Patent Grant
10894456
The present invention generally relates to steering mechanisms for vehicles, and more particularly to combining front and rear wheel steering by applying a lateral, horizontal force to the vehicle's chassis.
The usage of All Terrain Vehicles (ATVs) has become ubiquitous in recent years, as new types and designs of such vehicles have appeared in the market. ATVs are employed for recreational purposes, as well as for providing swift access for emergency forces to remote, isolated locations.
Modern ATVs are normally associated with an extreme, sportive type of riding, which excludes the requirements of the more conservative populace, which exhibits a more restrained type of riding. A configurable design for a vehicle that facilitates both types of riding experiences is therefore required.
The present invention discloses a vehicle comprising:
According to some embodiments of the present invention:
According to some embodiments of the present invention:
According to some embodiments of the present invention:
According to some embodiments of the present invention, said elastic pivot structures comprise a set of two elastic rubber joints, secured between the middle suspension plate and the upper suspension plate by a set of bolts.
According to some embodiments of the present invention, said elastic pivot structures further comprise a set of elastic rubber joints, secured above the upper suspension plate by the same set of bolts, between the upper suspension plate and a set of tighteners.
According to some embodiments of the present invention:
According to some embodiments of the present invention:
According to some embodiments of the present invention:
According to some embodiments of the present invention, the said ball joints may be fully installed or partially installed or not installed within the front elastic pivot structure and rear elastic pivot structure, to produce different levels of front and rear wheel steering in response to a lateral, horizontal force applied to the chassis.
According to some embodiments of the present invention, said elastic joints are implemented as springs or pistons or any combination thereof.
According to some embodiments of the present invention, the chassis [1010] is directly attached to the said elastic joints.
According to some embodiments of the present invention:
According to some embodiments of the present invention:
According to some embodiments of the present invention, the said vehicle enables the driver to lock the wheels of the rear wheel set together, forcing them to rotate at the same speed in a synchronized mode, by providing a synchronized electric control signal to both wheels of the rear wheel set.
According to some embodiments of the present invention, the said lock is obtained mechanically, by physically associating the rear wheels through a joint axle.
According to some embodiments of the present invention, the components bearing the load between the ground and said rear shock absorber include only the rear wheel set and the rear axle, and do not include said suspension plates, elastic joints, and said elastic joint bolts, thus minimizing the total mass that follows the ground through pitch movement of a rear pitch pivot axle.
According to some embodiments of the present invention, the components bearing the load between the ground and the elastic joints of the rear wheel set is minimal, and includes only the said rear wheel set, the rear axle, said rear shock absorber and said medium suspension plate, thus minimizing the mass of the load-bearing components between the ground and the elastic joints, and enhancing the following of the ground in roll motion.
In the following detailed description of various embodiments, reference is made to the accompanying drawings that form a part thereof, and in which are shown by way of illustration specific embodiments in which the invention may be practiced. It is understood that other embodiments may be utilized and structural changes may be made without departing from the scope of the present invention.
The term “vehicle” used herein refers to any motorized or non-motorized vehicle known in the art having two or more wheels.
Many alterations and modifications may be made by those having ordinary skill in the art without departing from the spirit and scope of the invention. Therefore, it must be understood that the illustrated embodiment has been set forth only for the purposes of example and that it should not be taken as limiting the invention as defined by the following invention and its various embodiments and/or by the following claims. For example, notwithstanding the fact that the elements of a claim are set forth below in a certain combination, it must be expressly understood that the invention includes other combinations of fewer, more or different elements, which are disclosed in above even when not initially claimed in such combinations. A teaching that two elements are combined in a claimed combination is further to be understood as also allowing for a claimed combination in which the two elements are not combined with each other, but may be used alone or combined in other combinations. The excision of any disclosed element of the invention is explicitly contemplated as within the scope of the invention.
The words used in this specification to describe the invention and its various embodiments are to be understood not only in the sense of their commonly defined meanings, but to include by special definition in this specification structure, material or acts beyond the scope of the commonly defined meanings. Thus if an element can be understood in the context of this specification as including more than one meaning, then its use in a claim must be understood as being generic to all possible meanings supported by the specification and by the word itself.
The definitions of the words or elements of the following claims are, therefore, defined in this specification to include not only the combination of elements which are literally set forth, but all equivalent structure, material or acts for performing substantially the same function in substantially the same way to obtain substantially the same result. In this sense it is therefore contemplated that an equivalent substitution of two or more elements may be made for any one of the elements in the claims below or that a single element may be substituted for two or more elements in a claim. Although elements may be described above as acting in certain combinations and even initially claimed as such, it is to be expressly understood that one or more elements from a claimed combination can in some cases be excised from the combination and that the claimed combination may be directed to a sub-combination or variation of a sub-combination.
Insubstantial changes from the claimed subject matter as viewed by a person with ordinary skill in the art, now known or later devised, are expressly contemplated as being equivalently within the scope of the claims. Therefore, obvious substitutions now or later known to one with ordinary skill in the art are defined to be within the scope of the defined elements.
The claims are thus to be understood to include what is specifically illustrated and described above, what is conceptually equivalent, what can be obviously substituted and also what essentially incorporates the essential idea of the invention.
Although the invention has been described in detail, nevertheless changes and modifications, which do not depart from the teachings of the present invention, will be evident to those skilled in the art. Such changes and modifications are deemed to come within the purview of the present invention and the appended claims.
The front elastic pivot structure [200] comprises a front set of elastic joints. In the embodiment depicted in
In the embodiment depicted in
The front set of elastic joints [110a′, 110b′] facilitate the tilt movement of the chassis [1010] (and associated platform [114]) as described above in relation to the front wheel set [1200], along the front roll axis [206]. The front roll axis [206] substantially intercepts the geometric location of the front elastic joints [110a′, 110b′].
The tilt movement [1700b] of the chassis [1010] and associated standing platform [114] around the front roll axis [206] is obtained by either one of the following mechanisms, or by a combination thereof:
The 1st mechanism for obtaining a tilt movement around the front roll axis [206] is based on applying an uneven vertical force [600] (e.g.: by applying most of the driver's weight to one side of the standing platform [114]), as depicted in
The 2nd mechanism for obtaining a tilt movement around the front roll axis [206] is based on applying a lateral, horizontal force to any part of the chassis [1010], and translating the chassis [1010] consequent lateral movement to a tilt motion along the front roll axis [206] by a ball joint [110n]. This mechanism is further explained below, in relation to
The tilting [1700b] of the chassis [1010] around the front roll axis [109] is translated by the front elastic pivot structure [200] to a yaw motion of the front wheel set [1200], causing the vehicle to steer in response to the tilt. The said translation of the chassis [1010] tilt to the wheel set's yaw motion is explained further below, in relation to
The rear elastic pivot structure [100] comprises a rear set of elastic joints. In the embodiment depicted in
In the embodiment depicted in
The rear set of elastic joints [110a, 110b] facilitate a tilt movement of the chassis [1010] (and associated platform [114]) in relation to the rear wheel set [1100], along the rear roll axis [109]. The rear roll axis [109] substantially intercepts the geometric location of the rear elastic joints [110a, 110b].
The tilt movement [1700b] of the chassis [1010] and associated standing platform [114] around the rear roll axis [109] is obtained by either one of the following mechanisms, or by a combination thereof:
The tilting [1700b] of the chassis [1010] around the rear roll axis [109] is translated by the rear elastic pivot structure [100] to a yaw motion of the rear wheel set, causing the vehicle to steer in the direction of the tilt. The said translation of the chassis [1010] tilt to the wheel's yaw motion is explained further below, in relation to
The application of the said lateral force [300] creates reactive friction forces [400a] and [400b], originating from the ground and applied to the front [1200] and rear [1100] wheel sets respectively. The action line of the ground's reactive force [400b] passes through the wheel's point of contact with the ground.
The combination of force vectors [300] and [400a] creates a force moment on the front wheel set [1200]. The combination of force vectors [300] and [400b] creates a force moment on the rear wheel set [1100]. The said force moments cause the front and rear wheel sets to yaw. This yaw movement steers the vehicle against the direction of the applied horizontal lateral force [300], and changes the direction of the vehicle travel from [1500a] to [1500b]. The said yaw movement provides the following benefits to the invented vehicle:
The rear elastic pivot structure [100] and front elastic pivot structure [200] react to the application of a horizontal, lateral force [300] and to the ground's reactive forces [400b, 400a] by tilting the chassis [1010], along the rear roll axis [109] and front role axis [206] respectively. The mechanisms by which the elastic pivot structures do so are explained further below.
The numbering of the front pivot structure [200] members is marked by a tag, i.e.: 110X annotates a member of the rear elastic pivot structure [100], whereas 110X′ annotates a member of the front elastic pivot structure [200].
According to some embodiments, the elastic pivot structure [100, 200] comprises an upper suspension plate [110f], and a middle suspension plate [110e]. Said plates [110f, 110e] are attached via one or more elastic joints [110a, 110b]. This structure enables the plates [110f′, 110e′] of the front elastic pivot structure [200] to tilt in respect to each other along the front roll axis [206], and enables the plates [110f, 110e] of the rear elastic pivot structure [100] to tilt in respect to each other along the rear roll axis [109] (see
The elastic joints [110a′, 110b′, 110c′, 110d′] facilitate the tilt of the chassis [1010] in respect to the front wheel set [1200] along the front roll axis [206], as explained in relation to
The elastic joints [110a, 110b, 110c, 110d] facilitate the tilt of the chassis [1010] in respect to the rear wheel set [1100] along the rear roll axis [109], as explained in relation to
According to the embodiment depicted in
According to other embodiments (e.g. as depicted in
According to the embodiment depicted in
According to other embodiments (e.g. as depicted in
The chassis [1010] is attached to the upper suspension plate [110f] of the elastic pivot structure [100, 200]. According to the embodiment depicted in
According to other embodiments, the chassis [1010] incorporates the upper suspension plate [110f], and is directly attached to the said elastic joints [110a, 110b, 110c, 110d].
According to the embodiment depicted in
According to other embodiments, the middle suspension plate [110e] is connected to the rear wheel set [1100] and rear shock absorber [105] directly, i.e. not via a lower suspension connector [110i].
According to the embodiment depicted in
According to other embodiments, the middle suspension plate [110e′] is connected to the front wheel set [1200] and front shock absorber [213] directly, i.e. not via a lower suspension connector [110i′].
According to some embodiments, the elastic joints [110a, 110b, 110c, 110d, 110a′, 110b′, 110c′, 110d′] are configured to be replaceable, and are configured to exhibit various levels of elasticity. These features of the elastic joints facilitate the ability to modify the vehicle's compliance to the tilt motion in response to the application of vertical and horizontal forces, and customize the vehicle according to the requirements of specific drivers. For example:
As mentioned above, one of the mechanisms for tilting the chassis [1010] around the rear and front roll axes [109, 206] is based on applying a lateral force in a horizontal vector [300] to any part of the chassis [1010], and translating the chassis [1010] lateral movement to a tilt movement along the rear and/or front roll axis [109, 206] by a ball joint.
Reference is now made to
According to some embodiments, the said housings [110q] of the upper suspension plate [110f] comprise a grooved opening [110s], enabling the bolt [110k] to move laterally in respect to the upper suspension plate [110f].
In
In
On the front end of the vehicle, the said translation of a lateral movement of the upper suspension plate [110f′] to a tilt movement in respect to the middle suspension plate [110e′], results in a tilt of the chassis [1010] in respect to the front wheel set [1200] along the front roll axis [206]. In turn, this tilt intensifies the vehicle's front wheel steering in response to an applied lateral, horizontal force [300], as explained further below.
On the rear end of the vehicle, the said translation of a lateral movement of the upper suspension plate [110f] to a tilt movement in respect to the middle suspension plate [110e], results in a tilt of the chassis [1010] in respect to the rear wheel set [1100] along the rear roll axis [109]. In turn, this tilt intensifies the vehicle's rear wheel steering in response to an applied lateral, horizontal force [300], as explained further below.
According to some embodiments, the front elastic pivot structure [200] may be configured to have both ball joints [110n′] installed, or only one ball joint [110n′] installed, or none of the ball joints [110n′] installed, according to the required riding experience, wherein each added ball joint [110n′] intensifies the vehicle's front wheel steering in response to an applied lateral, horizontal force [300].
According to some embodiments, the rear elastic pivot structure [100] may be configured to have both ball joints [110n] installed, or only one ball joint [110n] installed, or none of the ball joints [110n] installed, according to the required riding experience, wherein each added ball joint [110n] intensifies the vehicle's rear wheel steering in response to an applied lateral, horizontal force [300].
In
The action line of force vector 300 is substantially parallel to, and above the horizontal level of the ball joint's position [110n-h]. The action line of force vector [400a/400b] is substantially parallel to, and below the horizontal level of the ball joint's position [110n-h]. In the absence of the ball joint, as presented in
The combined roll movement of the chassis around said front and rear roll axes forms a swing movement, along a swing axis [500]. Said swing axis is formed by the imaginary line connecting the front pivot structure [200] and rear elastic pivot structure [100], and is substantially horizontal.
The invented vehicle displays enhanced rear and front wheel steering capabilities, originating from its inherently instable characteristics. For example:
The present invention makes use of a pendulum effect to enhance the vehicle's dynamic stability during steering. The said pendulum operates in the following manner:
The present invention makes use of several mechanisms for producing an enhanced rear-wheel steering experience. It is important to note the following structural properties depicted in
The 1st said mechanism for enhanced rear wheel steering is based on applying a lateral, horizontal force [300] on the chassis [1010]. Such a force [300] may be applied, for example by laterally swaying the driver's weight as in a surfing motion, or by steering the vehicle in a sharp turn (e.g. by using the steering handle) and thus producing a lateral centrifugal force.
The ground [101] reacts to the applied lateral force [300] by a reactive, friction force [400b] (see
The combination of the applied, lateral, horizontal force [300] and the ground's reaction force [400b] produces a force moment, acting along distance vector [120b]. This force moment causes the rear wheel set [1100] to yaw along the vertical line [119a], and heightens the vehicle's rear wheel steering in response to an applied lateral, horizontal force [300]. The elongation of distance vector [120b] by the angle [121] increases the force moment applied by the ground's reaction force [400b], and amplifies the said yaw motion.
The 2nd said mechanism for enhanced rear wheel steering is also based on applying a lateral, horizontal force [300] on the chassis [1010]. The combination of the applied, lateral, horizontal force [300] and the ground's reaction force [400b] produces a force moment, acting along the vertical line [119a]. This force moment causes the rear wheel set [1100] to tilt along horizontal line [119b], and heightens the vehicle's rear wheel steering in response to an applied lateral, horizontal force [300].
The elongation of said distance vector [112] that is perpendicular to said rear roll axis [109] by the angle of the chassis [1010] increases the force moment applied by the ground's reaction force [400b], and amplifies the said rear wheel's tilt motion.
The 3rd said mechanism for enhanced rear wheel steering is based on applying an uneven vertical force [600] to the vehicle's chassis [1010], for example by applying most of the driver's weight to one side of the standing platform [114] (see
The said applied uneven vertical force [600] to the vehicle's chassis [1010] and associated platform [114] causes the following:
The wheels of the rear wheel set, which are normally driven by a common mechanical or electric force, tend to rotate at the same speed. For this reason, the effect of the said 1st and 2nd mechanisms for enhanced rear wheel steering, involving the application of a lateral, horizontal force may be dampened by the wheels' common drive force.
The 4th mechanism for obtaining enhanced rear wheel steering is designed to tackle this issue, by combining the merits of the previously discussed mechanisms. It is based on translating a lateral, horizontal movement of the chassis [1010] to a tilt movement of the chassis [1010] along the rear roll axis [109], and exploiting the said 3rd mechanism to produce a yaw motion of the rear wheels' set.
As discussed above in relation to
The production of rear wheel steering via the action of the ball joint [110n] (i.e. by the effect of the said 4th mechanism) is directly influenced by the number of installed ball joints [110n] in the rear elastic pivot structure [100]:
The invented vehicle enables the driver to lock the rear wheels together in a synchronized mode, forcing the wheels to rotate at the same speed as in a differential lock. According to some embodiments, the said lock may be obtained electronically, by providing a synchronized electric control signal to both wheels of the rear wheel set. According to another embodiment, the said lock may be obtained mechanically, by physically associating the rear wheels through a joint axle.
A 5th mechanism for enhanced rear wheel steering is based on this rear-wheel locking capability:
As well known to persons familiar with the art, locking of the rear wheels (as in a differential lock) produces superior traction, and is beneficial in specific types of terrain. However, such a lock limits the vehicle's steering capability. The invented vehicle overcomes the said limitation, while maintaining the property of superior traction.
When the rear wheels are locked, and the steering handle is turned, the chassis [1010] inertia produces a velocity vector that is not directly aligned with the vehicle's momentary direction of travel. The chassis [1010] inertia comprises a lateral velocity vector that is perpendicular to the vehicle's momentary direction of travel.
As discussed above, in relation to the 4th mechanism for obtaining enhanced rear wheel steering, the ball joint [110n] translates the said lateral velocity vector to a tilt of the chassis along the rear roll axis [109]. This tilt, in turn, yaws the rear wheels in the required direction, as explained in relation to the 4th mechanism for obtaining enhanced rear wheel steering.
As a result, locking the rear wheels, while steering the vehicle by the steering handle, causes the chassis [1010] to tilt along the rear roll axis, and yaw the rear wheels, thus enhancing the vehicle's rear wheel steering capabilities.
The invented vehicle provides the sensation of surfing to the steering of the vehicle. As described above, when the driver of the vehicle shifts their weight, the standing platform [114] is pivoted along the horizontal vector component [119B] of roll axis [109]. The said pivot action provides the user a surfing sensation as they steer the vehicle by swaying their weight from side to side.
The rigidity of the elastic joints [110a, 110b, 110c, 110d] has an effect on the riding experience. Rigid joints will restrain the swivel of the standing platform 114, restrict the driver's ability to shift their weight and impose a constrained, stable quality to the ride. In a complementary manner, loose or soft elastic joints [110a, 110b, 110c, 110d] will reduce the vehicle's stability, heighten steering capabilities, and provide an enhanced surfing sensation to the drive. According to some embodiments of the invented vehicle, the rigidity of the elastic joints [110a, 110b, 110c, 110d] may be configurable. For example, they may be made of rubber, and their rigidity may be configured by tightening or loosening the elastic joint bolts [110k].
The sprung members of the suspension are hereby defined as the components that exhibit a fixed position in relation to the vehicle's chassis [1010]. In the invented vehicle, the rear sprung members of suspension comprise the standing platform [114], shock absorber [105], upper and middle suspension plates [110f] and [110e] respectively, lower suspension connector[110i], elastic joints [110a, 110b, 110c, 110d], and elastic joint bolts [110k].
The unsprung members of the suspension are hereby defined as the components that bear the load between the ground and the shock absorber, and follow the terrain, i.e. present a fixed position in relation to the ground [101]. In the invented vehicle, the rear unsprung members of suspension comprise of the rear wheel set [1100] (i.e. the tires [102], the wheel disks [103] and the wheel hubs [104]) and the axle [115].
This embodiment of the rear suspension part provides a unique shock absorption mechanism that enables the vehicle to closely follow a rugged terrain, while maintaining a smooth driving experience.
The unsprung members of the rear suspension are minimal. They include only the rear wheel set [1100] and the rear axle [115], and do not include the top and middle suspension plates ([110f] and [110e]), the elastic joint components [110a, 110b, 110c, 110d], or the elastic joint bolts [110k]. This property of the rear suspension's unsprung portion reduces the unsprung portion's mass, and facilitates close and rapid following of the terrain through pitch movement of the rear pitch pivot axle [117].
Shocks applied to the unsprung components are absorbed by the shock absorber [105]. The shock absorber primarily damps shocks in the pitch direction. The current invention does not impose any restrictions on the type of the said shock absorber (e.g. hydraulic, pneumatic, springs etc) or any combination thereof. The elastic joints [110a, 110b, 110c, 110d] provide additional shock absorption, damping shocks mainly in the roll direction.
According to this embodiment, the sprung components are further divided by the elastic joints [110a, 110b, 110c, 110d] in regards to movement in the roll axis:
The number of components located between the ground and the elastic joints [110a, 110b, 110c, 110d] is minimal. They include the unsprung components (tires [102], wheel disks [103], wheel hubs [104] and axle [115]), the shock absorber [105] and the middle suspension plate [110e]. This implementation ensures a minimal mass between the ground and the elastic joints [110a, 110b, 110c, 110d], facilitating a smooth roll movement to follow the rugged terrain.
The present invention makes use of several mechanisms for producing an enhanced front-wheel steering experience. It is important to note the following structural properties depicted in
The 1st said mechanism for enhanced front wheel steering is based on applying a lateral, horizontal force [300] on the chassis [1010]. Such a force [300] may be applied, for example by laterally swaying the driver's weight as in a surfing motion, or by steering the vehicle in a sharp turn (e.g. by using the steering handle) and thus producing a lateral centrifugal force.
The ground [101] reacts to the applied lateral force [300] by a reactive, friction force [400a] (see
The combination of the applied, lateral, horizontal force [300] and the ground's reaction force [400a] (see
The 2nd said mechanism for enhanced front wheel steering is based on applying an uneven vertical force [600] to the vehicle's chassis [1010], for example by applying most of the driver's weight to one side of the standing platform [114] (see
The said applied uneven vertical force [600] to the vehicle's chassis [1010] and associated platform [114] causes the following:
The 3rd mechanism for obtaining enhanced front wheel steering combines the merits of the previously discussed mechanisms. It is based on translating a lateral, horizontal movement of the chassis [1010] to a tilt movement of the chassis [1010] along the front roll axis [206], and exploiting the said 2nd mechanism to produce a yaw motion of the front wheels set.
As discussed above in relation to
The production of front wheel steering via the action of the ball joint [110n′] (i.e. by the effect of the said 3rd mechanism) is directly influenced by the number of installed ball joints [110n′] in the front elastic pivot structure [200]:
The members of the unsprung portion of the front wheel suspension are minimal. They include the wheel sets (i.e. tires [207], wheel disks [208], disk brakes [209] and brake pistons [223]) and the front axle [216]. They do not include the shock absorber [213], extensions to the shock absorber [211] and [212], upper and middle suspension plates [110f′] and [110e′] respectively, elastic joints [110a′, 110b′, 110c′, 110d′], elastic joint bolts [110k′], and the handle joints [217].
This property of the front wheel suspension's unsprung portion reduces the unsprung portion's mass, and facilitates close and rapid following of the terrain through pitch movement of the front shock absorber [213].
Shocks applied to the unsprung components are absorbed by the shock absorber [213]. The shock absorber primarily damps shocks in the pitch direction. The current invention does not impose any restrictions on the type of the said shock absorber (e.g. hydraulic, pneumatic, springs etc) or any combination thereof. The elastic joints [210] provide additional shock absorption, damping shocks mainly in the roll direction.
Many alterations and modifications may be made by those having ordinary skill in the art without departing from the spirit and scope of the invention. Therefore, it must be understood that the illustrated embodiment has been set forth only for the purposes of example and that it should not be taken as limiting the invention as defined by the following invention and its various embodiments and/or by the following claims. For example, notwithstanding the fact that the elements of a claim are set forth below in a certain combination, it must be expressly understood that the invention includes other combinations of fewer, more or different elements, which are disclosed in above even when not initially claimed in such combinations. A teaching that two elements are combined in a claimed combination is further to be understood as also allowing for a claimed combination in which the two elements are not combined with each other, but may be used alone or combined in other combinations. The excision of any disclosed element of the invention is explicitly contemplated as within the scope of the invention.
The words used in this specification to describe the invention and its various embodiments are to be understood not only in the sense of their commonly defined meanings, but to include by special definition in this specification structure, material or acts beyond the scope of the commonly defined meanings. Thus if an element can be understood in the context of this specification as including more than one meaning, then its use in a claim must be understood as being generic to all possible meanings supported by the specification and by the word itself.
The definitions of the words or elements of the following claims are, therefore, defined in this specification to include not only the combination of elements which are literally set forth, but all equivalent structure, material or acts for performing substantially the same function in substantially the same way to obtain substantially the same result. In this sense it is therefore contemplated that an equivalent substitution of two or more elements may be made for any one of the elements in the claims below or that a single element may be substituted for two or more elements in a claim. Although elements may be described above as acting in certain combinations and even initially claimed as such, it is to be expressly understood that one or more elements from a claimed combination can in some cases be excised from the combination and that the claimed combination may be directed to a sub-combination or variation of a sub-combination.
Insubstantial changes from the claimed subject matter as viewed by a person with ordinary skill in the art, now known or later devised, are expressly contemplated as being equivalently within the scope of the claims. Therefore, obvious substitutions now or later known to one with ordinary skill in the art are defined to be within the scope of the defined elements.
The claims are thus to be understood to include what is specifically illustrated and described above, what is conceptually equivalent, what can be obviously substituted and also what essentially incorporates the essential idea of the invention.
Although the invention has been described in detail, nevertheless changes and modifications, which do not depart from the teachings of the present invention, will be evident to those skilled in the art. Such changes and modifications are deemed to come within the purview of the present invention and the appended claims.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IL2017/050924 | 8/20/2017 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2018/037400 | 3/1/2018 | WO | A |
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| 62377657 | Aug 2016 | US |
