Crawler vehicle, running track assembly, vehicle system, and method of traveling on a running track assembly

Abstract

The present invention relates to a tracked vehicle (1000A, B, C), comprising: a load assembly (1100A, B, C); at least two drive tracks (1210A, B, C) movably mounted on the load assembly (1100A, B, C) so as to move along a circular path of the drive tracks (1210A, B, C) to cause the tracked vehicle (1000A, B, C) to travel in a travel direction, characterized in that the drive tracks (1210A, B, C) are formed on respective track assemblies (1200A, B, C), and the tracked vehicle (1000A, B, C) further comprises: a tilting device (1220A, B, C) for tilting the track assembly (1200A, B, C) about a tilting axis (NA) which extends substantially parallel to the vehicle width direction; and a moving device (1230A, B, C) for moving the track assembly (1200A, B, C) along the tilting axis (NA) between a retracted position and an extended position, in the retracted position, the track assembly (1200A, B, C) is disposed below the bottom (1110A, B, C) of the load assembly (1100A, B, C), and in the extended position, the track assembly (1200A, B, C) projects beyond opposite sides of the load assembly (1100A, B, C) in the vehicle width direction. The present invention also relates to a running track assembly (3000, 4000, 5000) for a tracked vehicle of this type. The present invention also relates to a vehicle system comprising a tracked vehicle (1200A, B, C) and a running track assembly (3000, 4000, 5000). In addition, the present invention relates to a method of traveling a tracked vehicle (1200A, B, C) on a running track assembly (3000, 4000, 5000).

Description

Technical Field

[0001] The present invention relates to a tracked vehicle and a running track device for the tracked vehicle. The present invention also relates to a vehicle system including the tracked vehicle and the running track device. In addition, the present invention relates to a method for a tracked vehicle to travel on the running track device. Background Art

[0002] DE202020100256U1 discloses this type of tracked vehicle, which includes a load assembly and at least two drive tracks movably mounted on the load assembly for movement along the running tracks of the respective drive tracks to cause the tracked vehicle to run in a running direction. There is also known a vehicle system including a general-purpose tracked vehicle and a general-purpose road device. In this case, the tracked vehicle may include two or more pairs of drive tracks, and the drive tracks are arranged on the load assembly of the tracked vehicle through a support platform. The support platform can rotate around a rotation axis extending perpendicular to the direction in which the tracked vehicle stands. This enables the tracked vehicle to turn in any direction in the horizontal plane.

[0003] However, the degrees of freedom of movement of this type of tracked vehicle are restricted for various reasons. The drive tracks and the support platform can be aligned only by rotating around their rotation axes in the horizontal plane (e.g., on a horizontal plane such as a road surface). When running on a non-horizontal plane (e.g., a sloped road surface), the drive tracks cannot be adjusted in such a way that the inclination of the load assembly is compensated. Therefore, the degree of inclination of the load assembly is the same as the degree of inclination of the horizontal plane to be run on. For example, due to the inclination of the load assembly, the articles located in the load assembly may move inadvertently, or a person may fall into the load assembly, so the general-purpose tracked vehicle is restricted to substantially horizontal roads. Summary of the Invention

[0004] Therefore, the object of the present invention is to further develop a general-purpose tracked vehicle, thereby increasing the degrees of freedom of movement and agility of the tracked vehicle while preventing the tracked vehicle from tilting excessively.

[0005] According to the present invention, this object is achieved in a general tracked vehicle, wherein each drive track is formed on a respective caterpillar assembly, and the tracked vehicle further has an inclination device and a movement device. The inclination device is used to tilt the caterpillar assembly about its respective tilt axis, which extends substantially perpendicular to the movement direction of the respective drive track; the movement device is used to move the caterpillar assembly along its respective tilt axis between a retracted position and an extended position, wherein the caterpillar assembly in the retracted position is located below the bottom of the load assembly, and wherein the caterpillar assembly in the extended position extends beyond the opposite sides of the load assembly in the vehicle width direction.

[0006] Therefore, the inclination device can rotate the caterpillar assembly about their tilt axes, which extend substantially perpendicular to the movement direction of the drive tracks. By tilting the caterpillar assemblies, their orientation relative to the load assembly and relative to the road on which the tracked vehicle stands or moves can be changed without tilting the load assembly. Additionally, by tilting the caterpillar assemblies, the load assembly can be raised, thereby increasing the ground clearance when operating on rough terrain. Generally, in the retracted position, the caterpillar assemblies are located below the bottom of the load assembly. The caterpillar assemblies do not protrude from the sides of the load assembly, and when viewed from above the tracked vehicle, the caterpillar assemblies are covered by the load assembly. Therefore, when the caterpillar assemblies are in the retracted position, the space required for the movement of the tracked vehicle is smaller. However, the movement device can translate the caterpillar assemblies along their tilt axes and even move them to the extended position. In the extended position, the caterpillar assemblies are not covered from above by the bottom of the load assembly, and thus, the caterpillar assemblies can tilt 360° about their tilt axes without colliding with the load assembly. On the one hand, the tracked vehicle according to the present invention can thus move horizontally along a horizontal road or a horizontally arranged track. On the other hand, the tracked vehicle according to the present invention can also be used for inclined movement at any gradient along an inclined road or on an inclined running track without tilting the load assembly. Therefore, the transportation safety of the internal items or personnel can be ensured.

[0007] In principle, it can be imagined that the tracked vehicle according to the present invention moves only linearly along horizontal or inclined roads and / or tracks. However, advantageously, the tracked vehicle according to the present invention further includes a steering device for changing the running direction of the tracked vehicle.

[0008] The steering device enables the tracked vehicle to not only move linearly but also change its running direction on the road. Therefore, the tracked vehicle can move flexibly on the road and achieve various driving operations or driving trajectories.

[0009] According to an embodiment of the present invention, the steering device is designed to change the running direction of the tracked vehicle by different rotational speeds and / or rotational directions of the drive tracks.

[0010] Thus, the running direction of the tracked vehicle according to the present invention can be changed. For example, similar to a tank, the drive tracks are moved in different rotational directions and / or rotational speeds. Compared with a conventional vehicle steering system, such as in a passenger car (sedan) steering system where only two front wheels can be steered and each front wheel can only be steered in the same way, the turning radius of the tracked vehicle can be reduced, especially increasing the agility of the tracked vehicle.

[0011] In another embodiment of the present invention, the steering device is designed to change the running direction of the tracked vehicle by rotating the track assembly around the corresponding steering axis.

[0012] By rotating each track assembly individually around its steering axis, the respective track angles can be flexibly changed. By aligning the respective track assemblies with respect to each other accordingly, the turning radius of the tracked vehicle during turning can be reduced. This also makes it possible to perform new driving operations or trajectories that are not achievable with traditional vehicles. Thus, when the load assembly is stationary, the tracked vehicle can rotate the track assemblies 90° around their steering axes for lateral movement, during which the alignment of the load assembly in the plane does not change.

[0013] In the retracted position, the track assemblies can be penetrated by their respective steering axes in the front end region or the rear end region.

[0014] When steering the track assemblies, the track assemblies rotate relative to the road around a fulcrum that lies within the contact surface formed by the contact area between each drive track and the road. When the track assemblies are tilted around their respective tilt axes in the retracted position, the position of the contact surface on the drive track changes towards the front end or the rear end of the track assembly. If the steering axes penetrate the corresponding track assemblies in the front or rear end regions, it is possible to avoid an undesired movement of the load assembly in a gyroscopic manner when the track assemblies are steered.

[0015] According to another embodiment of the present invention, the track assemblies are penetrated by their respective tilt axes in the front end region or the rear end region.

[0016] By arranging the tilt axes in the front or rear end regions of the track assemblies, it is possible for the track assemblies to stand on their tips when rotating around their tilt axes, thereby vertically lifting the load assembly. The tip is the end region of the caterpillar ship that is not penetrated by its tilt axis. In the retracted position of the track assemblies, this can prevent the caterpillar ship from colliding with the bottom of the load assembly when tilted. In addition, this arrangement of the tilt axes can cause the track assemblies to tilt at a certain angle in the rotational direction in the retracted position or in the extended position, while the load assembly does not rise or only rises to a minimal extent.

[0017] In a preferred embodiment of the present invention, the respective steering axes of each track assembly intersect with their respective tilt axes.

[0018] When the steering axes of the track assemblies intersect with their respective tilt axes, the track assemblies can be tilted so that the contact surfaces of the respective drive tracks are located at the ends of the track assemblies through which the respective steering axes and tilt axes pass. In this configuration, the steering axes, tilt axes, and the coverage areas of the drive tracks are all at the same end of the track assembly. Therefore, when the track assembly steers and / or tilts, it can be ensured that the force between the tracked vehicle and the road flows directly and straight, and no unwanted bending moments occur.

[0019] In another embodiment of the present invention, the tracked vehicle further includes a clamping device for moving at least two track assemblies arranged side by side in the vehicle width direction along their respective clamping axes, and the clamping axes extend substantially in the vehicle longitudinal direction.

[0020] In order for the tracked vehicle to move along a vertical running track device, it is necessary to clamp the tracked vehicle to the track. With the help of the clamping device, the track assemblies can move relative to each other along their clamping axes and interact with the vertically arranged running track to generate a clamping force. When traveling on a vertically arranged guide rail, the clamping force can prevent the track assemblies from slipping off the track. Therefore, the tracked vehicle is clamped to the vertical running track device, and the tracked vehicle can be driven in the vertical direction.

[0021] According to the present invention, there is also provided a running track device including at least two running tracks arranged substantially parallel to each other, and each running track has a raised and recessed structure designed to engage with the drive tracks of the tracked vehicle according to the present invention in a form - fit and / or force - fit manner.

[0022] The running tracks can be arranged in any direction in space and form a predetermined track along which the tracked vehicle can travel. The running tracks can be arranged at any position, such as on or inside a building, over a gully, on a steep slope, etc., which is largely independent of environmental conditions. Therefore, the possible routes of the tracked vehicle can be designed flexibly. When traveling on the track, the drive tracks are in a form - fit and / or force - fit engagement with their structure, which ensures that the tracked vehicle can move safely on the running track device without slipping off it.

[0023] Preferably, the structure is configured in the form of a structured surface of a rigid running track.

[0024] The structured surface of the corresponding running track is designed to contact the drive track of the tracked vehicle, thereby achieving a firm engagement. In particular, when the running track is not arranged horizontally but at a steep angle, the structured surface on the running track can prevent the drive track of the tracked vehicle from losing engagement with the running track and thus slipping off. Therefore, the safety of the tracked vehicle when traveling on the running track can be improved.

[0025] The running track device according to the present invention may further include at least one inclined running module. The inclined running module includes at least two running tracks, which are designed to be attached to the surrounding support structure such that they are parallel to each other and run from a lower runway to a first upper runway at an angle, wherein the first upper runway is at a predetermined height relative to the lower runway, and wherein the distance between the two running tracks parallel to each other is substantially equal to the distance of the track assembly in the vehicle width direction in the extended position, and wherein the inclined running module includes at least two curved transition elements, each transition element being provided in the upper end region of the corresponding running track and designed to connect the corresponding running track to the first upper runway.

[0026] The tracked vehicle can move along the inclined running module in three-dimensional space and move between two runways located at different heights. The inclined running module includes two tracks, so it is suitable for a tracked vehicle with two track assemblies to travel on it. In order to travel on the inclined running module, the track assembly is in the extended position and is tilted around its tilt axis so that the position of the drive track is substantially parallel to the running track. At this time, since the track assembly is in the extended position and the horizontal spacing between the running tracks is the same as the distance of the track assembly in the vehicle width direction in the extended position, the load assembly can be kept in the horizontal direction between the running track devices and does not tilt when running on the track devices. The transition element forms a curved connecting element between the track of the inclined running module and the first upper runway, thereby enabling the tracked vehicle to transition between the inclined running module and the first upper runway. Due to the curved shape of the transition element, when transitioning between the track of the inclined running module and the first upper runway, the track assembly does not have to overcome any edge or similar problems.

[0027] According to another embodiment of the present invention, the running track device includes a first inclined running module and a second inclined running module, which are arranged relative to each other such that they each run inclinedly from a lower runway to a first upper runway, the tracks of the first inclined running module and the second inclined running module are substantially parallel to each other, and wherein the horizontal spacing between the first inclined running module and the second inclined running module is substantially equal to the distance of the tilt axis of the track assembly in the vehicle front-rear direction in the straight running position.

[0028] Since the running track device includes a first inclined running module and a second inclined running module, there are four running tracks, and it can be driven either by a crawler vehicle with two crawler assemblies or by a crawler vehicle with four crawler assemblies. In this embodiment, the crawler vehicle includes four crawler assemblies, and the driving tracks of all four crawler assemblies are in contact with the corresponding running tracks. Also in this embodiment, the distance between the running tracks of the inclined running module is consistent with the distance in the vehicle width direction when the crawler assemblies are in the extended position, and is greater than the width of the load assembly. Therefore, when traveling on the running track device, the load assembly of the crawler vehicle can be placed between the running tracks. In addition, in this embodiment, the distance between the first inclined running module and the second inclined running module is consistent with the distance of the inclined axis in the vehicle front-rear direction when the crawler assemblies are in the straight running position. Therefore, it is possible to travel on the running track device in such a way that only the crawler assemblies are inclined parallel to the running tracks in the extended position, while the load assembly is horizontally aligned and not inclined.

[0029] In principle, the running track device can be designed to connect only the lower runway to the first upper runway. However, according to the present invention, a plurality of inclined running modules can also be arranged one after another to connect the lower runway and the first upper runway, and to connect the first upper runway to the second upper runway arranged thereon, their tracks are arranged in pairs, and a channel opening is provided between the inclined running modules arranged one after another, the size of which is such that the crawler assemblies can be switched between the inclined running position and the horizontal running position to drive into or out of the running track device, and when crossing the channel opening, the crawler assemblies in the inclined position are in continuous contact with at least one inclined running module.

[0030] By arranging a plurality of inclined running modules one after another, the runways at different heights can be connected to each other. Therefore, the crawler vehicle can travel flexibly on the runways at different heights, and as a result, different driving operations and driving trajectories can be achieved by driving the crawler vehicle. When traveling on the running track device, the crawler assemblies can cross the channel opening, and when they reach the channel opening, they remain in the inclined position and continue to travel inclined. The size of the channel opening is such that each driving track is in uninterrupted contact with at least one of the tracks arranged one after another when crossing it. Therefore, when crossing the channel opening, continuous engagement between the crawler assemblies and the running tracks can be ensured, and slippage of the crawler vehicle can be prevented. However, the channel opening can also enable the crawler vehicle to drive out of the running track device, drive into the runway or drive from the runway into the running track device. When they reach the channel opening, the crawler assemblies are switched between the horizontal running position and the inclined running position, so that inclined travel can be started or ended.

[0031] According to another embodiment of the present invention, the running track device includes at least one vertical running module. The vertical running module includes a first pair of running tracks and a second pair of running tracks arranged parallel to each other, and is designed to engage with the drive tracks of the tracked vehicle according to the present invention in a form-fitting and / or force-fitting manner, and is attached to the surrounding support structure such that they extend vertically from the lower runway to the first upper runway, the first upper runway being at a predetermined height relative to the lower runway, and wherein the vertical running module has at least two transition elements, the transition elements being adapted to be inclined at a predetermined height of the first upper runway, near the upper end region of the running track, such that the structure of each transition element faces the structure of the corresponding running track, and wherein the distance between the running tracks of each pair of running tracks is substantially equal to the distance of the track assembly in the vehicle width direction in the extended position, and wherein the distance between the first pair of running tracks and the second pair of running tracks is substantially consistent with the distance of the inclination axis of the track assembly in the vehicle longitudinal direction in the straight running position.

[0032] Along the vertical running module, the tracked vehicle can move vertically in three-dimensional space and move between two runways located at different heights. Since the running track device includes a first pair of running tracks and a second pair of running tracks, it can in particular be driven by a tracked vehicle with four track assemblies. To travel on the vertical running module, the track assemblies are in the extended position and inclined such that each drive track engages with the corresponding running track in a form-fitting and / or force-fitting manner. Thus, when traveling on the running track device, the load assembly can be horizontally aligned and placed between the tracks and will not tilt during this process. Due to the vertical arrangement of the first and second pairs of running tracks, the running track device saves space and can be used in different locations, for example, on or inside buildings, storage racks, mountains, construction sites, etc. When used inside a building, the running track device can be used together with the tracked vehicle as an elevator. The vertical running module includes at least two transition elements, which are not integrally formed with the running tracks but are arranged opposite the upper end region of the running tracks on the first upper runway. These can enable the tracked vehicle to transition between the vertical running module and the first upper runway.

[0033] According to one embodiment, the structure can be arranged on each running track such that when the track assembly is in the vertical running position and moves in the direction of the structure by the clamping device, a clamping force or tension is generated in the horizontal direction between the track assembly and the running track.

[0034] For traveling on the vertical running module, the track assembly is in the vertical running position, in which the track assembly is tilted 90° about their tilt axis relative to the horizontal running position. In this position, a sufficiently large clamping force and tension must be applied between the track assembly and the running track device so that the track assembly does not slip off the track. In the vertical running position, with the help of the clamping device, the track assembly can move in the direction of the structure, so that a clamping force or tension is generated between the track assembly and the running track. This clamping force or tension provides the necessary holding force, which is necessary for the tracked vehicle to travel safely on the vertical running module without slipping.

[0035] In principle, the running track device can be designed to connect only the lower running track to the first upper running track. However, multiple vertical running modules can also be arranged one after another to connect the lower running track to the first upper running track and connect the first upper running track to the second upper running track arranged above it, aligning their running tracks in pairs with each other, and providing a passage opening between the vertically running modules arranged as described above, the size of which can enable the track assembly to switch between the vertical running position and the horizontal running position to enter or exit the running track device, and when crossing the passage opening in the vertical running position, the track assembly is in continuous contact with at least one vertical running module.

[0036] By arranging multiple vertical running modules one after another, several running tracks at different heights can be connected to each other. Therefore, the tracked vehicle can travel flexibly on running tracks at different heights, and as a result, different driving operations and driving trajectories can be achieved by driving the tracked vehicle. For example, the running track device can operate as an elevator together with the tracked vehicle on or inside a building, connecting several floors to each other. When traveling on the running track device, the track assembly can cross the passage opening and, when reaching the passage opening, remain in the tilted vertical running position and continue to travel vertically. The size of the passage opening is such that each driving track is in uninterrupted contact with at least one of the running tracks arranged one after another when crossing it. Therefore, when crossing the passage opening, continuous engagement between the track assembly and the running track can be ensured, and slippage of the tracked vehicle can be prevented. However, the passage opening can also enable the tracked vehicle to drive off the running track device and into the running track, or from the running track into the running track device. After reaching the passage opening, the track assembly switches between the horizontal running position and the vertical running position, so that vertical travel can be started or ended.

[0037] In addition, a vehicle system is proposed according to the present invention, including a tracked vehicle according to the present invention and a running track device according to the present invention.

[0038] In addition, the present invention provides a method for a tracked vehicle according to the present invention to travel on a running track device according to the present invention. The method includes the following steps: approaching the running track device on the lower runway or the upper runway with the tracked vehicle, moving the track assembly along the corresponding tilt axis from the retracted position to the extended position, tilting the track assembly by a predetermined angle around the corresponding tilt axis, causing the track assembly to move from the horizontal running position to the inclined running position or the vertical running position, entering the running track device by engaging the drive track of the track assembly with the structure of the corresponding running track, traveling on the running track device between the lower runway area and the upper runway area, engaging the drive track of the track assembly with the structure of the corresponding transition element, traveling on the transition element, tilting the track assembly around the corresponding tilt axis to the horizontal running position, exiting the running track device, and traveling on the upper runway or the lower runway.

[0039] When performing the method according to the present invention, the tracked vehicle initially travels on either runway and approaches the running track device. When the tracked vehicle approaches the lower runway, the track assembly can be in the retracted position and the extended position. When the track assembly is in the retracted position, the tracked vehicle passes between the running tracks without traveling on the running track device. On the other hand, if the track assembly moves to the extended position when approaching the running track device, the tracked vehicle can start traveling along the running track device. When the tracked vehicle approaches the running track device on one of the upper runways, the track assembly can again be in the retracted position or the extended position. However, before reaching the opening of the corresponding runway, the track assembly must be moved to the extended position to prevent the tracked vehicle from falling into the opening. If the track assembly remains in the horizontal running position and does not tilt, the tracked vehicle can also travel through the running track device on one of the upper runways. By tilting the corresponding track assemblies, traveling along the running track device can be started. The track assemblies in the extended position are tilted about their respective tilt axes to the tilted running position or the vertical running position. In the tilted running position and the vertical running position, the track assemblies and the corresponding running tracks are arranged parallel to each other. In the step of entering the running track device, this makes the engagement between the drive tracks and the running tracks as safe and firm as possible. On the other hand, the load assembly remains aligned and does not tilt even when the track assemblies are tilted to the tilted or vertical running position. In the step of traveling on the running track device, due to the firm engagement between the drive tracks and the running tracks, safe tilted travel or vertical travel can be ensured, and the drive tracks can be prevented from slipping off the running tracks. When the tracked vehicle reaches the predetermined runway, it travels across the transition element, and the track assemblies are tilted back from the tilted or vertical running position to the horizontal running position. Then, the tracked vehicle leaves the running track device and travels on the intended runway. Therefore, by using the method according to the present invention, effective tilted travel and / or vertical travel of the tracked vehicle according to the present invention can be achieved. The method also enables the load assembly to be safely transported between several runways without tilting the load assembly.

[0040] During vertical travel, the step of structurally engaging the drive tracks of the track assemblies with the corresponding transition element preferably includes the following sub-steps: moving at least one track assembly along a clamping axis by means of its clamping device, the clamping axis being between the structure of the corresponding running track and the structure of the corresponding transition element, and at least three track assemblies remaining engaged with one of the structure of the corresponding running track or the corresponding transition element.

[0041] At the transition between the vertical running module and the runway, it is necessary to ensure that the tracked vehicle does not slide or fall within the running track device due to losing engagement with the running track. Therefore, during this transition, at least one track assembly moves along the clamping axis between the structure of the corresponding running track and the corresponding transition element. However, at all times, at least three track assemblies remain engaged with the structure of the corresponding running track, the corresponding transition element, or the runway. Thus, a safe engagement between the track assembly and the track of the vertical running module can always be ensured, and the tracked vehicle can be prevented from sliding or falling within the running track device. This improves the safety when traveling on the vertical running module.

[0042] After leaving the running track device, the method according to the invention preferably includes the step of repositioning from the extended position to the retracted position along the corresponding tilting axis.

[0043] After the tracked vehicle reaches the predetermined runway, when the track assembly moves back to the retracted position again, the space required by the tracked vehicle in the vehicle width direction for traveling on the runway is smaller. In addition, in the stowed position, since the track assembly is below the bottom of the load assembly, the possibility of collision between the track assembly and surrounding objects or structures can be reduced. Description of the Drawings

[0044] Embodiments of the present invention will be explained below with reference to the accompanying drawings as non-limiting examples. As shown below:

[0045] Figure 1A is a schematic perspective view of the track assembly of a tracked vehicle according to the present invention in the retracted position and non-tilted position.

[0046] Figure 1B is Figure 1A a schematic perspective view of the track assembly in the retracted position and tilted position in

[0047] Figure 1C is Figure 1A a schematic perspective view of the track assembly in the extended position and non-tilted position in

[0048] Figure 2A shows a schematic perspective view of a tracked vehicle according to the present invention, with two track assemblies located at the start of the inclined travel on a running track device having an inclined running module according to the present invention.

[0049] Figure 2B shows Figure 2A a schematic perspective view of the tracked vehicle in

[0050] Figure 3Shows a schematic side view of a running track device according to the present invention, which connects several runways to an inclined running module, as well as different positions of a tracked vehicle when traveling on the inclined running module of the running track device.

[0051] Figure 4 Shows a schematic perspective view of a tracked vehicle according to the present invention, which has four track assemblies and a running track device according to the present invention, and the running track device connects several runways to each other with an inclined running module.

[0052] Figure 5A Shows the schematic view of the tracked vehicle according to the present invention when the tracked vehicle approaches the running track device on the lower runway, as seen from the rear. Figure 4 in the present invention.

[0053] Figure 5B Similar to Figure 5A is a schematic view of the tracked vehicle after the track assemblies have moved from the retracted position to the extended position along their inclined axes.

[0054] Figure 5C Similar to Figure 5A and 5B shows a schematic view of the tracked vehicle when traveling on the running track device between the lower runway area and the upper runway area.

[0055] Figure 6A Shows Figure 4 a schematic side view of the tracked vehicle when crossing the channel opening between the inclined running components during inclined travel.

[0056] Figure 6B Similar to Figure 6A shows a schematic partial side view of the tracked vehicle when traveling on the transition element and tilting the track assemblies to the horizontal running position about the corresponding inclined axes.

[0057] Figure 6C Similar to Figure 6A and 6B shows a schematic side view of the tracked vehicle when exiting the running track device and traveling on the upper runway.

[0058] Figure 7 Shows a schematic perspective view of a tracked vehicle according to the present invention, which has four track assemblies and a running track device according to the present invention, and the running track device connects several runways with vertical running modules to each other.

[0059] Figure 8A when the track assemblies tilt from the horizontal running position to the vertical running position about the corresponding inclined axes. Figure 7Schematic side view of a tracked vehicle.

[0060] Figure 8B Similar to Figure 8A , is a schematic side view of a tracked vehicle when the drive track of the track assembly engages with the structure of the corresponding running track.

[0061] Figure 8C Similar to Figure 8B , shows a schematic side view of a tracked vehicle during vertical travel when crossing a passage opening between two sets of vertical running modules arranged one above the other.

[0062] Figure 8D Similar to Figure 8C , shows a schematic side view of a tracked vehicle when two track assemblies arranged adjacent to each other in the vehicle width direction are tilted from the vertical running position to the horizontal running position about the corresponding tilt axes.

[0063] Figure 8E Similar to Figure 8D , shows a schematic side view of a tracked vehicle when at least one track assembly is moved along the clamping axis between the structure of the corresponding running track and the structure of the corresponding transition element by its clamping device.

[0064] Figure 8F Similar to 8E, shows a schematic side view of a tracked vehicle when exiting the running track device and traveling on the upper runway.

[0065] Figure 9A Is a schematic perspective view of the track assembly in the retracted position and non-tilted position.

[0066] Figure 9B Is Figure 9A A schematic perspective view of the track assembly in during the combined process of rotating about its steering axis and pitching about its tilt axis.

[0067] Figure 9C Is Figure 9A A schematic perspective view of the track assembly in the lateral position after the combined rotation about its steering axis and tilting about its tilt axis. Detailed Description

[0068] The following refers to Figures 1A to 1C , to describe the degrees of freedom of movement of the track assembly 1200. Figure 1A Shows a schematic perspective view of the track assembly 1200 of the tracked vehicle 1000 according to the present invention in the retracted position and non-tilted position. Figure 1B Shows Figure 1A The track assembly 1200 in the retracted position and tilted position, Figure 1C ShowsFigure 1A Schematic perspective view of the track assembly 1200 of the tracked vehicle 1000 in the extended position and non-tilted position. It should be noted that Figures 1A to 1C Only a detailed view of the track assembly 1200 of the tracked vehicle 1000 is shown. However, the tracked vehicle 1000 according to the present invention may include a plurality of track assemblies 1200, such as two or four track assemblies 1200. The track assembly 1200 will be described in detail below, and these explanations apply to all track assemblies 1200 of the tracked vehicle 1000.

[0069] The track assembly 1200 is arranged on the bottom 1110 of the load assembly 1100 of the tracked vehicle 1000. As Figures 1A to 1C shown, in an embodiment of the tracked vehicle 1000 according to the present invention, the track assembly 1200 has an elongated shape and is rounded at the front end region 1201 and the rear end region 1202. The track assembly 1200 includes a drive track 1210, which is arranged circumferentially on the track assembly 1200 and is movably supported along the track of the track assembly 1200. The drive track 1210 stands on the covering area A of the runway 2000. In Figures 1A to 1C the embodiment shown, the drive track 1210 is formed as a rotating chain, which includes a plurality of links and has a structure 1211 with protrusions and depressions on its outer surface. This type of drive track 1210 is similar to those used in, for example, tanks or snow tracked vehicles. The drive track 1210 of the drive device 1200 can be driven by a drive unit (not shown), while moving along the track around the track assembly 1200 and rolling on the runway 2000 in the area of the contact surface A. Examples of the drive unit can be an electric motor, an internal combustion engine or a linear motor similar to the one already explained in DE202020100256U1 above. By driving the drive track 1210, the entire tracked vehicle 1000 is put into motion. It should be noted that the drive track 1210 can move along the track assembly 1200 in either rotational direction, so the tracked vehicle 1000 can move in different directions.

[0070] The track assembly 1200 further includes a tilting device. The tilting device includes a tilting actuator 1220, which enables the track assembly 1200 to rotate about a tilting axis NA that extends substantially perpendicular to the rotational direction of the drive track 1210 and passes through the track assembly 1200 in the front end region 1201, as Figure 1B shown. Examples of the tilting actuator 1220 can be hydraulic, pneumatic and / or electric rotary actuators. As Figure 1B shown, when the track assembly 1200 rotates about the tilting axis NA, the covering area A′ moves towards the rear end region 1202 of the track assembly 1200, and due to the elongated shape of the track assembly 1200, it is larger than the covering area A in the non-tilted position (asFigure 1A is smaller than that shown). Since the contact surface A' of the track assembly 1200 in the tilted position is smaller, when driving the drive track 1210, the friction between the drive track 1210 and the runway 2000 is smaller, so the tracked vehicle 1000 can be propelled more effectively. The corresponding inclination angles of all the track assemblies 1200 of the tracked vehicle 1000 will also change the vertical distance between their tilt axes NA and the runway 2000, thus lifting the entire load assembly 1100. For example, by lifting the load assembly 1100, the ground clearance can be increased when driving on rough terrain. The track assembly 1200 can also be rotated about the tilt axis NA in the counterclockwise rotation direction. Although the contact surface A' moves towards the front end region 1201 of the track boat 1200, the distance between the bottom 1110 of the load assembly 1100 and the runway 2000 remains substantially unchanged.

[0071] The track assembly 1200 further includes a moving device. The moving device includes a moving actuator 1230 that moves the track assembly 1200 along the tilt axis NA from the Figure 1A retracted position as shown to the Figure 1C extended position as shown. Examples of the moving actuator 1230 can be hydraulic, pneumatic, and / or electric linear actuators. When the track assembly 1200 moves to the extended position, when viewed from above, the track assembly 1200 moves beyond one side of the load assembly 1100 in the vehicle width direction. In the extended position, the track assembly 1200 can rotate 360° about the tilt axis NA because the track assembly 1200 extends laterally beyond the load assembly 1100 and will not collide with the bottom 1110 of the load assembly 1100 during any rotation about the tilt axis NA.

[0072] As shown in Figures 1A to 1C , the track assembly 1200 further includes a steering device. The steering device includes a steering actuator 1240 that can rotate the track assembly 1200 about the steering axis LA. The steering actuator 1240 enables the toe angle of the track assembly 1200 to be changed on the runway 2000, but Figures 1A to 1C is not shown in the figure. Examples of the steering actuator 1240 can be electric, hydraulic, and / or pneumatic rotary motors. The steering axis LA extends substantially perpendicular to the bottom 1110 of the load assembly 1100 and passes through the track assembly 1200 in the front end region 1201. It should be noted that the steering axis LA and the tilt axis NA intersect in the front end region 1201. Therefore, when the track assembly 1200 is in the tilted position, the reduced coverage area A' is located in the front end region 1201 of the track assembly, the steering axis LA also intersects the coverage area surface A', and the track assembly 1200 can rotate about the steering axis LA without causing a turning motion of the tracked vehicle 1000 relative to the runway 2000.

[0073] In addition, the crawler assembly 1200 includes a clamping device. The clamping device includes a clamping actuator 1250 that enables the crawler assembly 1200 to move along a clamping axis KA that extends substantially in the longitudinal direction of the vehicle. Examples of the clamping actuator 1250 can be electrically, pneumatically, and / or hydraulically driven linear guides. In an embodiment, the tracked vehicle 1000 includes four crawler assemblies 1200, and the distance between these crawler assemblies 1200 relative to each other in the longitudinal direction of the vehicle (i.e., one arranged behind the other) can be changed by means of the clamping actuator 1250. For example, this is necessary for movement along a vertical running track device, which will be described in detail below. With the help of the clamping actuator 1250, by moving the crawler assembly 1200 in the direction of the vertical running track, a clamping force can be generated between the tracked vehicle 1000 and the running track device interacting with the track, thereby ensuring that when driving on a vertically arranged track, the driving track 1210 is firmly clamped, thus preventing slipping.

[0074] Since the driving track 1210, the tilting actuator 1220, the moving actuator 1230, the steering actuator 1240, and the clamping actuator 1250 enable a large number of degrees of freedom of movement, as Figure 1A , 1B and as shown in the embodiment of 1C, the tracked vehicle 1000 is flexible and can achieve various driving operations and driving trajectories within the horizontal range of the runway 2000. It should be noted that in addition to the above-mentioned tilting actuator 1220, moving actuator 1230, steering actuator 1240, and clamping actuator 1250, the tilting device, moving device, steering device, and clamping device generally include other elements, such as wiring or an electronic control unit. In addition, the crawler assembly 1200 of the tracked vehicle 1000 according to the present invention can travel on the running track device so as to travel on several runways at different heights, which will be described in detail below.

[0075] As Figure 2A and 2B show a simple embodiment of such a running track device 3000 according to the present invention. Figure 2A A schematic perspective view of a tracked vehicle 1000A according to the present invention is shown, with two crawler assemblies 1200A located at the starting part of the inclined travel on a running track device 3000 having inclined running modules 3100, 3100' according to the present invention. Figure 2B Shows Figure 2A of the tracked vehicle 1000A during the inclined travel, when passing through the channel opening 3130'' between two sets of inclined running modules 3100', 3100''.

[0076] Figure 2A , Figure 2B andFigure 3 The shown running track device 3000 includes inclined running modules 3100, 3100', 3100'', which connect the lower running track 2000 and the first upper running track 2000', the first upper running track 2000' and the second upper running track 2000'', and the second upper running track 2000'' and the third upper running track 2000'''. For example, such a running track device 3000 can be used to connect different floors in a building. For example, when connecting different levels in a storage rack system or on a steep slope or mountain range, other possible uses occur.

[0077] Each inclined running module 3100, 3100', 3100'' includes two running tracks 3110, 3110', 3110'', which run inclined between the running tracks 2000, 2000', 2000'', 2000''', and the spaced distance is substantially consistent with the distance of the crawler assembly 1200A in the vehicle width direction in the extended position. The running tracks 3110, 3110', 3110'' are attached to the surrounding support structure T and run parallel to each other. On one surface, each running track 3110, 3110', 3110'' has a structure 3111, 3111', 3111'' with protrusions and depressions, which is designed to form a form-fitting engagement with the structure 1211 of the drive crawler 1210. The running tracks 3110, 3110', 3110'' are placed relative to each other such that their structures 3111, 3111', 3111'' are aligned in pairs with each other. Transition elements 3120, 3120', 3120'' are provided in the upper end regions of each running track 3110, 3110', 3110'', and the corresponding transition elements 3120, 3120', 3120'' connect the running track 3110 and the first upper running track 2000', the running track 3110' and the second upper running track 2000'', and the running track 3110'' and the third upper running track 2000''', and the transition elements 3120, 3120', 3120'' also have protrusion and depression structures, which are not shown for clarity. The running tracks 3110, 3110', 3110'' of the inclined running modules 3100, 3100', 3100'' are not continuously connected to each other, but have channel openings 3130', 3130'', and the channel openings 3130', 3130'' interrupt the running tracks 3110, 3110', 3110'' in the regions of the running tracks 2000', 2000'', 2000'''. It should be noted that in this embodiment, no channel opening is provided between the lower running track 2000 and the running track 3110 of the inclined running module 3100, because a continuous connection is required between the running track 3110 and the lower running track 2000 to incline the crawler assembly 1200A.

[0078] In particular, the running track device 3000 shown in this embodiment is designed to be traveled on by a tracked vehicle 1000A having two track assemblies 1200A according to the Figures 1A to 1C illustrated embodiment, the two track assemblies 1200A being arranged on opposite sides of the load assembly 1100A, which will be described in detail based on Figure 2A and 2B below. Figure 2A The start of the inclined travel of the tracked vehicle 1000A along the running track device 3000 is shown. At the start of the inclined travel, the tracked vehicle 1000A travels on the lower runway 2000 towards the inclined travel module 3100. On the lower runway 2000, if the track assemblies 1200A remain in the retracted position and do not move to the extended position, the tracked vehicle 1000A can pass through the running track device 3000 between the running tracks 3110 and continue to travel on the lower runway. However, in order to start the inclined travel along the running track device 3000, the track assemblies 1200A move to the extended position. When traveling onto the running track 3110, the track assemblies 1200A tilt about their tilt axis NA from the non-inclined horizontal running position so that they are aligned parallel to the inclined running track 3110, which is hereinafter referred to as the inclined running position. Due to the distance between the running tracks 3110, the load assembly 1100A can be placed between the running tracks 3110 and does not tilt during the entire inclined travel, but remains oriented towards substantially horizontal. The upper runways 2000′, 2000″, 2000″′ also include openings 2100′, 2100″, 2100″′, which are sized such that when the load assembly 1100A travels between the running tracks 3110, 3110′, 3110″ in its non-inclined direction, the load assembly 1100A moves without colliding with the second upper runway 2000″. Thus, when traveling on the running track device 3000, even on a steep slope, unwanted movement of the internal items or unwanted falling of the internal personnel can be prevented. However, it should be noted that due to the openings 2100′, 2100″, 2100″′, when the tracked vehicle 1000A approaches the running track device 3000 on one of the upper runways 2000′, 2000″, 2000″′, the track assemblies 1200A must be in the extended position to prevent the tracked vehicle 1000A from falling into the corresponding opening 2100′, 2100″, 2100″′. A structure 1211A having protrusions and depressions is located on the outer surface of the drive track 1210A and engages with the area of the contact surface A of the structure 3111 having the running track 3110, similar to a gear connection. This creates a form-fit engagement between the drive track 1210A and the running track 3110, which prevents the drive track 1210A from slipping off the running track 3110 and thus enables safe travel along the running track 3110.

[0079] Figure 2B Illustrates the situation during the inclined travel of the tracked vehicle 1000A, where the tracked vehicle 1000A crosses the passage opening 3130″ between the inclined travel modules 3100′, 3100″ to continue the inclined travel on the travel track 3110″. The size of the passage opening 3130″ is such that, on the one hand, they can leave the travel track device 3000 and travel on Figure 2B the second upper runway 2000″, which is described as follows. In addition, the size of the passage opening 3130″ is such that the track assembly 1200A can straddle the travel track 3110″ of the inclined travel module 3100″. During this transition between the travel track 3110′ and the travel track 3110″, the track assembly 1200A remains in the inclined travel position and does not tilt back to the horizontal travel position. This ensures continuous contact of each drive track 1210A with at least one of the travel tracks 3110′, 3110″. Therefore, even during the transition between the two sets of inclined travel modules 3100′, 3100″, the engagement between the structure 1211A of the drive track 1210A and at least one of the structures 3111′, 3111″ of the corresponding travel tracks 3110′, 3110″ can be maintained all the time, and the drive track 1210A can be prevented from slipping off the travel tracks 3110′, 3110″. It should be noted that the tracked vehicle 1000A can also start the inclined travel from one of the upper runways 2000′, 2000″, 2000″′, and based on this, it can safely reach any other runway on a higher or lower level through the travel track device 3000, and the load assembly 1100A will not tilt undesirably.

[0080] As described above, any number of runways 2000, 2000′, 2000″, 2000″′ can be interconnected at an angle with the inclined travel modules 3100, 3100′, 3100″ according to the present invention and can be traveled on by the tracked vehicle 1000A according to the present invention. As Figure 3 shown in the illustrated embodiment, the lower runway 2000 is connected to three upper runways 2000′, 2000″, 2000″′. Various positions during the travel of the tracked vehicle 1000A from the lower runway 2000 to the third upper runway 2000″′ are shown. As Figure 3 shown in the lower right part of, the tracked vehicle 1000A first runs on the lower runway 2000 and approaches the travel track device 3000 when the track assembly 1200A is in the horizontal travel position. Next, similar to Figure 2AAs shown, the tilting travel is started by moving the crawler assembly 1200A to the extended position and tilting it from the horizontal travel position to the tilting travel position. At this time, the drive crawler 1210A of the crawler assembly 1200A contacts the travel track 3110 of the tilting travel module 3100, and engagement occurs between the structure 1211A of the drive crawler 1210A and the structure 3111 of the travel track 3110.

[0081] As described above, any number of runways 2000, 2000', 2000'', 2000''' can be interconnected at an angle with the tilting travel modules 3100, 3100', 3100'' according to the present invention, and can be traveled on by the tracked vehicle 1000A according to the present invention. As Figure 3 shown in the embodiment, the lower runway 2000 is connected to three upper runways 2000', 2000'', 2000'''. Various positions during the travel of the tracked vehicle 1000A from the lower runway 2000 to the third upper runway 2000''' are shown. As Figure 3 shown in the lower right region, the tracked vehicle 1000A first travels on the lower runway 2000 and approaches the travel track device 3000 when the crawler assembly 1200A is in the horizontal travel position. Next, similar to Figure 2A shown, the tilting travel is started by moving the crawler assembly 1200A to the extended position and tilting it from the horizontal travel position to the tilting travel position. At this time, the drive crawler 1210A of the crawler assembly 1200A contacts the travel track 3110 of the tilting travel module 3100, and engagement occurs between the structure 1211A of the drive crawler 1210A and the structure 3111 of the travel track 3110.

[0082] Figure 3 The next position shown shows the tracked vehicle 1000A crossing the passage opening 3130'' at the horizontal height of the second upper runway 2000'', similar to Figure 2B shown. The crawler assembly 1200A remains in the tilting travel position, and when crossing the passage opening 3130'', it continuously contacts at least one of the travel tracks 3110', 3110''. As Figure 3 shown in the upper left corner, the position of the tracked vehicle 1000A shows that after the tracked vehicle 1000A leaves the travel track device 3000 on the third upper runway 2000''', the crawler assembly 1200A tilts again from the tilting travel position to the horizontal travel position. At Figure 3In each position of the tracked vehicle 1000A shown, it is ensured that the load assembly 1100A does not tilt undesirably but remains oriented substantially horizontally. In addition, due to the engagement between the structure 1211A of the drive track 1210A and the structures 3111, 3111', 3111'' of the running tracks 3110, 3110', 3110'', safe inclined travel can be ensured and the tracked vehicle 1000A can be prevented from slipping. It should be noted that starting from each runway 2000, 2000', 2000'', 2000''', the tracked vehicle 1000A can use the running track device 3000 to move to any other runway 2000, 2000', 2000'', 2000''' that is higher or lower. Therefore, the tracked vehicle 1000A can move flexibly between different runways 2000, 2000', 2000'', 2000''' in three-dimensional space, and in addition to having multiple degrees of freedom of movement within the runway, the load assembly 1100A will not have an undesired tilt.

[0083] In the above embodiment, a simple case is considered, that is, the tracked vehicle 1000A has two track assemblies 1200A on opposite sides of the load assembly 1100A in the vehicle width direction and can travel on the running track device 3000, and each running track device 3000 has two tracks 3110, 3110', 3110''. However, according to another embodiment of the present invention, four track assemblies 1200B can also be provided on the bottom 1110B of the tracked vehicle 1000B according to the Figures 1A to 1C embodiment described. The four track assemblies 1200B are arranged in the corner regions of the bottom 1110B of the load assembly 1100B, similar to the arrangement of the wheels of a passenger car.

[0084] Figure 4 A schematic perspective view of such a tracked vehicle 1000B according to the present invention is shown. The tracked vehicle 1000B has four track assemblies 1200B and a running track device 4000 according to the present invention. The running track device 4000 interconnects several runways 2000, 2000', 2000'', 2000''' with inclined running modules 4100, 4200, 4100', 4200', 4100'', 4200''.

[0085] The inclined running modules 4100, 4200, 4100', 4200', 4100'', 4200'' are similar to Figure 2A the inclined running modules 3100, 3100', 3100'' shown in FIGS. 2B and 3. This is why the detailed description of similar elements is omitted below. However, as shown in Figure 4As shown, the first inclined running module 4100 and the second inclined running module 4200 are arranged between two runways for obliquely connecting the two runways, for example, between the lower runway 2000 and the first upper runway 2000'. The horizontal distance between each of the first inclined running modules 4100, 4100', 4100'' and the corresponding second inclined running module 4200, 4200', 4200'' is substantially equal to the distance of the tilt axis NA of the track assembly 1200B in the longitudinal direction of the vehicle when in the straight position. In other words, when the tracked vehicle 1000B runs obliquely, each of the four track assemblies 1200B is assigned to the running tracks 4110, 4210, 4110', 4210', 4110'', 4210''. In the upper end region of each of the running tracks 4110, 4210, 4110', 4210', 4110'', 4210'', there are transition elements 4120, 4220, 4120', 4220', 4120'', 4220'' for connecting the running tracks 4110, 4210 and the first upper runway 2000', the running tracks 4110', 4210' and the second upper runway 2000'', and the running tracks 4110'', 4210'' and the third upper track 2000''', and also having a raised and recessed structure which is not shown for clarity. One of the running tracks 4110, 4110', 4110'' or the running tracks 4210, 4210', 4210'' is arranged above the other such that their structures 4111, 4111', 4111'', 4211, 4211', 4211'' are paired and aligned. Channel openings 4130, 4230, 4130', 4230', 4130'', 4230'' are provided between each pair of running tracks that are aligned with each other. The channel openings 4130, 4230, 4130', 4230', 4130'', 4230'' form an interruption between the paired and aligned running tracks. In addition, the upper runways 2000', 2000'', 2000''' include openings 2100', 2100'', 2100''' sized such that the load assembly 1100B moves through the openings 2100', 2100'', 2100''' when traveling on the inclined running modules 4100, 4100', 4100'' in its non-inclined direction without colliding with the upper runways 2000', 2000'', 2000'''. Compared with Figure 2A , 2B, 3, in the running track device 4000, channel openings 4130, 4230 are also provided between the lower runway 2000 and the running tracks 4110, 4210 of the first inclined running module 4100 and the second inclined running module 4200. Therefore, the track assembly 1200B in the extended position can also pass through the channel openings 4130, 4230 on the lower runway 2000.

[0086] In Figures 5A to 5C are shown different positions of the tracked vehicle 1000B when starting to travel obliquely on the running track device 4000, when viewed from the rear of the tracked vehicle 1000B. Figure 5A is shown a schematic view of the tracked vehicle 1000B according to the Figure 4 present invention, when the tracked vehicle 1000B approaches the running track device 4000 on the lower runway 2000, when viewed from the rear. Figure 5B Similar to Figure 5A , is shown a schematic view of the tracked vehicle 1000B after the track assemblies 1200B have moved from the retracted position to the extended position along their tilt axis NA. Figure 5C Similar to Figure 5A and 5B , is shown a schematic view of the tracked vehicle 1000B when traveling on the running track device 4000 between the area of the lower runway 2000 and the area of the upper runway 2000'. It should be noted that in Figures 5A to 5C , in Figures 5A to 5C , only a part of the running track device 4000 is shown, and the following description also applies to the area of the running track device 4000 provided above it.

[0087] When driving into the running track device 4000, the front two track assemblies 1200B of the tracked vehicle 1000B in the horizontal running position first pass through the passage opening 4230 between the lower runway 2000 and the running track 4210 of the second inclined running module and approach the running track 4110 of the first inclined running module 4100. The load assembly 1100B is received between the running tracks 4110, 4210 and remains in its horizontal direction. It should be noted that when passing through the passage opening 4230 on the lower runway 2000, the track assemblies 1200B can be in the retracted position or the extended position, Figure 5A and the former case is illustrated in Figure 5Bis illustrated. To travel onto the running tracks 4110, 4210, the track assemblies 1200B tilt about their tilt axes NA from a non-inclined horizontal running position such that they are aligned parallel to the inclined running tracks 4110, 4210 and are in the inclined running position. Since the tracked vehicle 1000B according to this embodiment includes four track assemblies 1200B, the tilt actuator 1220B can be used to tilt the track assemblies 1200B from the horizontal running position to the inclined running position without tilting the load assembly 1100B, even before engaging with the running tracks 4110, 4210. In the inclined running position, the track assemblies 1200B continue to approach the running tracks 4110, 4210 of the first and second inclined running modules 4100, 4200 until the structures 1211B of the drive tracks 1210B are in form-fit contact with the structures 4111, 4211 of the running tracks 4110, 4210. Subsequently, the movement of the drive tracks 1210B about the respective track assemblies 1200B causes the track assemblies 1200B to move along the running tracks 4110, 4210, thereby causing the tracked vehicle 1000B to travel in an inclined manner, which is illustrated in Figure 5C is illustrated. The form-fit engagement between the track assemblies 1200B and the inclined running modules 4100, 4200 enables the tracked vehicle 1000B to move safely along the running track device and prevents the drive tracks 1210B from slipping off the running tracks 4110, 4210. As Figures 5A to 5C shown, due to the distance between the running tracks 4110, 4110′, 4110″ of the first inclined running modules 4100, 4100′, 4100″ and the running tracks 4210, 4210′, 4210″ of the second inclined running module, the load assembly 1100B is received between the running tracks and does not tilt during the entire inclined travel. Therefore, even when traveling on a running track device with a steep slope, unwanted movement of the internal items or unwanted falling of the internal personnel can be prevented.

[0088] The tracked vehicle 1000B can travel between any runways 2000, 2000′, 2000″, 2000″′ with the help of the running track device 4000. If the tracked vehicle 1000B is to pass through a runway during inclined travel, the track assemblies 1200B must pass through the passage openings between two pairs of aligned running tracks, which is illustrated as an example in Figure 6A is illustrated. Figure 6A Shows Figure 4 a schematic side view of the tracked vehicle 1000B when crossing the passage openings 4130′, 4230′ between the inclined travel components 4100, 4200, 4100′, 4200′ during inclined travel.

[0089] During the inclined travel, the tracked vehicle 1000B travels along the running tracks 4110, 4210, and the structure 1211B of the drive track 1210B engages with the structures 4111, 4211 of the running tracks 4110, 4210. However, when reaching the first upper runway 2000', the track assembly 1200B does not tilt back to the horizontal travel position and thus remains in the inclined travel position to continue the inclined travel. Therefore, it does not travel on the transition elements 4120, 4220. Instead, the tracked vehicle 1000B continues to travel in the running track device 4000 and crosses the channel openings 4130', 4230' between the inclined running modules 4100, 4200 and the inclined running modules 4100', 4200'. As Figure 6A shown, the dimensions of the channel openings 4130', 4230' are such that each drive track 1210B is always in contact with at least one of the running tracks 4110, 4210, 4110', 4210' when crossing the channel openings 4130', 4230'. Therefore, the form-fitting engagement between the structure 1211B of each drive track 1210B and the corresponding structures 4111, 4111', 4211, 4211' of the running tracks 4110, 4110', 4210, 4210' can be always maintained, and when crossing the channel openings 4130', 4230', it can also ensure the safe inclined travel of the tracked vehicle 1000B. After crossing the channel openings 4130', 4230', the tracked vehicle can continue the inclined travel on the running tracks 4110', 4210' and continue to travel in the direction of the runway to be reached.

[0090] When the tracked vehicle 1000B has reached the desired runway, it moves from the running track device 4000 to the runway 2000" so that it can subsequently travel on the runway 2000", as shown in Figure 6B and 6C . Figure 6B Similar to Figure 6A , a schematic partial side view of the tracked vehicle 1000B is shown when traveling on the transition element 4120' and tilting the track assembly 1200B to the horizontal travel position about the corresponding inclined axis NA. Figure 6C Similar to Figure 6A and 6B , a schematic side view of the tracked vehicle 1000B is shown when exiting the running track device 4000 and traveling on the upper runway 2000".

[0091] Different from that shown in Figure 6A , Figure 6B and 6CThe tracked vehicle 1000B in [description] does not cross the passage opening 4130″. Instead, it leaves the running track device 4000 and travels onto the runway 2000″ to be traveled on. When arriving at the runway 2000″, the track assemblies 1200B tilt from the inclined traveling position to the horizontal traveling position about their tilt axis NA. The track assemblies 1200B travel on the transition elements 4120′, 4220′, which connect the running tracks 4110′, 4210′ to the runway 2000″. In this case, the transition elements 4120′, 4220′ have an arcuate shape and, similar to the running tracks 4110′, 4210′, also include a structure with protrusions and depressions, which are not shown for clarity. When traveling on the transition elements 4120′, 4220′, the structure 1211B of the drive track 1210B engages with the structure of the transition elements 4120′, 4220′, which prevents the drive track 1210B from slipping when traveling on the transition elements 4120′, 4220′ and ensures the safe exit of the tracked vehicle 1000B from the moving track device 4000.

[0092] After exiting the running track device 4000, the tracked vehicle 1000B is immediately in the position as Figure 6C shown. The track assemblies are in the horizontal running position and the extended position, and the load assembly 1100B is received between the running tracks 4110″, 4210″. To completely leave the running track device 4000, therefore, the tracked vehicle 1000B must move a certain distance on the runway 2000″, and the last two track assemblies 1200B shown on the Figure 6C right side of [description] must laterally pass through the passage opening 4130″ on the runway 2000″. It should be noted that due to the openings 2100′, 2100″, 2100″′, the track assemblies 1200B must be in the extended position when leaving the running track device 4000 on one of the upper runways 2000′, 2000″, 2000″′ to prevent the tracked vehicle 1000B from falling into the corresponding openings 2100′, 2100″, 2100″′. In addition, the track assemblies 1200B must pass through the area 2110″ of the opening 2100″, and the area 2110″ is adjacent to the transition element 4120′. To prevent the last two track assemblies 1200B from accidentally falling off the runway 2000″ during this crossing, protrusions 2111″ are provided on the runway 2000″, which reduce the width of the area 2110″ of the opening 2100″ in the horizontal direction. Therefore, the protrusions 2111″ ensure that the drive track 1210B is always in contact with the runway 2000″ when passing through the area 2110″ of the opening 2100″, enabling the tracked vehicle 1000B to completely leave the running track device 4000.

[0093] The above - considered case is that the runways 2000, 2000′, 2000″, 2000″′ are connected to the inclined running modules 4100, 4200, 4100′, 4200′, 4100″, 4200″. Another embodiment of the running track device 5000 according to the present invention is shown in Figure 7 as follows. Figure 7 Fig. shows a schematic perspective view of a tracked vehicle 1000C according to the present invention. The tracked vehicle 1000C has four track assemblies 1200C and a running track device 5000 according to the present invention. The running track device 5000 connects several runways 2000, 2000′, 2000″, 2000″″ with vertical running modules 5100, 5100′, 5100″. The tracked vehicle 1000C is similar to the tracked vehicle 1000B but has additional clamping devices, which will be described in detail below. The detailed description of similar elements of the tracked vehicle 1000C is omitted below.

[0094] Each of the vertical running modules 5100, 5100′, 5100″ includes a first pair of running tracks 5110, 5110′, 5110″ and a second pair of running tracks 5210, 5210′, 5210″ arranged parallel to each other. The first pair of running tracks 5110, 5110′, 5110″ and the second pair of running tracks 5210, 5210′, 5210″ are attached to the surrounding support structure T and run vertically between the runways 2000, 2000′, 2000″, 2000″′. Examples of the surrounding support structure T can be a building or a storage system. The upper runways 2000′, 2000″, 2000″′ include openings 2100′, 2100″, 2100″′, and the sizes of the openings 2100′, 2100″, 2100″′ are such that the tracked vehicle 1000C moves through them when traveling on the vertical running modules 5100, 5100′, 5100″ without colliding with the upper runways 2000′, 2000″, 2000″′. With Figure 4The embodiment of the running track device 4000 shown is similar. The distance between the tracks of the first pair of running tracks 5110, 5110', 5110" and the distance between the tracks of the second pair of running tracks 5210, 5210', 5210" are horizontally separated by a certain distance, which is consistent with the distance of the crawler assembly 1200C in the vehicle width direction when in the extended position. The first pair of running tracks 5110, 5110', 5110" are also separated from the second pair of running tracks 5210, 5210', 5210" by a certain distance, which is consistent with the distance of the tilt axis NA in the vehicle longitudinal direction when the crawler assembly 1200C is in the straight running position. In other words, in order to travel on the running track device 5000, each crawler assembly 1200C of the tracked vehicle 1000C is assigned a running track. Each running track includes structures 5111, 5211, 5111', 5211', 5111", 5211" having protrusions and depressions on one surface. Transition elements 5120, 5120', 5120" are provided near the upper end regions of the running tracks 5110, 5110', 5110", and the transition elements 5120, 5120', 5120" also have structures with protrusions and depressions, which are not shown for clarity. However, compared with Figure 4 the running track device 4000 shown in, the transition elements 5120, 5120', 5120" are not integrally formed with the running tracks 5110, 5110', 5110". Instead, the transition elements 5120, 5120', 5120" are placed on the corresponding runways 2000', 2000", 2000'", such that their structures correspond to the structures opposite the running tracks 5110, 5110', 5110". Between the vertically arranged traveling assemblies 5100, 5200, 5100', 5200', 5100", 5200", passage openings 5130', 5130", 5130'" are also provided. Passage openings 5130, 5230 are also respectively provided between the lower runway 2000 and the first pair of running tracks 5110 and the second pair of running tracks 5210.

[0095] In particular, the running track device 5000 shown in this embodiment is designed to be passed through by the tracked vehicle 1000C having four crawler assemblies 1200C. Next, with reference to Figures 8A to 8F , the various positions and movement sequences of the tracked vehicle 1000C when traveling on the running track device 5000 are described. As Figure 7As shown in the lower right area of, the tracked vehicle 1000C first runs on the lower runway 2000 and approaches the running track device 5000 when the track assembly 1200C is in the horizontal driving position. The tracked vehicle 1000C enters the running track device 5000 between the two running tracks 5110, 5120 and moves the track assembly 1200C from the retracted position to the extended position. The load assembly 1100C is in this position between the running tracks 5110, 5210, and the track assemblies 1200C are placed so that they are respectively below the running tracks 5110, 5120 assigned to them.

[0096] In this position, the track assemblies 1200C are tilted about their tilt axis NA. Figure 8A It shows that when the track assemblies 1200C are tilted from the horizontal running position to the vertical running position about the respective tilt axis NA, Figure 7 A schematic side view of the tracked vehicle 1000C. In the vertical driving position, the track assemblies 1200C are tilted 90° about their tilt axis NA relative to the horizontal driving position and stand on the lower runway 2000 at their rear ends 1202C respectively. Once the track assemblies 1200C are tilted to the vertical running position, the entire load assembly 1100C rises without unintentional tilting. The track assemblies 1200C are aligned parallel to the running tracks 5110, 5210, and the running tracks 5110, 5210 are located between the track assemblies 1200C, and the track assemblies 1200C are arranged one after another in the longitudinal direction of the tracked vehicle 1000C.

[0097] However, in order for the tracked vehicle 1000C to travel vertically along the running track device 5000, the track assemblies 1200C must engage with the running tracks 5110, 5210, as Figure 8B shown. Figure 8B Similar to Figure 8A , it shows a schematic side view of the tracked vehicle 1000C when the drive tracks 1210C of the track assemblies 1200C engage with the structures 5111, 5211 of the corresponding running tracks 5110, 5210. The track assemblies 1200C in the vertical running position move in the direction of the tracks 5110, 5210 along their clamping axis KA, thereby creating a form-fit and force-fit engagement between the structure 1211C of the drive track 1210C and the structures 5111, 5211 of the running tracks 5110, 5210. For example, as Figure 8B shown, the two front track assemblies 1200C (as Figure 8BAs shown on the left side), it is sufficient to move in the direction of the running track 5110 by means of the clamping actuator 1250C, because this also causes the latter two track assemblies 1200C to move towards the running track 5210. Due to the movement of the track assemblies 1200C, on the one hand, there is a clamping force between the track assemblies 1200C and the running tracks 5110, 5210, and on the other hand, there is a form - fit engagement between the structure 1211C of the corresponding drive track 1210C and the structures 5111, 5211 of the running tracks 5110, 5210. From this position, the safe vertical movement along the running track device 5000 can be started, and the load assembly 1100C can safely move vertically in a non - inclined direction between the runways 2000, 2000′, 2000″, 2000″′, preventing the drive tracks 1210C from slipping off the running tracks 5110, 5210.

[0098] For example, in order for the tracked vehicle 1000C to travel from the lower runway 2000 to the second upper runway 2000″, it must cross the first upper runway 2000′ during vertical travel, as Figure 8C shown. Figure 8C Similar to Figure 8B , a schematic side view of the tracked vehicle is shown during vertical travel when crossing the channel openings 5130′, 5230′ between two sets of vertical running modules 5100, 5100′ arranged one above the other. As described above, the tracked vehicle 1000C travels along the running tracks 5110, 5210 during vertical travel, and the structure 1211C of the drive track 1210C engages with the structures 5111, 5211 of the running tracks 5110, 5210. However, when reaching the first upper runway 2000′, the tracked vehicle 1000C does not end its vertical travel but crosses the channel openings 5130′, 5230′ between the vertical running modules 5100, 5100′ and the vertical running modules 5200, 5200′. As Figure 8C shown, the dimensions of the channel openings 5130′, 5230′ are such that each drive track 1210C is always in contact with at least one of the running tracks 5110, 5210, 5110′, 5210′ when crossing the channel openings 5130′, 5230′. Therefore, the clamping force and thus the engagement between the structure 1211C of each drive track 1210C and the corresponding structures 5111, 5211, 5111′, 5211′ of the corresponding running tracks 5110, 5210, 5110′, 5210′ can always be maintained. After crossing the channel openings 5130′, 5230′, the tracked vehicle 1000C can then continue its vertical travel along the running tracks 5110′, 5210′ and continue to travel in the direction of the runway to be reached.

[0099] When the tracked vehicle 1000C has reached the designated runway 2000″, the vertical travel along the running track device 5000 ends and travel begins on the runway 2000″, as Figures 8D to 8F shown. Figure 8D Similar to Figure 8C , a schematic side view of the tracked vehicle 1000C is shown when two track assemblies 1200C arranged adjacent to each other in the vehicle width direction are tilted from the vertical running position to the horizontal running position about the respective tilt axes NA.

[0100] To start exiting from the running track device 5000 to the upper runway 2000″, the tracked vehicle 1000C first crosses the passage openings 5130″, 5230″ until the rear end region 1202C of the track assembly 1200C is at the same level as the upper runway 2000″. At this position, the tracked vehicle 1000C no longer travels upward, and the track assemblies 1200C engage with the running tracks 5110″, 5210″. Subsequently, as Figure 8D shown on the right side, the rear two track assemblies 1200C are tilted from the vertical running position to the horizontal running position about their tilt axes NA while the tracked vehicle 1000C moves downward toward the upper runway 2000″. First, the rear ends 1202C of the rear two track assemblies 1200C remain in contact with the upper runway 2000″ while remaining in contact with the running track 5210″, as Figure 8D shown. However, as the rear track assembly 1200C is further tilted to the horizontal running position, the contact of the front end region 1201C with the running track 5210″ is released, and the rear track assembly 1200C only contacts the upper runway 2000′. As Figure 8D shown on the left side, during the tilting of the rear track assembly 1200C, the front track assemblies 1200C maintain the clamping force and engage with the running tracks 5110′, 5110″. This can ensure that the track assemblies 1200C of the tracked vehicle 1000C are always in contact with the running tracks 5110′, 5110″, 5210″ or the upper runway 2000″, and can prevent the tracked vehicle 1000C from colliding during this sub-step of leaving the running track device 5000.

[0101] Then, the front two track assemblies 1200C travel on the transition element 5120′, as Figure 8E shown. Figure 8E Similar to Figure 8D, a schematic side view of the tracked vehicle 1000C is shown when moving at least one track assembly along the clamping axis KA between the structure 5111' of the corresponding running track 5110' and the structure of the corresponding transition element 5120' by means of its clamping actuator 1250C. The transition element 5120' is arranged obliquely on the upper runway 2000" and near the upper end region of the running track 5110', and the structure of the transition element 5120' faces the structure 5111' of the corresponding running track 5110'. In order to cross the transition element 5120', the front track assemblies 1200C are tilted about their tilt axes NA so that they are aligned parallel to the tilted transition element 5120'. At this time, as Figure 8E shown, the tracked vehicle moves horizontally to the left. First, the contact between the rear end region 1202C of the front track assemblies 1200C and the structure 5111' of the running track 5110' and thus the clamping force are maintained. Subsequently, one of the two front track assemblies 1200C is moved along its clamping axis KA so that it loses contact with the corresponding running track 5110', and the track assembly 1200C comes into contact with the opposite transition element 5120'. However, at the same time, the contact between the other front track assembly 1200C and the running track 5110' and the contact between the rear two track assemblies 1200C and the runway 2000" are maintained. When the other three track assemblies 1200C come into contact with the transition element 5120' or the upper runway 2000", this process is repeated for the other track assemblies 1200C.

[0102] In this configuration, when the rear two track assemblies 1200C are already on the upper runway 2000", the front two track assemblies 1200C engage with the transition element 5120'. It should be noted that after the track assemblies 1200C move between the running track 5110' and the transition element 5120', when the tracked vehicle 1000C further travels, the rotation direction of the drive tracks 1210C must be reversed to avoid jamming of the drive tracks 1210C. As Figure 8E shown on the right side, the rear track assemblies 1200C cross the portion 2110" of the opening 2100", and the portion 2110" of the opening 2100" is adjacent to the upper end of the second pair of running tracks 5210'. The size of the region 2110" is such that when the track assemblies 1200C exit the running track device 5000, they can be crossed by the track assemblies 1200C in the extended position, so that the tracked vehicle 1000C does not fall off the runway 2000".

[0103] To completely exit the running track device 5000, the front two track assemblies 1200C are tilted about their tilt axes NA to the Figure 8F horizontal running position shown. Figure 8F Similar to Figure 8E, showing a schematic side view of the tracked vehicle 1000C when exiting the running track device 5000 and traveling on the upper runway 2000″. Thus, in Figure 8F In the situation shown, all the track assemblies 1200C of the tracked vehicle 1000C are again in a horizontal running position on the upper runway 2000″. Thus, the tracked vehicle 1000C can start horizontal travel on the upper runway 2000″.

[0104] In the above embodiments, the running track devices 3000, 4000, 5000 according to the present invention are described in detail, and the tracked vehicles 1000A, 1000B, 1000C according to the present invention travel on them. Next, with reference to Figures 9A to 9C Describe further degrees of freedom of movement of the tracked vehicle 1000 according to the present invention on the runway 2000. Figure 9A Shows the Figure 1A Corresponding schematic perspective view of the track assembly 1200 in the retracted position and non-inclined position. In this position, the drive track 1210 of the track assembly 1200 can be driven to propel the tracked vehicle forward. To change the running direction of the tracked vehicle 1000, the drive track 1210 of the track assembly 1200 can be driven in different rotational directions and / or rotational speeds, for example, similar to a snowmobile.

[0105] On the other hand, the entire track assembly 1200 can rotate about their steering axes LA, as Figure 9B Shown. Figure 9B Shows the Figure 9A Schematic perspective view of the track assembly 1200 in the process of rotating about its steering axis LA and tilting about its tilt axis NA. The rotation of the track assembly 1200 about the steering axis LA causes a change in the toe angle of the track assembly 1200. The tilting of the track assembly 1200 about its tilt axis NA also causes the movement of the contact surface A′, which is due to the elongated shape of the track assembly 1200 being smaller than the contact surface A in the non-inclined position. In Figure 9B In, the track assembly 1200 is tilted such that the contact surface A′ moves towards the front end region 1201 of the track assembly 1200, where the tilt axis NA and the steering axis LA pass through the track assembly 1200. Thus, in this position, the steering axis LA also passes through the contact surface A′. When the track assembly 1200 rotates about the steering axis LA, the entire tracked vehicle 1000 can be prevented from rotating like a gyro.

[0106] The track assembly 1200 can rotate about the steering axis LA by any angle, for example, 90°. Figure 9C Shows the Figure 9ASchematic perspective view of the track assembly in the lateral running position after a combination of rotation about its steering axis LA and inclination about its tilt axis NA. In the lateral running position, the track assemblies 1200 of the tracked vehicle are rotated approximately 90° about their steering axes. In addition, the track assemblies 1200 are inclined such that the standing surface A′ is located in the front end region 1201 of the track assemblies 1200 and is penetrated by the steering axis LA. When all the track assemblies 1200 of the tracked vehicle 1000 are moved to this position, the tracked vehicle 1000 runs transversely to Figure 9A the shown traveling direction.

[0107] Therefore, the tracked vehicle 1000 can change its running direction within the runway 2000 by rotating the track assemblies 1200 about the steering axis LA, preferably in combination with an inclination about the tilt axis NA. For example, thus, it becomes possible for the tracked vehicle 1000 to travel laterally, wherein the running direction during lateral travel is rotated 90° relative to Figure 9A the shown running direction. Since the load assembly 1100 does not move when the track assemblies 1200 are rotated about the steering axis LA, the space required for the tracked vehicle 1000 to change direction is small, ensuring the agility of the tracked vehicle even on a runway with limited available space.

[0108] In the description of the above preferred embodiment, the case where the tracked vehicles 1000, 1000A, 1000B, 1000C include track assemblies 1200, 1200A, 1200B, 1200C with an elongated shape having circular end regions is considered. However, the track assemblies can also have other shapes, such as substantially square, trapezoidal, or oval.

[0109] It is assumed above that the drive tracks 1210, 1210A, 1210B, 1210C are formed by a large number of circulating links. However, it is also conceivable that the drive tracks are composed of a circulating and integral belt having a structure of protrusions and depressions on their outer surfaces.

[0110] In reference Figure 8BIn the above description of vertical travel, the case where the track assemblies move relative to each other to generate a clamping force is considered, i.e., in the direction of the center of the tracked vehicle, and during vertical travel, in the longitudinal direction of the vehicle, the running tracks are located between the track assemblies. However, it is also possible that during vertical travel, the track assemblies are located between the running tracks in the longitudinal direction of the vehicle, and the track assemblies move away from each other to generate a tension between the running tracks and the track assemblies. Then the tension replaces the clamping force and ensures the engagement between the structure of the drive tracks and the structure of the running tracks. In this configuration, when reaching the runway to be traveled, the front track assemblies do not move along their clamping axes between the running tracks and the transition elements, so the rotational direction of the front drive tracks does not reverse either, as Figures 8A to 8F shown on the left side of Figures 8A to 8F Instead, the conversion and reversal of the rotational direction occur on the rear drive tracks, as

[0111] shown on the right side of Figures 8A to 8F In the above description of vertical travel, the case where the transition element is arranged near the upper end region of the first pair of running tracks or the first two running tracks is also described. However, the transition element can also be arranged near the upper end region of the second pair of running tracks, i.e., the two rear running tracks.

[0112] In the above-described embodiments of inclined and vertical travel, the engagement between the drive tracks and the running tracks is basically form-fitting, and in the case of vertical travel, force-fitting is added. However, according to the present invention, the engagement between the drive tracks and the running tracks can also be entirely of the force-fitting type, as is the case, for example, in DE202020100256U1. In particular, for a linear motor, there is a magnetic suction force between the drive tracks and the running tracks.

[0113] It should be noted that in addition to the above elements, the tracked vehicle according to the present invention can include one or more electronic control units, which are specifically designed to control the drive tracks, the tilting device, the moving device, the steering device, and the clamping device. The electronic control unit can be physically arranged on the tracked vehicle or connected to the tracked vehicle through a wireless connection so as to remotely control the tracked vehicle.

Claims

1. Tracked vehicle, comprising: Load component; At least two drive tracks movably mounted to the load component to perform movement along the running tracks of the respective drive tracks so that the tracked vehicle travels in the running direction; Characterized in that each drive track is formed at a respective track assembly, and the tracked vehicle further comprises: Tilting device for tilting the track assembly about a respective tilting axis extending substantially perpendicular to the direction of movement of the respective drive track; and Moving device for moving the track assembly along the respective tilting axis between a retracted position and an extended position; wherein, in the retracted position, the track assembly is located below the bottom of the load component, wherein, in the extended position, the track assembly overhangs the load component on opposite sides in the vehicle width direction, and wherein the tracked vehicle further comprises: Clamping device for moving at least two track assemblies arranged side by side in the vehicle width direction along a respective clamping axis extending substantially in the vehicle longitudinal direction.

2. The crawler vehicle according to claim 1, wherein, The tracked vehicle further comprises a steering device for changing the running direction of the tracked vehicle.

3. The crawler vehicle according to claim 2, wherein, The steering device is adapted to change the running direction of the tracked vehicle by different rotational speeds and / or rotational directions of the drive tracks.

4. The crawler vehicle according to claim 2 or 3, wherein, The steering device is adapted to change the running direction of the tracked vehicle by rotating the track assemblies about their respective steering axes.

5. The crawler vehicle according to claim 4, wherein, In the retracted position, the track assemblies are penetrated by their respective steering axes at the front end or the rear end.

6. The tracked vehicle according to claim 5, wherein, The track assemblies are penetrated by their respective tilting axes at the front end or the rear end.

7. The crawler vehicle according to claim 6, wherein, The respective steering axes of each track assembly intersect with their respective tilting axes.

8. Running track device, comprising: At least two running tracks arranged substantially parallel to each other; wherein each running track has a raised and recessed structure adapted to engage with the drive track of the tracked vehicle according to any one of claims 1 to 7 in a form-fitting and / or force-fitting manner, wherein the running track device further comprises: At least one inclined running module, wherein the inclined running module comprises: The at least two running tracks adapted to be attached to a surrounding support structure such that they are parallel to each other and extend obliquely from a lower runway to a first upper runway, wherein the first upper runway is at a predetermined height relative to the lower runway, and wherein the distance between the two running tracks horizontally spaced from each other is substantially equal to the distance of the track assembly in the vehicle width direction in the extended position; and At least two first transition elements, wherein each first transition element is provided at the upper end of a respective running track and is adapted to connect the respective running track to the first upper runway, the first transition element being arcuate.

9. The running track device according to claim 8, wherein, The raised and recessed structure is provided in the form of a structured surface of a rigid running track.

10. The running track device according to claim 8, wherein the at least one inclined running module comprises a first inclined running module and a second inclined running module, which are arranged relative to each other such that they each extend obliquely from the lower running track to the first upper running track; Among them, The running tracks of the first inclined running module and the second inclined running module are substantially parallel to each other, and wherein the horizontally spaced distance between the first inclined running module and the second inclined running module is substantially equal to the distance of the inclined axis of the crawler assembly in the longitudinal direction of the vehicle in the straight running position.

11. The running track device according to claim 10, wherein, A plurality of inclined running modules are used to connect the lower running track to the first upper running track and to connect the first upper running track to a second upper running track arranged above it, and are arranged one above the other in such a way that their running tracks are arranged in pairs, and wherein a passage opening is provided between the inclined running modules arranged one above the other, the size of which is such that the crawler assembly can be switched between the inclined running position and the horizontal running position to run into or out of the running track device, and when crossing the passage opening, the crawler assembly in the inclined running position is in continuous contact with at least one inclined running module.

12. A running track device, comprising: At least two running tracks, the at least two running tracks being arranged substantially parallel to each other; wherein each of the running tracks has a raised and recessed structure adapted to engage with the drive track of the tracked vehicle according to any one of claims 1 to 7 in a form-fitting and / or force-fitting manner, wherein the running track device further comprises: At least one vertical running module, wherein the vertical running module comprises: A first pair of running tracks and a second pair of running tracks arranged parallel to each other and adapted to engage with the drive track of the tracked vehicle according to any one of claims 1 to 7 in a form-fitting and / or force-fitting manner and attached to the surrounding support structure such that they extend vertically from the lower running track to the first upper running track, wherein the first upper running track is located at a predetermined height relative to the lower running track, and At least two second transition elements, the at least two second transition elements being adapted to be arranged obliquely at the predetermined height of the first upper running track, near the upper end of the running track, such that the structure of each second transition element is opposite to the structure of the corresponding running track; wherein the distance between the running tracks of each pair of running tracks is substantially equal to the distance of the crawler assembly in the width direction of the vehicle in the extended position, and wherein the distance between the first pair of running tracks and the second pair of running tracks is substantially equal to the distance of the inclined axis of the crawler assembly in the longitudinal direction of the vehicle in the straight running position.

13. The running track device according to claim 12, wherein, The raised and recessed structure is provided in the form of a structured surface of a rigid running track.

14. The running track device according to claim 12, wherein, The convex and concave structures are arranged on each of the running tracks in such a way that when the crawler assembly passes through the clamping device in the vertical running position and the crawler assembly is moved in the direction of the convex and concave structures, a clamping force or tension is generated in the horizontal direction between the crawler assembly and the running track.

15. The running track device according to claim 14, wherein, A plurality of vertical running modules are used to connect the lower running track to the first upper running track and to connect the first upper running track to the second upper running track. They are arranged above each other in such a way that their running tracks are arranged in pairs with each other, and wherein a channel opening is provided between the vertical running modules arranged above each other, the size of which is such that the crawler assembly can be switched between the vertical running position and the horizontal running position to run into or out of the running track device, and when passing over the channel opening in the vertical running position, the crawler assembly is in continuous contact with at least one vertical running module.

16. Vehicle system, comprising: The tracked vehicle according to any one of claims 1 to 7 and the running track device according to any one of claims 8 to 15.

17. A method for running a tracked vehicle according to any one of claims 1 to 7 on a running track device according to any one of claims 12 to 15, comprising the following steps: Bringing the tracked vehicle close to the running track device on the lower running track or the upper running track; Moving the crawler assembly along the corresponding tilting axis from the retracted position to the extended position; Tilting the crawler assembly by a predetermined angle about the corresponding tilting axis to move the crawler assembly from the horizontal running position to the vertical running position; Entering the running track device by engaging the drive track of the crawler assembly with the convex and concave structures of the corresponding running track; Running on the running track device between the lower running track area and the upper running track area; Engaging the drive track of the crawler assembly with the structure of the corresponding second transition element; Running on the second transition element and tilting the crawler assembly about the corresponding tilting axis to the horizontal running position, and Running out of the running track device and running to the upper running track or the lower running track.

18. The method according to claim 17, the method being for operating a tracked vehicle according to claim 1 on a running track device according to any one of claims 12, 14, 15, wherein, The step of engaging the drive track of the crawler assembly with the structure of the corresponding second transition element comprises the following sub-steps: Moving at least one crawler assembly along the clamping axis by its clamping device, the clamping axis being between the convex and concave structures of the corresponding running track and the structure of the corresponding second transition element, and At least three crawler assemblies remaining engaged with one of the convex and concave structures of the corresponding running track or the corresponding second transition element.

19. The method according to claim 17 or 18, further comprising the step of moving the crawler assembly along the corresponding tilting axis from the extended position to the retracted position after running out of the running track device.

20. A method for operating a tracked vehicle according to any one of claims 1 to 7 on a running track device according to any one of claims 8 to 11, comprising the following steps: Bringing the tracked vehicle close to the running track device on the lower runway or the upper runway; Moving the track assembly from a retracted position to an extended position along the corresponding tilt axis; Tilting the track assembly by a predetermined angle about the corresponding tilt axis to move the track assembly from a horizontal running position to an inclined running position; Entering the running track device by engaging the drive track of the track assembly with the raised and recessed structures of the corresponding running track; Running on the running track device between the lower runway area and the upper runway area; Engaging the drive track of the track assembly with the structure of the corresponding first transition element; Running on the first transition element, tilting the track assembly about the corresponding tilt axis to the horizontal running position, and Running away from the running track device and running to the upper runway or the lower runway.

21. The method according to claim 20, further comprising the step of moving the track assembly from an extended position to a retracted position along the corresponding tilt axis after running away from the running track device.

Images