BACKGROUND

The present invention relates to unloaders, and in particular, to an automatic semi trailer unloader.

In the shipping industry, semi-trailers are used to transport packages, parcels, envelopes, and the like on the ground. Semi-trailers can be backed up to loading docks on buildings for loading and unloading of packages, parcels, envelopes, and the like from the semi-trailer. Semi-trailers typically are manually unloaded and loaded. This is a time and labor intensive process. Sorting hubs, in particular, face challenges due to the time and labor intensive process of manually loading and unloading packages, parcels, envelopes, and the like from semi-trailers. A sorting hub is a facility that is used to sort packages, parcels, envelopes, and the like to deliver packages, parcels, envelopes, and the like to their proper destination. Typically, the packages, parcels, envelopes, and the like being received at a sorting hub are not neatly stacked on pallets for easier unloading and loading, but rather are randomized stacks of packages, parcels, envelopes, and the like. Semi-trailers with randomized stacks of packages, parcels, envelopes, and the like are time and labor intensive to unload and load.

SUMMARY

A gantry unloader includes a gantry frame that is capable of moving through a semi-trailer, a platform supported on the gantry frame that is capable of moving up and down with respect to the gantry frame, and a gripper assembly with a gripper supported on the gantry frame. The gripper is capable of being moved up and down, side to side, forwards and backwards, and rotated with respect to the gantry frame.

A method of automatically unloading a package from a semi-trailer includes advancing a gantry unloader into a semi-trailer. A platform of the gantry unloader is positioned adjacent to a package that is to be unloaded. A gripper of the gantry unloader is positioned adjacent to the package, and the gripper is advanced towards the package. The package is pulled onto the platform using the gripper. The package is moved from the platform of the gantry unloader to a conveyor to unload the package from the semi trailer.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of a forward end of a gantry unloader and an extendable conveyor. FIG. 2 is an isometric view of a back end of the gantry unloader.

FIG. 3 is a side view of the gantry unloader.

FIG. 4 is a front view of the gantry unloader.

FIG. 5 is a back view of the gantry unloader.

FIG. 6 is a top view of the gantry unloader.

FIG. 7 is a bottom view of the gantry unloader.

FIG. 8 is a front view of a gripper of the gantry unloader.

FIG. 9 is a side view of the gripper of the gantry unloader.

FIG. 10 is a block diagram of a control system for the gantry unloader.

FIG. 11A is a perspective view of the gantry unloader positioned outside of a semi-trailer.

FIG. 11B is a perspective view of the gantry unloader positioned inside the semi trailer.

FIG. 11C is a perspective view of the gantry unloader positioned adjacent to packages in the semi-trailer.

FIG. 11D is a perspective view of the gantry unloader with a gripper being advanced towards a package.

FIG. 11E is a perspective view of the gantry unloader with a gripper grabbing the package.

FIG. 11F is a perspective view of the gantry unloader with the gripper has pulled the package onto a platform.

FIG. 11G is a perspective view of the gantry unloader with the package being advanced onto an extendable conveyor.

FIG. 12A is perspective view of the gantry unloader being advanced into a semi trailer.

FIG. 12B is a perspective view of the gantry unloader positioned adjacent to packages in the semi-trailer.

FIG. 12C is a perspective view of the gantry unloader where a gripper is gripping a first package on the floor of the semi-trailer.

FIG. 12D is a perspective view of the gantry unloader tipping the first package onto a platform.

FIG. 12E is a perspective view of the gantry unloader where the first package is on the platform. FIG. 12F is a perspective view of the gantry unloader where the first package is being advanced onto an extendable conveyor.

FIG. 12G is a perspective view of the gantry unloader where the gripper is gripping a second package positioned on a stack of packages.

FIG. 12H is a perspective view of the gantry unloader where the gripper is pulling the second package off of the stack of packages.

FIG. 121 is a perspective view of the gantry unloader where the second package is on the platform.

FIG. 12J is a perspective view of the gantry unloader where the second package is being advanced onto an extendable conveyor.

DETAILED DESCRIPTION

FIG. 1 is an isometric view of a forward end of gantry unloader 100 and extendable conveyor 102. FIG. 2 is an isometric view of a back end of gantry unloader 100. FIG. 3 is a side view of gantry unloader 100. FIG. 4 is a front view of gantry unloader 100. FIG. 5 is a back view of gantry unloader 100. FIG. 6 is a top view of gantry unloader 100. FIG. 7 is a bottom view of gantry unloader 100. FIG. 8 is a front view of gripper 160 of gantry unloader 100. FIG. 9 is a side view of gripper 160 of gantry unloader 100. FIG. 10 is a block diagram of a control system for gantry unloader 100. FIG. 1 shows gantry unloader 100 and extendable conveyor 102. FIGS. 2-7 show gantry unloader 100. FIGS. 8-9 show gripper 160. Gantry unloader 100 includes gantry frame 110, platform 112, and gripper assembly 114. Gantry frame 110 includes left-hand side frame 120, right-hand side frame 122, cross frame member 124, and gantry frame drives 126. Platform 112 includes platform frame 130, mounting brackets 132, take away conveyor 134, center rollers 136, left-hand angled rollers 138, left-hand forward rollers 140, right-hand angled rollers 142, right-hand forward rollers 144, left-hand wall frame 146, left-hand wall rollers 148, right-hand wall frame 150, right-hand wall rollers 152, platform lip 154, and platform drive 156. Gripper assembly 114 includes gripper 160, upper frame member 162, and lower frame member 164. Gripper 160 includes mounting bracket 166, gripper arm 168, and gripper head 170. Gripper head 170 includes grasping fingers 172 and suction cups 174. Gripper assembly 114 further includes gripper rotational drive 176, gripper y-axis drive 178, gripper z-axis drive 180, and gripper x-axis drive 182. Gantry unloader 100 further includes control system 190, which includes vision system 192 and controller 194. FIGS. 1-3 and 6-7 also show gantry x-axis XGA, FIGS. 1-5 show platform y-axis Yp, FIGS. 1-3 and 6 show gripper x-axis XGR, FIGS. 1-5 show gripper y-axis YGR, FIGS. 1-2 and 4-6 show gripper z-axis ZGR, and FISG. 1-2 and 4-6 show gripper a-axis A _GR .

Gantry unloader 100 can be aligned with an end of extendable conveyor 102. Gantry unloader 100 is not connected to extendable conveyor 102. The motion of gantry unloader 100 and extendable conveyor 102 can be coordinated so that extended conveyor 102 follows gantry unloader 100 to be aligned with gantry unloader 100. Extendable conveyor 102 includes a belt that is configured to move packages. Gantry unloader 100 includes gantry frame 110, platform 112, and gripper assembly 114. Gantry frame 110 is configured to sit around extendable conveyor 102 and a portion of platform 112. Gantry frame 110 is configured to move gantry unloader 100 through a semi-trailer. Platform 112 is supported by gantry frame 110 and can be aligned with the end of extendable conveyor 102. Platform 112 is configured to move packages from the semi-trailer onto extendable conveyor 102. Gripper assembly 114 is supported by gantry frame 110 and is configured to pull packages in the semi-trailer onto platform 112.

Gantry frame 110 includes left-hand side frame 120, right-hand side frame 122, and cross frame member 124. Left-hand side frame 120 and right-hand side frame 122 are positioned on opposite sides of platform 112 and gripper assembly 114 of gantry unloader 100. Left-hand side frame 120 and right-hand side frame 122 are connected by cross frame member 124. Cross frame member 124 connects a top frame member of each of left-hand side frame 120 and right-hand side frame 122. Gantry frame 110 further includes gantry frame drives 126. Gantry frame drives 126 are positioned on a back end of each of left-hand side frame 120 and right-hand side frame 122. Gantry frame drives 126 control the movement of gantry frame 110, and thus gantry unloader 100, through the semi-trailer. Gantry frame 110 moves along gantry x-axis XGA as it moves through the semi-trailer. Gantry frame drives 126 drive gantry frame 110 along gantry x-axis XGA.

Platform 112 includes platform frame 130 that is connected to gantry frame 110 with mounting brackets 132. Platform frame 130 supports take away conveyor 134 having center rollers 136, left-hand angled rollers 138, left-hand forward rollers 140, right-hand angled rollers 142, and right-hand forward rollers 144. Take away conveyor 134 extends from the forward end to the back end of platform 112 and can be aligned with extendable conveyor 102. Take away conveyor 134 includes center rollers 136 positioned in a center of platform 112. Left-hand angled rollers 138 and left-hand forward rollers 140 are positioned on a left-hand side of platform 112. Left-hand angled rollers 138 are angled with respect to the front and back of platform 112. Left-hand forward rollers 140 are positioned at a front end of the left side of platform 112, and left- hand angled rollers 138 are positioned rearward of left-hand forward rollers 140. Right- hand angled rollers 142 and right-hand forward rollers 144 are positioned on a right-hand side of platform 112. Right-hand angled rollers 142 are angled with respect to the front and back of platform 112. Right-hand forward rollers 144 are positioned at a front end of the right side of platform 112, and right-hand angled rollers 142 are positioned rearward of right-hand forward rollers 144.

Platform 112 further includes left-hand wall frame 146, left-hand wall rollers 148, right-hand wall frame 150, and right-hand wall rollers 152. Left-hand wall frame 146 extends around an outer side and a back end of left-hand forward rollers 140 and left- hand angled rollers 138. Left-hand wall rollers 148 are positioned vertically in left-hand wall frame 146. Left-hand wall frame 146 and left-hand wall rollers 148 are configured to contain packages on platform 112 and guide packages from the left side of platform 112 to the center of platform 112. Right-hand wall frame 150 extends around an outer side and a back end of right-hand forward rollers 142 and right-hand angled rollers 144. Right-hand wall rollers 152 are positioned vertically in right-hand wall frame 150. Right- hand wall frame 150 and right-hand wall rollers 152 are configured to contain packages on platform 112 and guide packages from the right side of platform 112 to the center of platform 112. Platform 112 also includes platform lip 154 extending across a forward end of platform 112.

Platform 112 is configured to move up and down on gantry frame 110 along platform y-axis Yp. Platform 112 is controlled by platform drive 156. Platform drive 156 is positioned on a top side and the forward end of left-hand side frame 120. Platform drive 156 drives platform 112 up and down along platform y-axis Yp on the forward member of left-hand side frame 120 and the forward member of right-hand side frame 122 of gantry frame 110.

Gripper assembly 114 includes gripper 160, upper frame member 162, and lower frame member 164. Gripper 160 is configured to move forwards and backwards along gripper x-axis XGR, up and down gripper y-axis YGR, side to side along gripper z-axis ZGR, and rotate around gripper a-axis AGR with respect to gantry unloader 100. Upper frame member 162 and lower frame member 164 support gripper 160, and gripper 160 is capable of moving with respect to upper frame member 162 and lower frame member 164. Upper frame member 162 and lower frame member 164 extend from left-hand side frame 120 to right-hand side frame 122 of gantry frame 110. Gripper 160 includes mounting bracket 166, gripper arm 168, and gripper head 170. Mounting bracket 166 extends between and is connected to upper frame member 162 and lower frame member 164. Gripper arm 168 extends through and is movable through mounting bracket 166. Gripper head 170 is connected to a forward end of gripper arm 168. Gripper head 170 includes grasping fingers 172 and suction cups 174, as shown in FIGS. 8-9. Grasping fingers 172 are used to grasp packages and bags in the semi-trailer and suction cups 174 are used to engage packages and bags in the semi-trailer. Grasping fingers 172 and suction cups 174 are both used to pull packages off of a stack of packages and onto platform 112.

Gripper assembly 114 further includes gripper rotational drive 176, gripper y-axis drive 178, gripper z-axis drive 180, and gripper x-axis drive 182. Gripper rotational drive 176 rotates gripper head 170 on gripper arm 168 around gripper a-axis AGR. Gripper y- axis drive 178 moves gripper assembly 116, and thus gripper 160, up and down on gantry frame 110 along gripper y-axis YGR. Gripper z-axis drive 180 moves gripper 160 side to side on upper frame member 162 and lower frame member 164 of gripper assembly 114 along gripper z-axis ZGR. Gripper x-axis drive 182 moves gripper arm 168, and thus gripper head 170, forwards and backwards through mounting bracket 166 along gripper x-axis XGR.

Gantry unloader 100 is designed to automatically unload packages, parcels, and parcel bags from semi-trailers that commercially-haul packages, parcels and parcel bags. Gantry unloader 100 includes gripper 160 that extracts one package, parcel, or parcel bag at a time onto platform 112. Platform 112 consists of rollers or belts that convey the extracted package onto take-away conveyor 134. Take-away conveyor 134 then conveys the extracted package onto extendable conveyor 102 which conveys the package out of the semi-trailer and into the building. Platform 112 is capable of moving up and down along a prescribed path, while gripper 160 is capable of moving side to side, up and down, forward and rearward, and rotationally all along prescribed paths. Platform 112 and gripper 160 are supported and transported by gantry frame 110.

Gripper 160 includes extendable grasping fingers 172 and suction cups 174, as shown in greater detail in FIGS. 8-9. In general, extendable grasping fingers 172 are used for extracting the parcel bags while suction cups 174 are used for the extraction of packages.

Gantry unloader 100 is controlled with control system 190. Control system 190 includes vision system 192 (shown in FIGS. 1-4 and 6) to create near-real-time, electronic, 3-D images of the packages within the semi-trailer as the semi-trailer is being unloaded. Controller 194 is programmed to use the 3-D image to control the movements of gripper 160 that is used to extract one package at a time from the packages in the semi trailer. As shown in FIG. 10, controller 194 can send signals to gripper rotational drive 176, gripper y-axis drive 178, gripper z-axis driver 180, and gripper x-axis drivel82 to control the movements of gripper 160. Movement of the entire gantry unloader 100 and extendable conveyor 102 is also controlled based on the 3-D image. As shown in FIG. 10, controller 194 can send a signal to gantry frame drives 126 to control movement of gantry frame 110 and to platform drive 156 to control movement of platform 112.

All of the motors used on gantry unloader 100 for positioning are electric stepper motors with built-in rotational position sensors. The rotational position signal from each motor indicates to controller 194 where that particular function is located within its range of motion. The position signal is input into the programmed algorithms within the controller. To determine which package to extract, gantry unloader 100 utilizes vision system 192.

Vision system 192 includes a Light Detection and Ranging (LIDAR) sensor and a high-resolution camera, or a 3-D Scanner, to create an electronic‘vision’ of the packages within the semi-trailer as well as the semi-trailer walls, ceiling, and floor. Both the LIDAR sensor and camera, or the 3-D Scanner, face toward the package wall, and these vision system 192 components are connected to controller 194 via electrical and ethernet cables.

The LIDAR sensor uses a laser beam reflection technique to send an array of laser beams, of known strength and frequency, out from the LIDAR sensor. If objects are present in the path of the laser beams, the laser beam will reflect back to the LIDAR sensor, and the LIDAR sensor measures the time and frequency of the reflected laser beam. Algorithms within controller 194 then calculate the distance based on the reflected laser beams. A 3-D Scanner may be used in place of the LIDAR sensor and the camera. Since each laser beam is a discrete light beam, the calculation for the distance to the object generates only one point in 3-D space. Simultaneously calculating the distance for each laser beam produces a point cloud which can then be used to determine general shapes of the packages in 3-D space. For application on gantry unloader 100, the LIDAR sensor is programmed to take measurements every 2 seconds for near-real-time, positional determination of the packages in the semi-trailer. The resolution of the point cloud is limited by the number of laser beams available in the LIDAR sensor so a high- resolution camera is used to augment the resolution. The high-resolution camera takes images every 2 seconds synchronized with the LIDAR sensor. Algorithms within controller 194 then use the camera image and the point cloud to make an improved 3-D image of the packages. Controller 194 then uses the improved 3-D image of the packages to determine which package to remove from the package wall.

A 3-D Scanner uses infrared light instead of laser light to accomplish much the same electronic vision of packages. Algorithms within controller 194 then calculate the distance based on the reflected infrared light.

Controller 194 determines if platform 112 is within the physical reach of the package to be extracted; if not within reach, controller 194 sends commands to move gantry unloader 100 forward or backward to a position that makes the package to be extracted within the range of motion of gantry unloader 100. Simultaneously, controller 194 moves platform 112 to the correct height, determines if suction cups 174 or grasping fingers 172 will be used for this particular extraction, and positions gripper 160. Once in position, controller 194 commands gripper 160 to move forward to the proper position for engaging the package, commands the suction cups 174 or grasping fingers 172 to engage the package, commands gripper 160 to move rearward and upward slightly to aid in extraction all while maintaining hold on the package. Once the package is extracted onto platform 112, controller 194 commands gripper 160 to release the package and moves gripper 160 up and over as-needed to allow movement of the package onto take-away conveyor 134.

Take-away conveyor 134 can be controlled to operate in a continuous mode or in accumulator mode. In continuous mode, take away conveyor 134 continuously conveys packages onto extendable conveyor 102. The up/down and forward/rearward movement of extendable conveyor 102 is synchronized with the movement of platform 112 to allow for continuous movement of packages from take away conveyor 134 to extendable conveyor 102. In accumulator mode, take away conveyor 134 starts and stops as packages are sequentially moved onto take away conveyor 134. Sensors (not shown) on take away conveyor 134 indicate to controller 194 that take away conveyor 134 is full. The command is sent to move platform 112 into position where the packages can be conveyed off of take away conveyor 134 and onto extendable conveyor 102.

Extendable conveyor 102 conveys the packages to the rear of the semi-trailer and into the building for further processing of the packages. The desired rate of package unloading is at least 2000 packages per hour. LIDAR and 3-D Scanner scan times allow for near-real-time scanning and generation of the 3-D images which allows for significantly reduced wait times while controller 194 is processing information and subsequent delivery of movement commands.

While the normal operational mode of gantry unloader 100 is automated, an operator can control any operation of gantry unloader 100 at any time via a joystick and/or computer touch screen. The operator must initiate the unloading operation of gantry unloader 100, and the operator can stop the operation of gantry unloader 100 at any time by means of the E-Stop button, joystick, or touch screen (not shown).

FIG. 11A is a perspective view of gantry unloader 100 positioned outside of semi trailer 104. FIG. 11B is a perspective view of gantry unloader 100 positioned inside semi-trailer 104. FIG. 11C is a perspective view of gantry unloader 100 positioned adjacent to packages 106 in semi-trailer 104. FIG. 11D is a perspective view of gantry unloader 100 with gripper 160 being advanced towards package 106A. FIG. 11E is a perspective view of gantry unloader 100 with gripper 160 grabbing package 106A. FIG. 11F is a perspective view of gantry unloader 100 when gripper 160 has pulled package 106 A onto platform 112. FIG. 11G is a perspective view of gantry unloader 100 with package 106A being advanced along take away conveyor 134. FIGS. 11A-11G show gantry unloader 100, extendable conveyor 102, semi-trailer 104, and packages 106. Gantry unloader 100 includes gantry frame 110, platform 112, and gripper 160. Gripper 160 includes gripper head 170, which includes grasping fingers 172 and suction cups 174.

FIGS. 11A-11G show gantry unloader 100 removing one package 106A that is stacked on the top of a stack of packages 106 from semi-trailer 104. Gantry unloader 100 has the same structure and design as described above in reference to FIGS. 1-10.

As shown in FIG. 11 A, gantry unloader 100 is positioned around extendable conveyor 102 outside of semi-trailer 104. As shown in FIG. 11B, gantry unloader 100 can be moved into semi-trailer 104 with extendable conveyor 102 and advanced towards packages 106. Gantry unloader 100 will be advanced through semi-trailer 104 until platform 112 of gantry unloader 100 is positioned adjacent to packages 106 that are to be removed from semi-trailer 104. Platform 112 can be moved up and down so that is it positioned adjacent to the bottom edge of one package 106A that is to be removed from semi-trailer 104, as shown in FIG. 11C. Once platform 112 of gantry unloader 100 is positioned adjacent to one package 106A that is to be removed from semi-trailer 104, gripper 160 can be aligned with package 106 A by moving it side to side, up and down, and rotationally to position it to grab package 106A. Gripper 160 can then be advanced forward to grab package 106 A, as shown in FIG. 11D. Gripper 160 can grab package 106A with grasping fingers 172 and suction cups 174 on gripper head 170, as shown in FIG. 11E. Gripper 160 can then pull package 106A away from the other packages 106 and onto platform 112 of gantry unloader 100, as shown in FIG. 11F. Platform 112 of gantry unloader 100 can then be lowered and aligned with extendable conveyor 102, as shown in FIG. 11G. When platform 112 of gantry unloader 100 has been lowered, package 106 A can be moved along take away conveyor 134 and onto extendable conveyor 102.

FIG. 12A is perspective view of gantry unloader 100 being advanced into semi trailer 104. FIG. 12B is a perspective view of gantry unloader 100 positioned adjacent to packages 106 in semi-trailer 104. FIG. 12C is a perspective view of gantry unloader 100 where gripper 160 is gripping first package 106A on the floor of semi-trailer 104. FIG. 12D is a perspective view of gantry unloader 100 tipping first package 106A onto platform 112. FIG. 12E is a perspective view of gantry unloader 100 where first package 106A is on platform 112. FIG. 12F is a perspective view of gantry unloader 100 where first package 106A is being advanced onto extendable conveyor 102. FIG. 12G is a perspective view of gantry unloader 100 where gripper 160 is gripping second package 106B positioned on a stack of packages 106. FIG. 12H is a perspective view of gantry unloader 100 where gripper 160 is pulling second package 106B off of the stack of packages 106. FIG. 121 is a perspective view of gantry unloader 100 where second package 106B is on platform 112. FIG. 12J is a perspective view of gantry unloader 100 where second package 106B is being advanced onto extendable conveyor 102. FIGS. 12A-12J show gantry unloader 100, extendable conveyor 102, semi-trailer 104, and packages 106. Gantry unloader 100 includes gantry frame 110, platform 112, and gripper 160. Gripper 160 includes gripper head 170, which includes grasping fingers 172 and suction cups 174.

FIGS. 12A-12J show gantry unloader 100 removing a first package 106A that is positioned on the floor of semi-trailer 104 and a second package 106 A that is stacked on the top of a stack of packages 106 from semi-trailer 104. Gantry unloader 100 has the same structure and design as described above in reference to FIGS. 1-10.

As shown in FIG. 12A, gantry unloader 100 can be moved into semi-trailer 104 with extendable conveyor 102 and advanced towards packages 106. Gantry unloader 100 will be advanced through semi-trailer 104 until platform 112 of gantry unloader 100 is positioned adjacent to packages 106 that are to be removed from semi-trailer 104, as shown in FIG. 12B. Platform 112 can be moved down so that is it positioned on the floor of semi-trailer 104 and adjacent to the bottom edge of package 106A on the floor of semi trailer 104, as shown in FIG. 12C. Once platform 112 of gantry unloader 100 is positioned adjacent to package 106A that is to be removed from semi-trailer 104, gripper 160 can be aligned with package 106 A by moving it side to side, up and down, and rotationally to position it to grab package 106A. Gripper 160 can then be advanced forward to grab package 106A, as shown in FIG. 12C. Gripper 160 can grab package 106A with grasping fingers 172 and suction cups 174 on gripper head 170. Gripper 160 can then tip package 106A onto platform 112 of gantry unloader 100, as shown in FIGS. 12D-12E. Platform 112 of gantry unloader 100 can then be raised and aligned with extendable conveyor 102, as shown in FIG. 12F. When platform 112 of gantry unloader 100 has been raised, package 106A can be moved along take away conveyor 134 and onto extendable conveyor 102.

Platform 112 can then be moved up so that is it positioned lower than the bottom edge of package 106B that is to be removed from semi-trailer 104, as shown in FIG. 12G. Once platform 112 of gantry unloader 100 is positioned adjacent to package 106B that is to be removed from semi-trailer 104, gripper 160 can be aligned with package 106B by moving it side to side, up and down, and rotationally to position it to grab package 106B. Gripper 160 can then be advanced forward to grab package 106B, as shown in FIG. 12G. Gripper 160 can grab package 106B with grasping fingers 172 and suction cups 174 on gripper head 170. Gripper 160 can then pull package 106B away from the other packages 106 and onto platform 112 of gantry unloader 100, as shown in FIGS. 12H-12I. Platform 112 of gantry unloader 100 can then be lowered and aligned with extendable conveyor 102, as shown in FIG. 12J. When platform 112 of gantry unloader 100 has been lowered, package 106B can be moved along take away conveyor 134 and onto extendable conveyor 102.

While the invention has been described with reference to an exemplary embodiment(s), it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment(s) disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.