features, steps, operations, and/or components, but do not exclude the presence of one or more other features, steps, operations, or components. 
     All terms (including technical and scientific terms) used herein have the meaning commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted to have meanings consistent with the context of the specification, and should not be interpreted in an ideal or stereotype manner. 
     For multiphase alternating current (AC) power, such as AC power from a power grid, generally phase differences between phases are substantially constant. For example, for commonly used three-phase AC power, generally the phase differences between the respective phases are basically 120°. In the following description, the three-phase AC power is described as an example, but the present disclosure is not limited thereto. 
     When such AC power is applied to a motor, the motor can run, and voltage signals on the motor correspond to the AC power. If there is a phase loss while the motor is running, the voltage of the missing phase will be replaced by an induced electromotive force of the motor. However, the induced electromotive force and the voltages of the other two phases cannot satisfy the above described phase angle condition between the phases of the three-phase AC power. Therefore, it is possible to perform phase loss detection based on the phase angles between the voltage signals by monitoring the voltage signals of the respective phases from the running motor. 
     For example, under normal circumstances, the phase angle between the voltage signals of two phases is around 120°. The voltage signal may be a line voltage or a phase voltage of the motor. To tolerate impacts of various noises and detection accuracy, a certain threshold, such as 4% of the phase angle, can be set. Under the normal circumstances, the phase angle between two phases shall not deviate from 120° by a value higher than the threshold. If the deviation from the 120° phase angle (for example, above or below) exceeds the threshold, it can be determined that phase loss occurs. 
       FIG. 1  is a schematic diagram illustrating a detection principle according to an embodiment of the present disclosure, and more specifically, schematically illustrating a waveform of a line voltage  1 - 2  between the first phase and the second phase and a waveform of a line voltage  2 - 3  between the second phase and the third phase. The two line voltage signals have a phase difference of 120°. More specifically, in terms of time, an interval between the waveforms is the time corresponding to the phase difference of 120°, i.e., ⅓ of the period, for example, 20 ms/3≈6.7 ms in the case of 50 Hz power grid, or 16.67 ms/3≈5.6 ms in the case of 60 Hz power grid. 
     The interval between the two waveforms may refer to an interval between corresponding points of the two waveforms. The so-called “corresponding points” may refer to the same position in one period of the respective waveform, for example, the start position, ¼ position, ½ position, ¾ position, or end position within the period. This is consistent with the definition of a waveform interval in the art. In  FIG. 1 , the interval between the two waveforms is measured as an interval between middle time Pa 1  and Pb 1  of the respective first half periods of the two waveforms. Ideally, the middle time Pa 1  and Pb 1  may correspond to peak points respectively. Certainly, the waveform interval can also be measured as an interval between middle time of the respective second half periods (ideally, corresponding to trough points), or as an interval between zero crossing points, or the like. Based on the waveform interval and the signal period, the phase angle can be determined. For example, the waveform interval of ⅓ period corresponds to a phase angle of 120°. 
     A detection algorithm can be made according to the above principle as long as data representing the waveform, especially temporal positions of the waveform (such as waveform samples) are provided for the algorithm. The design of hardware can be greatly simplified. 
       FIG. 2  is a schematic block diagram illustrating a phase loss detection device according to an embodiment of the present disclosure. 
     As shown in  FIG. 2 , the phase loss detection device  200  according to the embodiment may include a signal converting circuit  201  and a processor  203 . 
     The signal converting circuit  201  may be configured to convert respective voltage signals corresponding to the respective phases of the three-phase AC power detected from the motor (as shown by “AC” in  FIG. 2 ). Generally, the AC power, especially in applications such as compressors or motors, has a relatively high voltage (for example, 220V or 380V), while the processor  203  can withstand a relatively low voltage (for example, 5V or lower) when implemented as a logic device such as a microprocessor. Therefore, the signal converting circuit  201  is needed in order to convert the voltage signals to signals suitable for the processor, for example, to make voltage conversion to lower down the voltage signals of the AC power to a range that the processor  203  can tolerate. 
     According to embodiments of the present disclosure, the signal converting circuit  201  can not only perform voltage reduction, but also carry out waveform conversion. For example, the signal converting circuit  201  may include a pulse generator circuit configured to generate, based on the voltage signals, pulse waveforms (for example, substantially square wave signals) with the same period and same phase as the respective waveforms of the respective voltage signals. Because a pulse waveform has a steep profile, it is advantageous for phase detection or temporal position detection. A pulse waveform and its corresponding waveform before the conversion can be substantially aligned in time, that is, they are in-phase, so the pulse waveform can reflect the phase or temporal position of the waveform of the corresponding voltage signal, and can therefore be used for the phase loss detection. 
       FIG. 3  is a schematic diagram illustrating an example of waveform generation according to an embodiment of the present disclosure. 
     As shown in  FIG. 3 , in this example, a square wave pulse sequence is generated based on a waveform of a line voltage. Specifically, the pulse may be generated based on a portion of the line voltage with an amplitude V exceeding a predetermined threshold REF. Thereby, each pulse in the pulse sequence has a substantially same time period as a corresponding peak portion of the line voltage waveform. a rising edge and falling edge of a square wave may have a certain slope respectively due to some delay in a circuit component. The threshold REF is adjustable. 
     The pulse generator circuit may have different configurations. For example, the pulse generator circuit may generate a pulse sequence corresponding in time to trough portions of the line voltage waveform, for example, by generating a pulse based on a portion of the line voltage with an amplitude V being lower than a predetermined negative threshold. 
     The line voltages  1 - 2  and  2 - 3  are similar, that is, they should have the same waveform in principle without considering noise and phase difference. Thus, the line voltages  1 - 2  and  2 - 3  applied to the same pulse generator circuit will generate respective pulse waveforms whose relative positional relationship in time coincide with the waveforms of the line voltages  1 - 2  and  2 - 3 , regardless of the specific configuration of the pulse generator circuit. 
       FIG. 4  is a circuit diagram illustrating an example of a pulse generator circuit according to an embodiment of the present disclosure. 
     As shown in  FIG. 4 , the pulse generator circuit  400  according to the embodiment may include a comparator device  401  configured to compare a line voltage (for example, a line voltage of a first phase AC 1  with respect to a second phase AC 2 ) with a threshold voltage REF. Based on the magnitude relationship between the line voltage and the threshold voltage REF, the comparator device  401  may have different outputs. In this example, considering the possible high voltage of the AC power (for example, 220V or 380V), an optocoupler with an isolation function is used as the comparator device  401 . The optocoupler includes an input side photodiode PD and an output side transistor PT. If the line voltage is greater than the threshold voltage REF, the voltage applied across the input side photodiode PD of the optocoupler  401  can turn on the photodiode PD and thus turn on the output side transistor PT. On the other hand, if the line voltage is less than the threshold voltage REF, the voltage applied across the input side photodiode PD of the optocoupler  401  is not enough to turn on the photodiode PD and thus turn off the output side transistor PT. 
     The input side photodiode PD can receive the line voltage through a voltage divider circuit  403 . The voltage divider circuit  403  includes voltage dividing resistors R 1  and R 2 . It is possible to adjust a voltage dividing ratio of the voltage divider circuit  403  by adjusting resistance values of the voltage dividing resistors R 1  and R 2 , and thus to adjust the above threshold voltage REF. 
     In addition, a diode D 1  is connected in series on the input side to prevent reverse current from flowing through the photodiode PD. 
     On the output side of the optocoupler  401 , different signals, such as high and low level signals, may be output based on the on or off state of the output side transistor PT. There are various circuit designs in the art to achieve this purpose. In an example, the output side transistor PT has one end connected to a power supply voltage VSS through a pull-up resistor R 3 , and the other end connected to a reference voltage such as a ground voltage GND. As such, at an output node N 1  of the transistor PT, a low level (approximately the ground voltage GND) is output if the transistor PT is on (that is, if the line voltage is greater than the threshold voltage REF), and a high level (approximately the power supply voltage VSS) is output if the transistor PT is off (that is, if the line voltage is less than the threshold voltage REF). The output node N 1  of the transistor PT is connected to an output  1 - 2  via a resistor R 4 , thereby outputting a pulse transitioned accordingly between the high and low levels at the output  1 - 2 . 
     It should be noted here that the pulse output by the pulse generator circuit  400  shown in  FIG. 4  and the pulse shown in  FIG. 3  are logically opposite to each other. In  FIG. 3 , a high level pulse is output if the line voltage is greater than the threshold voltage REF, while in  FIG. 4 , a low level pulse is output if the line voltage is greater than the threshold voltage REF. However, this does not affect the phase angle detection. A phase inverter may also be introduced downstream the pulse generator circuit  400  to have the same logic as shown in  FIG. 3 . 
     In addition, a filter capacitor C 1  may be provided between the node N 1  and the output of the pulse generator circuit  400 . 
       FIGS. 5 ( a )  and  5  ( b ) show examples of pulse generator circuits respectively.  FIG. 5 ( a )  shows that a line voltage is input to a processor (for example, an MCU) after passing through the pulse generator circuit.  FIG. 5 ( b )  shows that a phase voltage is input to a processor (for example, an MCU) after passing through the pulse generator circuit. 
     According to an embodiment of the present disclosure, the signal converting circuit  201  may simply lower down a voltage signal, to be adapted to a specification of the processor  203 . For example, a voltage step-down circuit may include a voltage divider circuit formed by resistors.  FIG. 6  illustrates an example of such a step-down circuit. In  FIG. 6 , it is shown that phase voltages are input to a processor (for example, an MCU) after being reduced. 
     Returning to  FIG. 2 , the processor  203  may calculate, based on the voltage signals converted by the signal converting circuit, a phase angle between the respective voltage signals, and determine whether phase loss occurs or not accordingly. For example, the processor  203  may calculate, based on the waveforms of the voltage signals, such as the pulse waveforms generated by the pulse generator circuit described above, a time interval between the respective waveforms of the line voltages (for example, between  1 - 2  and  2 - 3  shown in  FIG. 1 ), and determine whether phase loss occurs based on the interval with reference to the principle described above as well as  FIG. 1 . Such calculation and determination can be performed by, for example, programs or algorithms. 
     As described above, the processor  203  may calculate the phase angle based on the time interval between the voltage signals in combination with the period of the voltage signals. 
     In some applications, the period of the AC power may be fixed, such as 20 ms for 50 Hz or 16.67 ms for 60 Hz. In this case, such a fixed period may be preset in the processor  203 . Alternatively, for the sake of universality, the processor  203  may determine the period based on the voltage signals. For example, the processor  203  may determine the period of a same single voltage signal based on an interval between corresponding points in two periods of the waveform of this voltage signal (referring to Pa 1  and Pa 2  of the line voltage  1 - 2  in  FIG. 1 ). As described above, such corresponding points may be peak points, trough points, zero crossing points, or the like. Period detection based on zero crossing points can be advantageous, especially in the case of analog signals. 
     The processor  203  may determine the period based on corresponding points in two adjacent periods of the waveform of a same voltage signal, and the interval between those two points corresponds to one period. Alternatively, the processor  203  may determine the period based on corresponding points in any two periods, which are separated from each other by several periods, of the waveform of the voltage signal, and the interval between those two points corresponds to several periods. The period may be calculated for several times, for example, continuously or at a certain interval. The final period may be an average of the periods obtained for several times. 
     In addition, different voltage signals may have their respective periods (which should be the same in theory) determined separately, and these periods may be averaged to obtain a final period. 
     For different voltage signals, an interval therebetween may be determined based on an interval between corresponding points in corresponding periods of their respective waveforms. If the interval between the two corresponding points does not exceed one period, the two points can be considered to be in the corresponding periods. As described above, such corresponding points may be peak points, trough points, zero crossing points, or the like. Interval detection based on zero crossing points may be advantageous, especially in the case of analog signals. 
     Referring to  FIG. 3 , in an example, a pulse may have middle time TC of its duration as a flag of its temporal position. In an ideal case, the middle time TC may correspond to a peak point of the line voltage waveform. The middle time TC of the pulse may be calculated based on time T 1  where a rising edge of the pulse is located and time T 2  where a falling edge is located, for example, TC=(T 1 +T 2 )/2. The rising and falling edges of the pulse have steep profile, and thus their respective time is relatively easy to be detected with a high precision. 
       FIG. 7  is a schematic diagram illustrating a detection algorithm principle according to an embodiment of the present disclosure. 
     As shown in  FIG. 7 , two line voltages  1 - 2  and  2 - 3  in the case of three-phase AC power are taken as an example.  FIG. 7  shows the waveforms of these two line voltages deviate from the normal interval (120° as described above). The waveforms of the line voltages  1 - 2  and  2 - 3  are converted into pulse waveforms by, for example, the pulse generator circuit described above. Phase loss detection may be performed based on the time interval of these waveforms. 
     Only several pulses adjacent in time need be detected. In the example of  FIG. 7 , two adjacent pulses PULSE 1  and PULSE 2  in the pulse waveform corresponding to the line voltage  1 - 2  and an adjacent pulse PULSE 3  between the two pulses PULSE 1  and PULSE 2  in the pulse waveform corresponding to the line voltage  2 - 3  are selected. In practice, it is possible to start to detect the pulse PULSE 3  only if the pulse PULSE 1  is recognized. If the pulse PULSE 1  is not recognized, the detection may not be started, because in this case there is at least a problem in the line voltage  1 - 2 . And if the state where the pulse PULSE 1  cannot be recognized continues more than a certain time interval (for example, the duration of one period), an error can be reported. 
     In the case where these three pulses PULSE 1 , PULSE 2  and PULSE 3  are detected, their temporal positions may be calculated, for example, based on their respective middle time Tac 0 , Tac 1 , and Tbc 0 . The intervals between these middle time may be used to calculate the period and the interval between the waveforms. For example, the period may be calculated as (Tac 1 −Tac 0 ), and the waveform interval may be calculated as (Tbc 0 −Tac 0 ). The phase angle may be calculated as [(Tbc 0 −Tac 0 )/(Tac 1 −Tac 0 )]*360°. 
     According to an embodiment of the present disclosure, average filtering may be performed for the period and the waveform interval before the calculation of the phase angle. 
     The processor  203  may be various apparatus or devices capable of running executable codes, for example, a programmable device such as a field programmable gate array (FPGA), a microprocessor (μP), or a micro control unit (MCU). The executable codes may be fixed into the processor  203  or may be loaded into the processor  203  from the external. 
     The phase loss detection device  200  may further include an analog-to-digital (A/D) converter  205  configured to convert an analog output from the signal converting circuit  201  into a digital form to be processed by the processor  203 . The signal converting circuit  201  itself may also be designed in a digital form, or the A/D converter  205  may be incorporated into the processor  203 . 
       FIG. 8  is a flow diagram illustrating a phase loss detection method according to an embodiment of the present disclosure. 
     As shown in  FIG. 8 , the method  800  according to the embodiment may include calculating a phase angle based on waveforms of voltage signals at  801 . The phase angle may be calculated based on a time interval between the waveforms as well as a period of a voltage signal as described above. 
     At  802 , whether phase loss occurs or not may be determined based on the calculated phase angle. This determination may be made by software or algorithms as described above. 
     According to an embodiment of the present disclosure, the phase loss detection device or method may be applied to a compressor. When phase loss is detected, a protection switch may be switched on to turn off a motor in the compressor so as to protect the motor and the compressor. The compressor may be a scroll compressor, a reciprocating compressor, or the like. Taking a scroll compressor as an example, when phase loss occurs, the motor will still have an electromotive force, but the motor cannot drive a load to operate normally at this time, and as a consequence, other components inside the compressor may drag the motor to run, and the other components inside the compressor, such as the scroll, are damaged. According to an embodiment of the present disclosure, the compressor is a fixed-frequency compressor. 
       FIG. 9  is a schematic diagram illustrating a circuit of a phase loss detection device for a compressor according to an embodiment of the present disclosure. 
     As shown in  FIG. 9 , a compressor  901  receives power through power supply lines from, for example, a power grid. The power grid provides, for example, 220V or 380V AC power, including three phase lines L 1 , L 2 , L 3  and a null line N. A contactor K 1  is provided between the compressor  901  and the power supply to realize on/off control of the compressor  901 . The compressor  901  may have a shell, and the shell may be connected to Protective Earth (PE). 
     Voltage signals of respective phases monitored from a motor in the compressor  901  are sent to monitoring ports L 1 , L 2 , L 3  of a phase loss detection device  903 , respectively. In addition, power ports L and N of the phase loss detection device  903  may be connected to the power supply to receive power for its own operation. The phase loss detection device  903  may be configured as described above, and more specifically, determine whether phase loss occurs or not based on the motor voltage signals on the monitoring ports L 1 , L 2 , and L 3 . If phase loss is detected, a protection switch may be turned on through output ports M 1  and M 2 . In the configuration shown in  FIG. 9 , the protection switch is switched on, and the contactor K 1  can disconnected the power supply from the compressor  901 . 
     In the configuration of  FIG. 9 , the phase loss detection device  903  can operate only after the compressor  901  is started (i.e., the contactor K 1  is connected), because after then the voltage signals can be monitored from the motor. The phase loss detection device  903  may be provided inside the shell of the compressor  901 . 
     Fuses F 1 -F 3 , F 4 , and F 5  on the respective lines in  FIG. 9  are mainly configured to provide protection against short circuit and overcurrent. 
     According to embodiments of the present disclosure, the phase loss detection can be performed based on the voltage signals, thereby eliminating the need for additional components such as current sensors. In addition, the detection can be performed continuously, not only when the compressor is being started, so that the motor and the compressor can be protected better. 
     The embodiments of the present disclosure have been described above. However, these embodiments are for illustrative purposes only, and are not intended to limit the present disclosure. Although the embodiments have been described separately above, this does not mean that the measures in the respective embodiments cannot be used advantageously in combination. The scope of the present disclosure is defined by the claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of the present disclosure.