Suspension device for a carrier with omni-directional movement and method of using a carrier with omni-directional movement

Abstract

The present invention relates to a suspension device (100) having at least one tracked vehicle (10) and structures (1, 1') extending in at least two spatial directions (x, y), wherein the structures (1, 1') include a plurality of profile units (1.1) extending in a first spatial direction (x), wherein the structures (1, 1') define at least one structural regularity (1a) in a second spatial direction (y), wherein the tracked vehicle (10) has a plurality of suspension elements (13, 13a, 13b) configured for suspending the tracked vehicle (10) and And is configured to couple the tracked vehicle (10) to the structure (1, 1') by decoupling / coupling kinematics depending on the relative motion of the tracked vehicle (10) with respect to the structure (1, 1') in at least the second spatial direction (y), particularly when the tracked vehicle (10) is configured to move along the profile unit (1.1) in the first spatial direction without regard to the instantaneous motion in the second spatial direction (y), wherein the tracked vehicle (10) has at least two drive units (11) and at least one joint, particularly a ball joint (14.1).

Description

Technical Field

[0001] This invention relates to a suspension system having at least one tracked vehicle. Furthermore, this invention relates to a method for suspending a unit at a structure and moving the unit between structures. In particular, this invention relates to apparatuses and methods according to the features of the appended independent and dependent claims. Background Technology

[0002] In the prior art, various design concepts have been established for systems that can ensure a predetermined position or movement even in rugged terrain, under unpredictable reaction forces, at high inclines, or in elevated arrangements. This invention focuses on concepts that deviate from the view that a unit, vehicle, or any transport device should engage / interact in a predetermined manner with a predetermined structure (e.g., an overhead crane, a wall-climbing robot) at a wall or ceiling (e.g., in a warehouse or machine shop). In the case of diagnostics and parameter measurements in virtually inaccessible areas or systems (e.g., pipe networks, piping systems) involving magnetic adhesion / interference, some ideas for providing reliable contact between the system and the unit have been disclosed. However, the system needs to be able to provide predetermined travel movement and high positioning accuracy (positional accuracy) in a very reliable manner through interaction with the predetermined structure, preferably regardless of the type of underground or wall construction, wherein the predetermined structure should preferably be provided in a very flexible and varied manner to various areas or different types of wall or ceiling profiles / geometry.

[0003] Those skilled in the art can distinguish between units or vehicles provided for movement on underground systems and those provided for movement along ceiling or wall structures, especially since the latter must also be suspended safely to avoid falling. Therefore, different methods may exist for ensuring the kinematics of interaction / engagement at the interfaces of the structures. This invention focuses on interaction / engagement with ceiling or wall structures. Summary of the Invention

[0004] The object of this invention is to provide a suspension device that enables at least one tracked vehicle to be reliably and precisely suspended / positioned / moved at a ceiling or wall structure, particularly enabling a variable two-dimensional motion trajectory for the tracked vehicle, especially in conjunction with (transmitter / connector) rails between structures. Specifically, this object also includes providing a suspension mechanism or suspension method that, for example, allows for the secure suspension of the tracked vehicle in situations involving transport loads. In particular, this object may also include providing a suitable system or concept for reliably coupling one or more tracked vehicles to a ceiling or wall structure and also ensuring reliable positioning, or even a predetermined motion path. Furthermore, the object of this invention may also include an active drive method for movably suspending such a tracked vehicle at a ceiling or wall structure, for example, in the case of logistical tasks.

[0005] The present invention solves this problem by providing a suspension device comprising the features of independent claim 1. Advantageous improvements and embodiments of this device derive from dependent claims 2-9. Furthermore, the problem is also solved by the method according to claim 10.

[0006] According to a first aspect, the present invention provides a suspension device having at least one tracked vehicle and a structure extending in at least two spatial directions (x, y), wherein the structure includes a plurality of profile units extending in a first spatial direction (x), wherein the structure defines at least one structural regularity in a second spatial direction, wherein the tracked vehicle has a plurality of suspension elements configured for suspending the tracked vehicle and configured for coupling the tracked vehicle to the structure by decoupling / coupling dynamics depending on the relative motion of the tracked vehicle with respect to the structure in at least the second spatial direction (y), particularly when the tracked vehicle is configured to move along the profile units in the first spatial direction (x) independently of instantaneous motion in the second spatial direction (y), wherein the tracked vehicle has at least two drive units of a first type and at least one joint, particularly a ball joint.

[0007] This invention provides a suspension device having at least one tracked vehicle and a structure extending in at least two spatial directions. The structure comprises a plurality of profile units (particularly guide rails) extending (preferably continuously, particularly without any structural discontinuities) in a first spatial direction. The structure defines at least one structural regularity in a second spatial direction (thus providing a one-dimensional mesh whose discrete coupling points are distributed in at least one equidistant regularity in the second spatial direction). The profile units of a structure can also be formed as curves, circles, or arcs; for example, the profile units may point in the φ direction in a cylindrical coordinate system, wherein the profile units are arranged in the z-direction with equidistant radii or equidistant positions. The profile units can conform to any shape or form, as long as they are continuous (and substantially free of kinks) and allow for structural regularity in the second spatial direction, i.e., the first spatial direction can be changed (continuously) according to their position within the structure.

[0008] The tracked vehicle has multiple suspension elements configured to suspend the vehicle and to couple the tracked vehicle to the structure via decoupling / coupling kinematics depending on the relative motion of the vehicle with respect to the structure in at least a second spatial direction. The tracked vehicle includes means for providing decoupling / coupling kinematics during movement in the second spatial direction, particularly when the tracked vehicle is configured to move along a profile unit in the first spatial direction independently of instantaneous motion in the second spatial direction. At least one joint connects at least two (first-type) drive units including suspension elements, such that the angle between the first set of suspension elements and the second set of suspension elements is variable. Thus, the suspension element group always points in the second spatial direction, independent of the possible curvature of the profile unit.

[0009] According to this disclosure, when referring to "structure," it means a structure that extends primarily along a ceiling, wall, or inclined plane (or the like). The invention is applicable to vehicles arranged at or along a structure; furthermore, the invention allows for any movement along any structure having an alternative orientation and / or arrangement. Therefore, reference to "structure" includes any other "structure" having the features described herein that allow coupling / coupling with the vehicle of the invention to the vehicle of the invention and the corresponding decoupling / coupling kinematics.

[0010] According to this disclosure, when referring to "profile unit," "profile," or "T-profile," this disclosure generally also refers to different types of profiles that can provide advantageous / favorable arrangements in various applications, such as I-profiles or L-profiles. For example, profile units can be linear and arranged parallel at defined intervals (defined regularity), or they can be curved, with the spacing between profile units corresponding to the defined intervals, so that the cross-section always has the same regularity.

[0011] Each profile unit has at least one tread, wherein each suspension element has at least one motion element (for sliding or rolling, particularly at least one wheel), which is arranged and configured for actively or passively moving (particularly sliding or rolling) the tracked vehicle in the first spatial direction.

[0012] According to this disclosure, when referring to a “vehicle,” this disclosure generally refers to a tracked vehicle or a vehicle and its associated spatial arrangement or movement (e.g., possibly on the ground but primarily on an inclined plane or at a wall). A tracked vehicle may have one or more load attachment points configured for connection to a load to be transported / moved along a structure in a one-dimensional or two-dimensional manner.

[0013] According to the present invention, the term "drive unit" specifically refers to a unit that provides kinematics that allows the vehicle to travel, i.e., including suspension elements and means for guiding the suspension elements, particularly a circular track.

[0014] The shape or size of at least one first drive unit (and the circular track) may be individually defined according to the specific application. For example, the cross-sectional geometry of at least one first drive unit may be the shape of a runway (parallel longitudinal portions and opposing semi-circular portions). However, alternatively, the cross-sectional geometry may also be, for example, circular or elliptical.

[0015] The first type of drive units in tracked vehicles are connected via joints (especially ball joints), allowing the drive units to change their angles relative to each other in any direction. This allows the tracked vehicle to follow curved profile units / rails. For example, each drive unit has its own drive mechanism with a corresponding motor connected to it. However, it is also possible to use a common motor to control multiple sets of drive units, particularly all first type drive units.

[0016] Preferably, at least two first drive units are of the same length and are typically suspended via a common profile unit, which is offset between each other in a first spatial direction (x) but substantially not offset in a second spatial direction (y). A joint, particularly a ball joint, connects to the at least two first drive units, for example at their respective center points, i.e., in the middle of the first drive units (in the second spatial direction).

[0017] Tracked vehicles may have at least one motor / actuator for actively driving the tracked vehicle along the structure.

[0018] Tracked vehicles follow a predetermined direction or path of motion, especially when combined with an appropriate sensor-actuator arrangement.

[0019] The suspension system is configured for the active motion of one or more vehicles, encompassing all embodiments in which one or more vehicles are capable of self-movement. According to this disclosure, "active motion" refers to the movement of the vehicle relative to the structure, preferably actuated by an electric motor of the vehicle connected to a drive unit, such that when the motor is activated, the vehicle can move autonomously within the structure. Those skilled in the art can select appropriate motors from existing motors and motor arrangements based on the corresponding application / task / size of the tracked vehicle.

[0020] According to one embodiment of the suspension device, the tracked vehicle or multiple tracked vehicles have at least two annular tracks, wherein the suspension elements are attached to the annular tracks at predetermined longitudinal positions corresponding to structural regularity, wherein the annular tracks respectively define specific paths of annular motion of the respective suspension elements, thereby providing decoupling / coupling kinematics during the movement of the tracked vehicle in the second spatial direction (y).

[0021] According to this disclosure, when referring to "circular track", this disclosure generally also refers to suspension elements along their guided and / or driven closed-loop guides and lines and predetermined contours, such as chains or any such traction devices that provide a closed loop.

[0022] The shape / profile of the corresponding circular track can be individual, i.e., those skilled in the art can determine, for example, a certain degree of curvature (radius) of a specific portion of the corresponding circular track. For example, each track has at least three different guide / rail portions: a first (linear) portion where each suspension element engages with the profile, wherein the suspension element performs linear motion; at least one second (curved) portion where each suspension element performs decoupling / coupling motion (where each track may have two second portions arranged opposite each other); and a third (linear) portion where the suspension element returns to re-couple with the profile (for continuous circular motion and engagement process). Thus, the first and second tracks can define the trajectory of the corresponding free ends of the suspension elements, which in particular have at least one moving element (e.g., a wheel) attached to the corresponding suspension element by any suitable means (e.g., by a sliding / rolling profile, chain drive, synchronous belt, or any similar mechanism or mechanical feature), said means being configured to predetermine a specific profile and to guide the free end or roller to follow that profile of the track.

[0023] The circular tracks define specific paths for the circumferential movement of the respective suspension elements (or coupling devices of the suspension elements, particularly the free ends of the respective suspension elements). This configuration not only facilitates implementation in complex structures or when multiple vehicles are used simultaneously, but also significantly increases variability regarding positioning. Consequently, the invention also provides practical scalability (regarding the structure and the number of vehicles), even in three dimensions if desired.

[0024] The tracked vehicle may have two or more types of suspension elements, wherein different types of suspension elements are decoupled / coupled according to individual kinematics (particularly at the profile unit in opposite directions / opposite sides, particularly in the second spatial direction or the direction of travel of the tracked vehicle and the opposite direction thereto), wherein at predetermined first and second (other) longitudinal positions corresponding to structural regularity (or the distance of the profile unit defined by said structural regularity), respectively, a first subsystem (or a subsystem of the first subsystem, momentarily) of the suspension element is attached to a first pair of annular tracks and at least one other subsystem (or a subsystem of the second subsystem, momentarily) of the suspension element is attached to a second pair of annular tracks, wherein the first and second pairs of annular tracks provide separate kinematics for the first and second subsystems of the suspension element, particularly such that the tracked vehicle can be fixed at the structure or profile unit relative to the opposite side / opposite direction (in the second spatial direction).

[0025] Tracked vehicles can be configured to achieve at least one closed-loop trajectory of the corresponding suspension element along the corresponding circular track, and in particular, to achieve at least two closed-loop trajectories of at least two subsystems of the corresponding suspension element.

[0026] A circular track can be shaped such that when passing through the curved portion of the track, the corresponding suspension element is decoupled from / coupled to the structure.

[0027] For example, at a predetermined first longitudinal position and a second (other) longitudinal position corresponding to the structural regularity, respectively, a subsystem of the suspension element (or a subsystem of the first subsystem, momentarily) may be attached to one of the annular tracks and at least one other subsystem of the suspension element (or a subsystem of the second subsystem, momentarily) may be attached to the other annular track, in particular each suspension element is guided by a pair of annular tracks.

[0028] The suspension element can be fixedly attached to / coupled to the first annular track via a first pulley, and guided within the second annular track via second pulleys, wherein the first and second pulleys are preferably arranged at the lever arms of the respective suspension elements. For example, each suspension element may have a first pulley and a second pulley, the second pulley being arranged longitudinally spaced relative to the first pulley at the lever arm of the respective suspension element, wherein the suspension element is coupled to the first annular track / first annular track and second annular track / second annular track via the first and second pulleys. For example, each suspension element has at least one wheel for rolling on the tread surface of the profile unit and additional wheels (side friction / rolling wheels) for rolling on one side of the tread surface of the profile unit to reduce potential slippage.

[0029] The corresponding subsystems of the suspension elements can be connected to each other via longitudinal suspension elements, particularly via chain elements, thereby forming a closed loop of interconnected suspension elements separated from each other by a predetermined structural regularity.

[0030] The corresponding circular track has, for example, a chain or is provided / defined by a chain, which forms a closed loop of interconnected chain elements.

[0031] Tracked vehicles can be configured to lift the corresponding suspension elements / the corresponding suspension elements from the structure in an unloaded state, in particular to ensure the decoupling / coupling kinematics of the subsystem of the suspension elements that are instantaneously unloaded and the suspension of the tracked vehicle through the subsystem of the suspension elements that are instantaneously loaded.

[0032] Each suspension element can be guided by a pair of annular tracks, wherein the tracked vehicle has at least three pairs of annular tracks, each annular track guiding a subsystem of the suspension element, wherein the decoupling / coupling kinematics are predetermined by the three pairs of annular tracks such that the corresponding suspension element (or the subsystem of the corresponding subsystem, instantaneously) is simultaneously decoupled / coupled on the first side (or first longitudinal position) and the second side (or second longitudinal position) of the corresponding profile unit, in particular such that the tracked vehicle is fixed at the structure relative to the opposite side / opposite direction (in the second spatial direction), in particular all suspension elements are guided in the same annular direction, and in particular all annular tracks are arranged parallel to each other.

[0033] The tracked vehicle has at least one drive that interacts with (or drives) at least one circular track, wherein the suspension is configured for a predetermined drive motion (particularly back and forth) of the tracked vehicle at least in the second spatial direction.

[0034] The tracked vehicle may also have an energy storage unit that provides energy to one or at least one drive (preferably all drives) of the tracked vehicle, particularly to one or at least one drive that interacts with (or drives) at least one circular track.

[0035] The (first type) drive unit includes, for example, a housing integrating two annular tracks; a series of suspension elements to be guided along the annular tracks via pulleys; a drive mechanism, such as a gear, that interacts with a chain to pull the suspension elements; and a further series of suspension elements arranged in a mirror-reversible manner, having a separate housing housing housing two additional annular tracks, and connected to the same drive mechanism via a separate gear arranged coaxially with the first gear via a shaft. The tracked vehicle or multiple tracked vehicles have a counterwheel. The counterwheel can also be connected to a return mechanism. For example, the counterwheel is connected to a separate first drive unit with two annular tracks (see above), wherein the counterwheel has two pulleys at a lever arm, each pulley connected to a separate track, such that the counterwheel is guided along the annular tracks when the tracked vehicle moves in a second spatial direction. The counterwheel may also have gear grooves for meshing with gear teeth in the structure. The counterwheel presses against the profile unit from the tracked vehicle side, thereby enhancing the force-fit / form-fit coupling. This further enhances the shape-fit (or force-fit) coupling, which is particularly beneficial for applications with multiple structures having different orientations. The reverse wheel unit preferably adopts a shape corresponding to that of the first type of drive unit (first drive unit) so that it can be easily integrated between two first drive units, especially through a drive mechanism that is similar (or the same) to the drive mechanism of the first drive unit and shares a common motor with the first drive unit.

[0036] The structure may have an electric rail integrated into the profile unit, and one or more tracked vehicles may have a device for electrical connection to the electric rail.

[0037] For example, at least two suspension elements each include at least two electrically connected contacts configured to establish an electrical connection between the structure and the carrier.

[0038] When the vehicle is coupled to the structure via a first suspension element, the first electrical contact of the first suspension element for establishing an electrical connection is electrically connected to a first pole / phase of the power bus in the structure, and when the vehicle is coupled to the structure via a second suspension element, the first electrical contact of the second suspension element for establishing an electrical connection is electrically connected to a second pole / phase of the power bus in the structure, and wherein at least when the vehicle is coupled to the structure via a suspension element for establishing an electrical connection, the second electrical contacts of the suspension elements are each connected to a corresponding pole / phase of the internal bus of the tracked vehicle.

[0039] According to this disclosure, an "electrical contact" refers to a connection mechanism that enables the flow of current between two or more conductive elements. The primary purpose of an electrical contact is to establish a reliable and efficient means of transmitting electrical signals or electricity. Electrical contacts must possess certain key properties, such as high conductivity, mechanical robustness, corrosion resistance, and thermal stability. Examples of suitable materials for electrical contacts may include copper, copper alloys, or precious metals such as gold, silver, or platinum, as well as various alloys and composite materials. It is essential that the connection between the electrical contact and the poles / phases in the structure be established in a reversible manner, thereby allowing repeated engagement and disengagement without compromising its performance. Examples of reversible electrical contact mechanisms include sliding contacts with two surfaces sliding against each other to establish and disengage a connection, or roller contacts with rotating elements facilitating electrical contact.

[0040] The power rail can be integrated into the profile of the structure, i.e., along an I-shaped, L-shaped, or T-shaped profile on one edge or side, preferably above the tread surface of the profile.

[0041] The vehicle may include, for example, electronic devices connected to an internal bus for powering the vehicle. These electronic devices may include, but are not limited to, communication modules for wireless or wired data exchange (vehicle-to-vehicle, vehicle-to-infrastructure, vehicle-to-mobile device, etc.), a central control unit, sensors (proximity sensors, accelerometers, LiDAR, radar, etc.), a power management system (power converters (AC / DC, DC / DC), battery management, voltage regulators, ESD protection), motors, etc. The vehicle may also include energy storage devices, such as battery packs and / or supercapacitors, and / or the vehicle may include electrical connection devices for connecting to loads, via which power can be supplied to the loads.

[0042] For example, when the vehicle moves in the second spatial direction, i.e., when the suspension element used to establish the electrical connection is coupled into the structure, the second slider can be connected to the conductive rail such that the first slider has a defined potential before the first slider approaches or connects to the electrical rail in the structure, and when the suspension element is decoupled from the structure, the first slider is disconnected from the electrical rail before the second slider is disconnected from the conductive rail. This measure is used to avoid sparking by first pulling the floating potential of the electrical contact to the potential of the electrical rail, especially at the moment the suspension element contacts the structure. In an alternative example, when the suspension element is coupled into the structure, the first slider is connected to the electrical rail in the structure before the second slider approaches or connects to the conductive rail in the vehicle, and when the suspension element is decoupled from the structure, the second slider is disconnected from the conductive rail before the first slider is disconnected from the conductive rail. This reduces wear on the electrical rail in the structure and transfers potential wear to the vehicle sliding contact, which is considered easier to recover from through maintenance actions.

[0043] For example, at least two conductive rails are positioned at least parallel to portions of the described annular track (see above), wherein at least two suspension elements for establishing electrical connections include means for disconnecting / connecting to the conductive rails when the suspension elements are decoupled from / coupled to the structure. When the first drive unit has a racetrack shape, the conductive rails can be integrated into the vehicle particularly easily, where the suspension elements currently coupled to the structure follow a straight or linear portion. Parallel arrangement of two conductive rails can refer to placing them at the same height on opposite sides of the drive unit, placing them at different heights relative to one side of the plane in which the structure extends, or placing them at different heights on opposite sides. In the case of using only one first drive unit, it has proven advantageous to place the conductive rails on opposite sides (e.g., on two housings accommodating two annular tracks, parallel to portions of the tracks on each side). However, for the scalability of more drive units and an easier integration process, arranging the two conductive rails at different heights on one side may be advantageous, as another drive unit also having conductive rails in the same manner can be integrated into the first drive unit in a mirror-reversed manner.

[0044] Suspension elements configured to establish an electrical connection with the structure can be exemplarily distributed along at least one first drive unit, such that when the vehicle is moving along the structure, a suspension element for the electrical connection of a corresponding pole / phase is coupled into the structure before the other last / only suspension element connected to the corresponding pole / phase is decoupled from the structure. This helps ensure uninterrupted connection to the corresponding pole / phase when the vehicle moves on the structure. For example, each suspension element is configured to establish an electrical connection with the structure. This can be beneficial for applications that need to transmit a particularly large amount of power via suspension elements, as the current can be distributed across many suspension elements, thereby reducing heat generation and wear on components. Additionally, with this redundant configuration, the disconnection of a single suspension element does not result in the complete disconnection of the entire vehicle. Preferably, the entire structure has poles / phases of a power bus. To ensure that at least two suspension elements are always connected to at least one corresponding pole / phase of the power bus, the vehicle and structure must be coordinated such that there is always one suspension element of a corresponding pole / phase connected to the bus in the structure by coupling into the structure before the other last suspension element of the same pole / phase currently connected to the structure is disconnected from the bus through the suspension element decoupling process.

[0045] According to one embodiment of the suspension device, at least two first-type drive units are connected to a common motor via a shaft that allows the at least two first-type drive units to tilt in all directions, particularly relative to each other, and in particular to change the angle and length of the shaft. The at least two first-type drive units are connected to the common motor, particularly via a combination of a universal joint and a splined shaft and / or a PTO shaft. The drive units have drive mechanisms, such as gears, connected via the shaft. In order to follow curved profile units, the shaft needs to have variable length and angle. Generally, any shaft conforming to standards understood by those skilled in the art can be used. Therefore, the use of a splined shaft with a universal joint or a PTO shaft should not be construed as limiting. Using a common motor for at least two drive units (preferably all drive units) simplifies the task of controlling the movement of the vehicle in a second spatial direction.

[0046] According to one embodiment of the suspension system, the tracked vehicle or a group of tracked vehicles has an additional (second) type of drive unit configured for movement in a first spatial direction (x), wherein the additional (second) type of drive unit comprises two holonomic wheelets. Each holonomic wheelet comprises at least two coaxially arranged holonomic wheels. According to the invention, holonomic movement is a wheel whose tread surface is composed of a plurality of rollers whose axis of rotation is at an angle to the axis of rotation of the main wheel. The absolute angle between the axes can be, for example, any angle between 5 degrees and 90 degrees, particularly 45 degrees. This angle must be taken into account when controlling the vehicle, because when the angle between the rollers and the wheels is not 90 degrees, the movement of the first drive unit and the second drive unit is not independent. Angles less than 90 degrees may result in an advantageous configuration of the traction force of the holonomic wheels with respect to the profile of the structure. With smaller angles, more rollers of the same diameter can be placed around the wheel, which enhances traction transmission and can compensate for gaps in the traction transmission of a single holonomic wheel. Omnidirectional wheels can be, for example, disc-shaped and include a plurality of evenly distributed rollers around their circumference, thereby allowing traction control in a first spatial direction and being unaffected by movement in a second spatial direction. Coaxially arranged omnidirectional wheels are, for example, disc-shaped and have a thickness half the width of the profile of the structure, thus providing space for at least two omnidirectional wheels (particularly each wheel set) to always interact with at least one profile (rail) of the structure. Each coaxially arranged omnidirectional wheel can have a predetermined offset in the azimuth direction relative to its adjacent omnidirectional wheel. If an omnidirectional wheel includes n rollers evenly distributed around its circumference, each wheel is offset by 180 / n degrees relative to its adjacent wheel. This ensures that at least one wheel in the wheel set is always in contact with the profile of the structure, thus preventing slippage. One or more tracked vehicles can have a return mechanism. For example, the omnidirectional wheel set can be connected to a return mechanism that applies force to (the omnidirectional wheels)(s) to press them against the structure. This configuration enhances the traction of the omnidirectional wheels on the structural profiles (rails) and also ensures a form fit when the omnidirectional wheels have gear grooves and the structure has corresponding teeth. However, the return mechanism can also be connected to certain parts of the suspension elements to further enhance force coupling.

[0047] According to another embodiment, an omnidirectional wheel set is connected to a differential, in which a (further) motor engages. This allows for particularly reliable and convenient control of the movement of one or more vehicles in a first spatial direction (x), regardless of the curvature the vehicle may have to follow.

[0048] In an alternative implementation, each omnidirectional wheel assembly is connected to a corresponding motor. This increases the complexity of controlling the vehicle, as the different rotational speeds on the inner and outer sides (relative to the vehicle's center point, i.e., in the second spatial direction) must be considered based on the curvature of the profile units. However, this arrangement may be advantageous for applications requiring particularly high power in the first spatial direction.

[0049] According to one embodiment, the suspension device includes an additional structure, wherein a first structure and a second structure are connected via a transmitter / connector rail, wherein the transmitter / connector rail comprises at least two profile units, the fixed distance between these profile units corresponding to structural regularity (i.e., corresponding to a defined spacing, or corresponding to an integer multiple of the distance), and wherein the transmitter / connector rail forms a continuous curvature. In other words, one or more rails can take any shape or form, as long as it is continuous and substantially free of kinks. At all points on the transmitter / connector rail, the profile units must maintain their orientation relative to each other. The transmitter / connector rail comprises at least two profile units. However, using three or more profile units can enhance the stability of the arrangement and allow the tracked vehicle to carry higher loads in some applications because the weight is distributed across more coupled suspension elements. For example, a structure is arranged in a first area of ​​a factory workshop for a first processing step, where a tracked vehicle transports products to be processed, and a second structure is arranged in a second area of ​​the factory workshop for a second processing step. After the product completes its first processing step, it can travel (or be driven, pulled, or manually guided) on a conveyor / connector rail to a second structure for further processing. This arrangement does not require the two structures to be parallel to each other. For example, the first structure is a ceiling structure (parallel to the ground), and the second structure is located on an inclined plane or arranged against a wall. The conveyor / connector rail allows for a smooth transition between structures with different orientations. According to the invention, a "connector rail" refers to a rail without additional transport devices (e.g., belts or chains) integrated into (or between) the profile unit, where the carrier must be able to travel actively along the rail. Thus, a conveyor rail represents at least two profile units with additional devices for traction of one or more tracked carriers along the profile unit (in a first spatial direction (x)).

[0050] According to some embodiments, a tracked vehicle or a group of tracked vehicles has at least two independently controllable motors, wherein a first motor is configured to drive movement in a first spatial direction (x), and at least one additional (second) motor is configured to drive movement in a second spatial direction (y).

[0051] Each power unit, drive, motor, and / or actuator of the vehicle can be coupled to the vehicle's control unit.

[0052] The vehicle may have two or three (or more) (first type) drive units, which may be arranged at a predetermined lateral distance from each other (e.g., defined / connected via crossbeams, etc.), and each drive unit may have at least one driver / motor for actively driving the suspension elements along a circular track or actively driving the vehicle in a second spatial direction, which may be controlled according to each other, for example, via rotational speed. Thus, the direction of travel can be controlled by combining the actively driven wheels of the suspension elements driven along the profile guides of the structure. As described above, in some embodiments, all (first type) drive units may be controlled by a single motor via at least one common shaft of variable length and angle (e.g., via a universal joint and spline shaft). The suspension elements may be connected to the motor, for example, via spur gears. The wheels of the suspension elements may also, or alternatively, have gear grooves to interact with a corresponding profile integrated into the “bottom” side of the profile unit, where “bottom” represents the side of the profile unit facing the tracked vehicle. This allows for form-fit coupling and may be particularly advantageous in structures that are substantially upward (vertical) in the first spatial direction.

[0053] The vehicle may have at least one second type of drive unit configured to enable movement of the tracked vehicle in the first spatial direction, as described above. The number of first drive units of the vehicle may be increased proportionally; for example, the vehicle may have three first drive units, each based on the same kinematic concept, but at least one of these drive units provides decoupling / coupling kinematics of a mirror-reversed type / mode. The second type of drive unit may, for example, include omnidirectional wheels or elongated gears capable of moving in the second spatial direction while the vehicle is being driven.

[0054] The suspension device may also include at least one route planning tool for route planning along at least one structure.

[0055] For example, at least one tracked vehicle may have a sensing device having at least one sensor from the group consisting of: a speed sensor, a distance sensor, a height and position measurement sensor, a force sensor, an acceleration sensor, or a gyroscope.

[0056] The suspension system, particularly the route planning tool, is configured to send commands to the communication unit of at least one tracked vehicle, and in particular to the individual communication units of all tracked vehicles, such that the control units of the tracked vehicles control their respective tracked vehicles based on the received commands and based on instantaneous measurement data from at least sensors.

[0057] The communication unit can be configured for wireless communication, at least within the suspension, wherein the tracked vehicle or suspension provides power to the communication unit, specifically enabling the communication unit of the tracked vehicle to be energy-self-sufficient for at least a few days, weeks, or a month.

[0058] The suspension system can be configured to locate each tracked vehicle based on at least one positioning signal transmitted by each tracked vehicle (passive or active, e.g., passively based on at least one individual transmitter, particularly based on an individual identification feature). Additionally, when a request is received in the communication unit of a tracked vehicle to transmit sensor data and information about the destination floor to at least one route planning tool, the tracked vehicle transmits the sensor data and the information about the destination floor to the at least one route planning tool.

[0059] According to one embodiment, the suspension device includes two structures, at least one of which has a curved profile unit. This can, for example, improve flexibility or reduce wear on certain components and facilitate structural integration according to workflow. For example, the vehicle may only have a motor providing active motion in a first spatial direction and passive motion in a second spatial direction.

[0060] According to one aspect, the invention also provides a method using a suspension system, wherein a route planning tool plans a path for at least one tracked vehicle along at least one structure and / or from one structure to another, particularly taking into account at least the instantaneous position and path of at least one other tracked vehicle also coupled to at least one structure, wherein the tracked vehicle moves omnidirectionally along at least one structure. This improves the autonomy and flexibility of one or more tracked vehicles and allows one or more tracked vehicles to take the shortest path to their destination.

[0061] Other advantages, features and advantageous improvements of the invention arise from the dependent claims and the following description of preferred embodiments with reference to the accompanying drawings. Attached Figure Description

[0062] The accompanying drawings illustrate various aspects of the suspension device according to the invention.

[0063] In the attached diagram:

[0064] Figure 1a , Figure 1b An exemplary suspension element for decoupling / coupling a tracked vehicle from a structure is shown;

[0065] Figure 1c , Figure 1d An exemplary reverse wheel is shown for enhancing the clamping between the tracked vehicle and the structure;

[0066] Figures 2a to 2n The kinematic aspects and details of a tracked system suspended on a structure according to an embodiment of the present invention are shown;

[0067] Figure 3a , Figure 3b A drive unit (of a first type) for a tracked vehicle according to an embodiment of the present invention is shown;

[0068] Figure 3c , Figure 3d An exemplary reverse wheel unit is shown;

[0069] Figure 3e , Figure 3f A first arrangement of the (first type) drive unit and the reverse wheel unit is shown;

[0070] Figure 3g , Figure 3h A second arrangement of the (first type) drive unit and the reverse wheel unit is shown;

[0071] Figure 3i A side view of the (first type) drive unit and the reverse wheel unit coupled to the structure is shown;

[0072] Figure 4a , Figure 4b The arrangement of the (first type) drive unit with the reverse wheel unit and motor (and housing) is shown;

[0073] Figure 4c A tracked vehicle according to a first embodiment is shown;

[0074] Figure 4d A tracked vehicle according to a second embodiment is shown;

[0075] Figure 4e , Figure 4f A tracked vehicle according to the second embodiment is shown in a side view;

[0076] Figures 5a to 5b A suspension device with a transmitter / connector rail is shown according to an embodiment of the present invention;

[0077] Figure 6 A suspension device with a transmitter / connector rail is shown according to one embodiment;

[0078] Figure 7 A suspension device having two structures and a transmitter / connector rail according to one embodiment is shown.

[0079] Figure 8 Details of the tracked vehicle traveling along the conveyor / connector rails are shown;

[0080] Figure 9 A suspension device with a transmitter / connector rail is shown according to one embodiment;

[0081] Figure 10 A suspension device having two structures connected via a transmitter / connector rail is shown according to one embodiment;

[0082] Figure 11 Details of the tracked vehicle traveling along the conveyor / connector rails are shown. Detailed Implementation

[0083] The inventive concept of the present invention will now be described in general with reference to all the accompanying drawings, and then the drawings will be described in detail.

[0084] The tracked vehicle may have at least one first drive unit 11, which may house a crawling or drive mechanism 11.1 with multiple motors, allowing the suspension element 13 to move circumferentially along annular tracks 12 (i.e., simultaneously along a first annular track 12a and a second annular track 12b), the tracks having separate shapes / profiles XZa, XZb. Preferably, the tracks extend only in two dimensions (2D) (i.e., in a plane), and the shape is different at least in the curved portions 12r of the tracks. Each track 12a, 12b has a parallel / linear portion 12p (or two parallel portions) and at least one reorienting / curved portion 12r (or two curved portions). At least one side area or surface shell of the underframe or housing is preferably flat, planar, and smooth on each side. This configuration is advantageous considering the interconnection (side-by-side) of multiple housings 17.

[0085] The tracked vehicle 10 has at least one additional housing 17 (preferably within the same drive unit 11) having a first annular track 12a and a second annular track 12b and housing a plurality of additional suspension elements 13b arranged in a mirror-reversible manner relative to the suspension elements 13 of the first housing 17. Both types of suspension elements 13, 13b can be arranged within the same drive unit 11, and optionally, both types of suspension elements 13, 13b can be guided by the same pair of annular tracks 12a, 12b. The drive unit 11 can actively provide travel motion (e.g., through synchronized guided / driven motion of the suspension elements 13, 13b, or through synchronized guided / driven motion to the suspension elements 13, 13b). The plurality of first drive units 11a, 11b, 11c can be interconnected, for example, via crossbeams. The desired / required travel motion can be controlled via a control unit that can be coupled to at least one motor 11.5. The drive unit may also include at least one gear unit 18 and at least one energy storage unit, the at least one gear unit being configured to interact with the track(s). A sensor device having at least one sensing device (e.g., including a position sensor and a speed sensor and / or a weight sensor and / or a gyroscope) can provide sensor data to the control unit.

[0086] Preferably, each suspension element 13, 13a, 13b has a first pulley 13.1 and a second pulley 13.2. Optionally, at least one wheel 13.3 is provided at the free end (support point / coupling point P13) of the suspension element 13. The first and second pulleys are arranged on the lever arm 13.5 at a distance (y offset, longitudinal extension y13 of the lever arm) from each other; the support point P13 or the wheel 13.3 is arranged at the protrusion or suspension arm 13.6 (z offset). Optionally, at the free end of the suspension arm, a current collector or electric slider 13.4 (conductive slider for energy transfer) is provided in a geometrically corresponding arrangement to the electric rail 1.3 of the corresponding profile unit 1.1. The plurality of suspension elements 13 of the corresponding first drive unit 11 can be interconnected via longitudinal connecting elements 15, which can ensure a closed loop 15a of the interconnected suspension elements. The suspension element 13 is coupled to the corresponding annular track.

[0087] In other words, the suspension element preferably has at least one wheel 13.3 that performs rolling motion on the profile unit 1.1 of structure 1, preferably on the tread surface 1.2, and preferably also on the side of the profile unit, thereby allowing motion orthogonal to the motion predetermined and induced by the track 12, wherein the wheel 13.3 is orthogonally positioned and arranged relative to the first pulley 13.1 and the second pulley 13.2. Optionally, the wheel can be motorized, for example, by another actuator or motor. The first pulley 13.1 engages with the first or second annular track, thereby following the profile defined by the track; furthermore, the second pulley 13.2 engages with the first or second annular track, thereby following the track (which is different from the track engaged by the first pulley, i.e., the reverse). The lever arm 13.5 is preferably L-shaped, particularly provided as a single (block-shaped, solid) integral element.

[0088] Structure 1 and its mesh panel 1a are defined by profile units 1.1 arranged in parallel and having a similar distance (spacing) from adjacent profile units. Each profile unit is preferably configured to support a geometry / (multiple) surfaces (e.g., T-shaped profiles, C-shaped profiles, L-shaped profiles, I-shaped profiles) sufficient to interact with the wheels(multiple) of the suspension element, and a series of such profile units preferably provide planar surfaces or at least partially tubular surfaces.

[0089] The circular tracks 12a, 12b and the suspension element 13, along with the corresponding first drive unit 11 and the kinematics defined by the shape of the tracks, provide decoupling / coupling kinematics 20, which ensures horizontal / vertical motion kinematics and non-circular pivoting motion kinematics. Therefore, decoupling / coupling of each suspension element can be achieved via circumferential motion along the tracks without requiring any axial extension or retraction within each suspension element; that is, the corresponding suspension element can be designed as a purely mechanical unit.

[0090] The following text describes in general the kinematics provided by the guided / driven motion along the circular track, starting with:

[0091] Each suspension element 13 has a first pulley 13.1 that rotates about its axis and defines a first guide point G13.1 (coupling the first track and the corresponding suspension element), and vice versa, with a corresponding point on the corresponding annular track defining the first guide point G13.1 for each suspension element. Similarly, each suspension element 13 has a second pulley 13.2 that rotates about its axis (preferably parallel to the first pulley) and defines a second guide point G13.2 (coupling the second track and the corresponding suspension element). When referring to the kinematics of each suspension element, the instantaneous center of rotation of each suspension element is defined by the axis of the first pulley 13.1 coupled to the first track 12a, where coupling / attachment / fixation can be ensured, for example, at the axial portion between the suspension arm 13.6 and the first pulley 13.1. The two tracks 12a, 12b are arranged relative to each other such that the contact / support point / region P13 (coupling point) of the corresponding suspension element 13 can be hooked or attached in the structure. Each suspension element's wheel 13.3 rotates about a wheel axis, which is preferably orthogonal to the axes of the first and second pulleys. Since each suspension element 13 is coupled to tracks 12a, 12b at predetermined positions (i.e., via the first pulley 13.1 at a predetermined first longitudinal position y12a and via the second pulley 13.2 at a predetermined second longitudinal position y12b), when driving the tracks or guiding the suspension elements along the tracks, the support point P13 at the free end of the guide suspension element 13 is guided according to the relative position / profile of the corresponding tracks (a pair of tracks guiding the corresponding suspension elements).

[0092] The tracked vehicle 10 may have a control unit, which may be a distributed (separate) control unit. Furthermore, the corresponding tracked vehicle 10 may have a communication unit (e.g., near-field, mobile network, LAN, LP-WAN, SigFox, NBIoT) and / or a transmitter (active or passive), specifically for transmitting positioning signals. These components are configured to interact with / interact with a positioning system or route planning tool.

[0093] The tracked vehicle 10 can be configured to transport a load that can be attached to the tracked vehicle 10 at a connection point. The load may include identifying features, particularly codes (e.g., including numbers). Similarly, each tracked vehicle 10 may include identifying features, particularly codes (e.g., including numbers).

[0094] Digital twins representing the corresponding tracked vehicle 10 and / or the corresponding load can be stored in the database of the route planning tool. This database is configured to store and access at least one digital twin including at least instantaneous state information, wherein the suspension system is configured to define at least one control parameter for each tracked vehicle based on information from the at least one digital twin.

[0095] In the figure, (x) represents the first spatial direction / the first spatial direction (especially the lateral direction, especially the longitudinal extension direction of the profile unit), (y) represents the second spatial direction / the second spatial direction (especially the longitudinal direction or instantaneous driving direction of the tracked vehicle), and (z) represents the third spatial direction / the third spatial direction.

[0096] exist Figure 1a and Figure 1b The suspension element 13 is shown in separate views from the "front" and "rear" sides. A first pulley 13.1, intended to be pulled along the circular tracks 12, 12b, is shown. The suspension element 13 has two moving elements 13.3: a first wheel to roll on the tread surface 1.2 of the profile unit 1.1 and a second wheel to roll on one side of the tread surface 1.2. Additionally, the suspension element 13 has a first electrical contact ("current collector") 13.4 connected to the power line 1.3 integrated into the structure 1, and a second electrical contact 13.7 electrically connected to the first electrical contact 13.4 via a wire 13.8 to provide power to the internal bus of the tracked vehicle 10.

[0097] Figure 1c and Figure 1d The wheel 16.1 of the counter mechanism 16 is shown, pressing against the "bottom" side of the profile unit 1.1 to further enhance the force-coupling between the tracked vehicle 10 and the structure 1. Similar to the suspension element 13, the counter wheel 16.1 has a pulley 16.2 designed to be pulled via a chain / belt 16a and guided along a circular track to follow a predetermined path of motion. Preferably, the tracked vehicle 10 includes at least one first set of suspension elements 13 with a first orientation, at least one second set of suspension elements 13b with the suspension elements facing opposite directions (mirror image reversal), and at least one set of counter wheels 16, such that the "T"-shaped profile unit can be clamped between the wheels from all (six) sides (i.e., the two sides of the tread (top and bottom) and the sides of the tread). In this case, the "top" and "bottom" are respectively the side facing away from the tracked vehicle and the side facing the vehicle, and the tracked vehicle is not limited to a ceiling arrangement. The clamping of the profile units (preferably from all sides) allows the carrier to switch between structures with different orientations (e.g., arranged on walls, ceilings, and floors).

[0098] With appropriate sensor-actuator arrangement (not shown here), the tracked vehicle 10 can follow a desired direction or a desired path of motion in the structure shown in Figure 2. Figure 2a A cross-section of the energy refueling region P10 is shown. Profile units 1.1 each have treads 1.2, wherein suspension elements 13 have at least one wheel 13.3 for sliding or rolling, arranged and configured for moving the tracked vehicle 10 in a first spatial direction (x). The tracked vehicle 10 achieves two closed-loop trajectories of at least two subsystems of the respective suspension elements, which can be achieved from... Figures 2d to 2j As can be seen, the annular tracks 12, 12a, and 12b are shaped such that when passing through the curved portion 12r of tracks 12a and 12b, the corresponding suspension element 13 is decoupled from / coupled to structure 1. At predetermined first and second (additional) longitudinal positions corresponding to structural regularity 1a, respectively, one subsystem of suspension element 13 (or a subsystem of the first subsystem, momentarily) is attached to one annular track and another subsystem of suspension element 13 (or a subsystem of the second subsystem, momentarily) is attached to another annular track, wherein each suspension element is guided by a pair of annular tracks. Suspension element 13 is fixedly attached to / coupled to the first annular track 12a via a first pulley 13.1 and guided within the second annular track 12b via a second pulley 13.2, wherein the first pulley 13.1 and the second pulley 13.2 are arranged at the lever arm 13.5 of the corresponding suspension element 13. The corresponding subsystems of the suspension element 13 are connected to each other via longitudinal connecting elements 15 (chain elements), thereby forming a closed loop of interconnected suspension elements 15a spaced apart by a predetermined structural regularity 1a. This allows for... Figures 2k to 2m This can be seen from the text. Figure 2bThe tracked vehicle 10 has two types of suspension elements 13a and 13b, wherein different types of suspension elements 13a and 13b are decoupled / coupled according to individual kinematics (here, at profile unit 1.1 in opposite directions / opposite sides, in the second spatial direction (y) or in the direction of travel of the tracked vehicle 10 and in the opposite direction), wherein the suspension element 13a is respectively at a predetermined first longitudinal position y12a and a second (additional) longitudinal position y12b corresponding to structural regularity 1a (or corresponding to the distance of profile units defined by said structural regularity). The first subsystem (or a subsystem of the first subsystem, momentarily) is attached to the first pair of annular tracks 12a, 12b and at least one additional subsystem of the suspension element 13b (or a subsystem of the second subsystem, momentarily) is attached to the second pair of annular tracks 12a, 12b, wherein the first pair of annular tracks 12a and the second pair of annular tracks 12b provide separate kinematics for the first and second subsystems of the suspension elements 13a, 13b, in particular enabling the tracked vehicle 10 to be fixed at the structure 1 or the profile unit 1.1 relative to the opposite side / opposite direction (in the second spatial direction).

[0099] exist Figure 2n In this configuration, each suspension element 13, 13B is guided by a pair of annular tracks 12a, 12b, wherein the tracked vehicle 10 has at least three pairs of annular tracks 12a, 12b, each pair of annular tracks guiding a subsystem of suspension element 13, 13b, wherein the decoupling / coupling kinematics are predetermined by the three pairs of annular tracks 12a, 12b, such that the corresponding suspension elements 13a, 13b (or the subsystems of the corresponding subsystems, instantaneously) are simultaneously decoupled / coupled at the first side (or first longitudinal position) and the second side (or second longitudinal position) of the corresponding profile unit 1.1, in particular, such that the tracked vehicle 10 is fixed to the structure 1 relative to the opposite side / opposite direction (in the second spatial direction), wherein all suspension elements 13a, 13b are guided in the same annular direction, and all annular tracks 12 are arranged parallel to each other. The vehicle has three (first) drive units 11a, 11b, and 11c, wherein two drive units 11 and 11c include suspension elements 13 with a first orientation, and the middle drive unit 11b includes a suspension element with a mirror-reversed orientation. The tracked vehicle 10 has at least one motor 11.5 (not shown here) that interacts with at least one annular track 12. The tracked vehicle 10 also has an energy storage unit (also not depicted) that supplies energy to one or more of the motors of the tracked vehicle 10. Figure 2bAs can be seen, the exemplary tracked vehicle 10 also has electrical contacts 13.4 for connection to the power line 1.3 in structure 1. The power line can be AC ​​or DC, and a communication bus, i.e., power line communication, is also provided. To improve the safety and electromagnetic shielding of the tracked vehicle 10, Figure 2c The tracked vehicle 10 has a protective shell 14.

[0100] Figure 3a The (first) drive unit 11 shown has Figure 1a , Figure 1b The suspension elements 13, 13b are of the type described herein, but without electrical contacts. The electrical contacts are hidden in the remaining figures only for ease of explanation and clarity. The first set of suspension elements 13 faces a first direction, while the second set of suspension elements 13b faces a second direction opposite to the first direction. The (first) drive unit 11 includes two annular tracks 12a, 12b for each set of suspension elements 13, 13b (i.e., a total of four annular tracks), as described in the relevant section. Figures 2d to 2m As stated above. Figure 3b Concealed within is a second housing 17 having two annular tracks 12a, 12b for the second set of suspension elements 13b, to illustrate how the suspension elements 13, 13b can be connected to a common chain 15a (e.g., via pulleys 13.1 of the two sets of suspension elements 13, 13b), which can be driven by a gear unit 18 connected to a motor 11.5. Figure 3c and Figure 3d An additional unit 16 (reverse unit) is shown, whose guide reverse wheel 16.1 also contacts a profile unit 1.1 with the same shape as the first drive unit 11 from the "bottom" side. The reverse wheel 16.1 alone cannot suspend / secure the tracked vehicle 10. The reverse wheel 16.1 serves only as a reverse mechanism to press against structure 1, thereby increasing the force coupling between the suspension element 13 and structure 1. The reverse wheel 16.1 also has pulleys 16.2, which are pulled along two annular tracks to follow a predetermined movement. Figure 3e and Figure 3f The image shows two (first) drive units 11 and two sets of counter-rotating wheels 16.1. The two (first) drive units 11 each have two sets of suspension elements 13a and 13b arranged in a mirror-reversed manner to grip the profile unit 1.1 from both sides. Figure 3e and Figure 3f The drive unit in Figure 3g and Figure 3h Shown from an oblique upper view. The drive units 11 are connected to form a (first) drive device 11.2 comprising two (first) drive units 11 and one reverse unit 16. The drive device 11.2 can be driven via a common shaft connected to a gear unit 18 of the drive units 11 and the reverse unit 16, such as... Figure 3b and Figure 3dAs shown. In Figure 3g and Figure 3h In this configuration, the mirror-reversed set of suspension element 13b is concealed behind profile unit 1.1. Preferably, there is always at least one set of mirror-reversed suspension elements 13b to enhance the coupling strength with structure 1.

[0101] Besides the two motion elements 13.3 that couple the tracked vehicle 10 to the free ends of the suspension elements 13, 13b of structure 1 from the "top" side of the wheel tread of profile unit 1.1 and from the side of wheel tread 1.2, the side of wheel tread 1.2 does not necessarily have to be as thin as shown in the figure, but can also be wider, so that the motion elements 13.3 connected to the side of wheel tread can be built larger, thereby allowing the tracked vehicle 10 to lift heavier loads, especially in structure 1 arranged at the wall. Figure 3i The image shows a side view of the (first) drive unit 11 of the tracked vehicle 10 coupled to structure 1 via subsystems of suspension elements 13, 13b. In total, six wheels 13.3, 16.1 clamp the “T” profile unit 1.1 to minimize slippage.

[0102] Figure 3e and Figure 3f The (first) drive unit 11 is formed Figure 4a The first drive unit in the middle has a common motor 11.5. This is to enhance protection (protection from the surrounding environment and its influence). Figure 4b The additional housing 14 is shown. The housing 14 has a ball 14.2 at the center of the drive unit (in the first (x) direction and the second (y) direction) of a ball joint 14.1. The (first) drive units 11a, 11b of the first drive unit 11.2, although very close together, may require some flexibility to follow the curved profile unit 1.1. A short spline shaft with a universal joint (not shown) can be used, exemplarily, to cause a small angular change between the (first) drive units 11 of the first drive unit (of a first drive unit) when the carrier 10 follows the curved profile unit 1.1 (in the first spatial direction x).

[0103] Figure 4c A tracked vehicle 10 according to one embodiment is shown. The tracked vehicle 10 has two... Figure 4b The device 11.2 is of the type shown. However, for each device 11.2, only one (first) drive unit 11 may be used. The two housings 14 of the device 11.2 are coupled via ball joints 14.1. The ball joints 14.1 are preferably connected to, as shown in the diagram... Figure 4dThe frame 14.3 of the vehicle 10 is shown. The (first) drive unit 11 of the two drive units 11.2 is connected via a drive mechanism 11.1 including a splined shaft 11.3 with a universal joint 11.4, a close-up view of which can be seen in... Figure 4c Found it. Also... Figure 4d Two omnidirectional wheel sets 90 are shown. A motor 91 is engaged in a differential 91.1 connected to the omnidirectional wheel sets 90. The motor 91 and the omnidirectional wheels 90 are connected to the vehicle frame 14.3 at the middle between the two drive units 11.2. Figure 4e The tracked vehicle 10 is shown from a side view (from the second spatial direction). Figure 4f The suspension elements 13, 13b of the tracked vehicle 10 clamping the profile unit 1.1 are shown. The omnidirectional wheel set 90 can be pressed against the profile unit 1.1 from the bottom side (the side facing the vehicle) by an additional return mechanism 90.1 (not shown here).

[0104] Figure 5a A first suspension device 100 according to one embodiment is shown. The suspension device 100 includes a structure 1 in which a tracked vehicle 10 is suspended. A first transmitter / connector rail 1.5 extends from structure 1, for example, to another structure 1'. The first transmitter / connector rail 1.5 includes two directly adjacent profile units 1.1. However, as... Figure 5b As shown, the second transmitter / connector rail 1.5 includes two profile units 1.1 spaced further apart. The profile units can be spaced apart by any integer multiple of the spacing of structural regularity 1a, provided the vehicle is wide enough to couple to at least two of the profile units of the transmitter / connector rail 1.5 while traveling along it. Using more widely spaced profile units 1.1 for the transmitter / connector rail 1.5 can increase the stability of the tracked vehicle 10 while traveling along the transmitter / connector rail 1.5, especially in curved sections.

[0105] Figure 6 Another suspension device 100 is shown, which includes structure 1 and Figures 4d to 4f The tracked vehicle 10 of the type described herein. A transmitter / connector rail 1.5, which describes a curve 1.5r, extends from structure 1. The tracked vehicle 10 traveling along curve 1.5r is also shown in a close-up view. The tracked vehicle 10 is able to follow the curved transmitter / connector rail 1.5 because the (first) drive unit 11 (or drive unit 11.2) is able to deviate from its original parallel orientation due to the ball joint 14.1 connecting at least two (first) drive units (here connecting the housing 14 of drive unit 11.2, which includes multiple drive units 11a, 11b and may also include a reverse unit 16).

[0106] exist Figure 7 The image shows a suspension device 100 according to another embodiment. The suspension device 100 includes two structures 1 and 1', one of which structure 1' includes a curved profile unit 1.1, a transmitter / connector rail 1.5, and two tracked carriers 10. The profile unit 1.1 must follow a continuous curve, substantially free of kinks. As shown in a close-up view of the cross-section of structure 1 with the curved profile unit 1.1, the profile unit must always have structural regularity 1a in a second spatial direction (y) (substantially orthogonal to the first spatial direction (x) depending on its orientation), such that it always ensures... Figure 3i The coupling is shown. Therefore, the tracked vehicle 10 can move (or be moved) in the first spatial direction (x) (to the right or left along the curved profile unit), independent of instantaneous movement in the second spatial direction (y). The orientation between at least two (first type) drive units 11 changes depending on the position of the vehicle in the structure 1' with the curved profile unit 1.1; that is, the farther the vehicle 10 is from the structure 1 (relative to the radius of the curve), the smaller the angle between the orientations of the (first type) drive units. Figure 8 The perspective view from an oblique upper angle shows details of the tracked vehicle 10 following the curved transmitter / connector rails 1.5r. Suspension element 13 is used in conjunction with... Figure 7 The curved profile unit 1.1 is engaged with the profile unit 1.1 in the same manner. The suspension element 13 of the (first) drive unit 11 is connected via the motion element 13.3 (preferably the first wheel and side wheels, see...) Figure 3i (preferably coupled to the profile unit 1.1 from both sides via a mirror-reversed suspension element 13, not shown here).

[0107] exist Figure 9 Another suspension system 100 is shown, comprising a structure 1, two tracked vehicles 10, and a transmitter / connector rail 1.5 extending from the structure 1. The transmitter / connector rail 1.5 (viewed from the (x, y) plane described by the structure 1) extends upwards on a curve 1.5r along a plane defined by the structure 1. In this configuration, it is important to ensure good (force-fitting) coupling between the tracked vehicles 10 and the structure 1 or the transmitter / connector rail 1.5. As shown in the close-up view, the tracked vehicles 10 have a return mechanism 90.1 connected to the vehicle frame 14.3 and the omnidirectional wheel set 90. Figure 11The image shows a tracked vehicle traveling upwards on a transmitter / connector rail 1.5 from an obliquely upward perspective. A close-up view also shows a return mechanism 90.1 that applies force to two omnidirectional wheel sets 90. The ball joint 14.1 of the tracked vehicle 10 allows the (first) drive unit 11 to tilt relative to each other in any direction (i.e., not only left and right, but also up and down), thereby allowing the tracked vehicle 10 to travel upwards / downwards, left / right, and any combination thereof, following parallel profile units 1.1.

[0108] Figure 10 Another suspension device 100 according to one embodiment is shown. The suspension device 100 has two structures 1, 1' and two tracked vehicles 10 connected via a transmitter / connector rail 1.5. One structure 1' has a curved profile unit 1.1 describing a tubular shape. As shown in the cross-section here, the profile unit 1.1 defines a structural regularity 1a in the same second spatial direction (y) as before (see...). Figure 3i Therefore, the tracked vehicle 10 can move (or be moved) in the first spatial direction (x) (up or down along the curved profile unit), regardless of the instantaneous movement in the second spatial direction (y).

[0109] The embodiments shown herein are merely examples of the invention and should not be construed as limiting. Alternative embodiments that may be considered by those skilled in the art are also included within the scope of this invention.

[0110] List of reference numerals in the attached diagram:

[0111] 1, 1' structure

[0112] 1a Structural regularity or mesh defined by structure

[0113] 1.1 Profile units, especially T-shaped profiles or T-shaped guide rails

[0114] 1.2 wheel tread

[0115] 1.3 Electric Guide Rail

[0116] 1.5 Transmitter / Connector Rail

[0117] 1.5r curve

[0118] 10 tracked vehicles

[0119] 11 drive units, especially chain drives

[0120] 11.1 Drive Mechanism

[0121] 11.2 Drive Unit

[0122] 11.3 axis, especially spline axis

[0123] 11.4 Universal joint

[0124] 11a First Driver

[0125] 11b Additional (Second) Drive

[0126] 11c additional (third) drive

[0127] 12-ring track

[0128] 12a First circular track, specifically including chain

[0129] 12b Second Circular Track

[0130] Parallel / linear portions of the 12p orbital

[0131] Reorientation / bending section of 12r track

[0132] 13 Suspension components or chain components

[0133] 13a First suspension element or chain element (Type 1)

[0134] 13b Other suspension elements (Type II, especially mirror-reversed)

[0135] 13.1 First Pulley

[0136] 13.2 Second Pulley

[0137] 13.3 wheels

[0138] 13.4 First electrical contact, particularly current collector or electric slider (conductive slider for energy transfer).

[0139] 13.5 lever arm

[0140] 13.6 Protruding part / suspension arm

[0141] 13.7 Second Electrical Contact

[0142] 13.8 wire

[0143] 14 casing

[0144] 14.1 Ball joint

[0145] 14.2 balls

[0146] 14.3 Vehicle Frame

[0147] 15. Longitudinal connecting elements, especially chain elements

[0148] 15a Closed loop of interrelated suspension elements, especially chains

[0149] 16 reverse units

[0150] 16.1 Reverse wheel

[0151] 16.2 pulley

[0152] 16a Reverse Wheel Chain

[0153] 17 housing

[0154] 18 gear units

[0155] 20 Decoupling / Coupled Kinematics

[0156] 90 omnidirectional motion wheelset

[0157] 90.1 Return Structure

[0158] 91 motor

[0159] 91.1 differential

[0160] 100 suspension device

[0161] G13.1 First guide point or axis (coupling the first track and suspension element)

[0162] G13.2 Second guide point or axis (coupled to the second track and suspension element)

[0163] P10 Energy Refill Point / Location

[0164] P13 Contact / Support Points / Areas Between Suspension Elements and Structure

[0165] Shape / Outline of XZa's First Circular Track

[0166] Shape / Outline of the Second Circular Track of XZb

[0167] The first longitudinal position of y12a

[0168] The second longitudinal position of y12b is predetermined.

[0169] Longitudinal extension of the y13 lever arm

[0170] x First spatial direction: Longitudinal extension direction of the profile unit

[0171] y is the second spatial direction: the longitudinal direction or arrangement of the circular track.

[0172] z-direction of third space, especially the vertical direction

Claims

1. A suspension device (100) having at least one tracked vehicle (10) and structures (1, 1') extending in at least two spatial directions (x, y), wherein the structures (1, 1') include a plurality of profile units (1.1) extending in a first spatial direction (x), wherein the structures (1, 1') define at least one structural regularity (1a) in a second spatial direction (y), wherein the tracked vehicle (10) has a plurality of suspension elements (13, 13a, 13b) configured for suspending the tracked vehicle (10) and configured to For coupling the tracked vehicle (10) to the structure (1, 1') by decoupling / coupling kinematics depending on the relative motion of the tracked vehicle (10) with respect to the structure (1, 1') in at least the second spatial direction (y), particularly when the tracked vehicle (10) is configured to move along the profile unit (1.1) in the first spatial direction (x) and is independent of the instantaneous motion in the second spatial direction (y), wherein the tracked vehicle (10) has at least two drive units (11) and at least one joint, particularly a ball joint (14.1).

2. The suspension device (100) according to claim 1, wherein the one or more tracked vehicles (10) have at least two annular tracks (12, 12a, 12b), wherein the suspension elements (13, 13a, 13b) are attached to the annular tracks (12, 12a, 12b) at predetermined longitudinal positions corresponding to the structural regularity (1a), wherein the annular tracks (12, 12a, 12b) respectively define specific paths of annular motion of the respective suspension elements (13, 13a, 13b), thereby providing decoupling / coupling kinematics of the tracked vehicle (10) during motion in the second spatial direction (y).

3. The suspension device (100) according to any of the preceding claims, wherein the at least two drive units 11 are connected to a common motor 11.5 via a shaft that enables the at least two drive units 11 to tilt in all directions, particularly in the angle and length of the shaft, wherein the at least two drive units 11 are connected to the common motor 11.5, particularly via a combination of a universal joint 11.4 and a splined shaft 11.3 and / or a PTO shaft.

4. The suspension device (100) according to any of the preceding claims, wherein the one or more tracked vehicles (10) has a further type of drive unit configured for movement in a first spatial direction (x), wherein the (further) type of drive unit comprises two omnidirectional wheel sets 90.

5. The suspension device (100) according to claim 4, wherein the omnidirectional wheel set 90 is connected to the differential 91.1, wherein the motor 91 is engaged in the differential 91.

1.

6. The suspension device (100) according to claim 4, wherein the omnidirectional wheel sets 90 are respectively connected to their respective motors 91.

7. The suspension device (100) according to any of the preceding claims further includes an additional structure (1'), wherein the first structure (1) and the second structure (1') are connected via a transmitter / connector rail (1.5), wherein the transmitter / connector rail (1.5) includes at least two profile units (1.1), the fixed distance between the profile units corresponds to an integer multiple of the structural regularity (1a), and / or wherein the transmitter / connector rail (1.5) forms a continuous curvature.

8. The suspension device (100) according to any of the preceding claims, wherein the one or more tracked vehicles (10) has at least two independently controllable motors (11.5, 91), wherein one motor (91) is configured to drive movement in the first spatial direction (x), and at least one other motor (11.5) is configured to drive movement in the second spatial direction (y).

9. The suspension device (100) according to any of the preceding claims, wherein the suspension device (100) comprises two structures (1, 1'), wherein at least one of the structures (1, 1') has a curved profile unit (1.1).

10. A method using a suspension device (100) wherein a route planning tool plans a path for at least one tracked vehicle (10) along at least one structure (1, 1') and / or from one structure (1, 1') to another structure, in particular taking into account at least the instantaneous position and path of at least one other tracked vehicle (10) also coupled to said at least one structure (1, 1'), wherein said tracked vehicle (10) moves omnidirectionally along said at least one structure (1, 1').

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