Movable structure, e.g. rotatable, provided with improved support and guide carriages

Abstract

Movable structure (4) for civil applications, having the following characteristics: a movable section (8) intended to be moved, a support (12) for the movable section (8), a movement device (16) arranged between the movable section (8) and the support (12) and configured to enable relative movement of the movable section (8) with respect to the support (12), wherein the movement device (16) has the following features: at least one guide rail (20) shaped to define and guide the relative path of movement between the movable section (8) and the carrier (12), at least one support and guide carriage (24) equipped with at least one pair of support and guide wheels (28) rotating about respective axes of rotation (X'-X', X''-X'') inclined to each other by a relative angle (32) of more than or equal to 50 degrees, wherein side surfaces (36) of the support and guide wheels (28), which are axially symmetrical with respect to their respective axes of rotation (X'-X', X''-X''), meet at an apex (40) facing the carrier (12) so that they delimit a support and guide volume (44), wherein the guide rail (20) has a wedge (52) which is opposite to the support and guide volume (44) to have a pair of inclined and opposite walls (56) which are each in contact with the side surface (36) of one of the support and guide wheels (28).

Description

Area of ​​application

[0001] The present invention relates to a movable, e.g. rotatable, structure provided with improved support and guide carriages. State of the art

[0002] The present invention is particularly, but not exclusively, applicable to rotatable structures having an extremely high mass, even in the order of tens of thousands of tons, such as large telescopes, but also more generally to civil structures, including bridges, buildings and the like, equipped with translational, rotational or rototranslatory movements.

[0003] In the following, reference is made to rotatable structures without losing generality.

[0004] As is known, in common applications where circular structures need to be rotated, bogies with vertical support wheels and transverse guide rollers are usually used, which have gaps that allow a meandering movement with respect to a relative rail / track that guides the movement of the movable structure.

[0005] This solution does not work well and leads to problems in the movement of very large structures (e.g. with a base diameter of 80-100 m and a weight of several thousand tons), as in the scope of the present invention.

[0006] The presence of gaps, which for structures of this size should be on the order of a few centimeters, leads to poorly controllable relative movements of the movable structure with respect to the guideway, thus resulting in uncertainty regarding the position of the movable structure and the forces exchanged at the contact points. Therefore, in the known solutions, there is no clear correspondence between the load configuration of the movable structure and the geometric configuration. Due to friction, different geometries / relative positions can correspond to the same load configuration in the known solutions.

[0007] This indeterminacy and variability of the relative positions between the movable sections inevitably leads to load peaks caused by the upper support structure, as well as to overloads caused by sudden jerks of the wheels on the rails when the static friction is overcome (i.e. when movement of the upper structure is required).

[0008] But that's not all. In some cases, this critical situation also manifests itself in the occurrence of significant thermal gradients, to which the structure is inevitably exposed (also due to its size and exposure to external weather conditions).

[0009] Other critical situations with uneven loading and unpredictable geometric configuration between parts can also occur during changes in the configuration of the structure with displacements of large masses (as in the case of openings, closings, displacements of a part of the structure beyond the plane of rotation). Description of the invention

[0010] There is therefore a need to eliminate the disadvantages and limitations mentioned in the prior art.

[0011] This object is achieved by a movable structure with improved carriages according to claim 1. Description of the drawings

[0012] Further features and advantages of the present invention will be better understood from the following description of preferred and non-limiting embodiments of the invention, in which: Fig. 1 is a perspective view of a rotatable structure according to a possible embodiment of the present invention; Fig. 2 a schematic plan view of the movable structure of Fig. 1 represents; Fig. 3 is a perspective view of a carriage for supporting and guiding a movable structure according to the present invention; Fig. 4 shows a plan view of the support and guide carriage of Fig. 3; Fig. 5 is a sectional view of the support and guide carriage of Fig. 4 along the Fig. 4 shown section plane VV; Fig. 6 is a sectional view of the support and guide carriage of Fig. 4 along the Fig. 4 shown section plane VI-VI; Fig. 7 is a sectional view of the support and guide carriage of Fig. 4 along the Fig. 4 shown section plane VII-VII; Fig. 8 is a sectional view of the support and guide carriage of Fig. 4 along the Fig. 4 shown section plane VIII-VIII; Fig. 9 is a side view of a support and guide carriage according to the invention in partial section; Fig. 10 is a side view of the support and guide carriage of Fig. 9 from the side of the Fig. 9 depicted scum X; Fig. 11 illustrates another side view of a support and guide carriage according to an embodiment of the present invention; Fig. 12 shows a sectional view of the support and guide carriage of Fig. 11 along the section plane XII-XII of Fig. 11; Fig. 13 shows a sectional view of the support and guide carriage of Fig. 11 along the section plane XIII-XIII of Fig. 11; Fig. 14 illustrates a plan view of a circular guideway according to a possible embodiment of the present invention.

[0013] Elements or parts of elements that are common to the embodiments described below are given the same numerical designations. Detailed description

[0014] With reference to the above figures, a movable structure for civil applications according to the present invention is comprehensively described with 4.

[0015] First, for the purposes of the present invention, it should be clarified that the term "movable structure" is to be understood in a broad sense, i.e., any structure provided with relative movement with respect to a base, of the linear, rotary, and / or rototranslatory type. Preferably, but not exclusively, the movable structure 4 may comprise a dome covering and / or supporting a telescope, but also a housing structure.

[0016] The movable structure 4 comprises a movable section 8 intended to be moved, a support 12 for the movable section 8, and a movement device 16 arranged between the movable section 8 and the support 12 and configured to enable relative movement of the movable section 8 with respect to the support 12. The support 12 forms the foundation of the entire movable structure and is preferably made of concrete.

[0017] The movement device 16 comprises at least one guide rail 20, which is shaped to define and guide the relative movement path between the movable section 8 and the support 12. As can be seen, the relative movement path can be circular, rectilinear, or a combination thereof, ie, depending on the type of movable structure 4, it can enable rototranslation.

[0018] According to a preferred embodiment, the movable structure 4 is a structure that rotates around a YY axis of rotation, and in which the guide rail 20 is a circular guideway with a radius of curvature incident on and perpendicular to the YY axis of rotation. In a possible embodiment, the movable structure 4 is a translational or rototranslational structure along an axis coplanar with the support 12.

[0019] Advantageously, the movement device 16 comprises at least one support and guide carriage 24 provided with at least one pair of support and guide wheels 28 rotating about a first and second rotational axes X'-X', X''-X'', respectively, which are inclined to each other by a relative angle 32 greater than or equal to 50 degrees. The at least one support and guide carriage 24 is fixed relative to the carrier 12, unless elastic displacements occur, as better described below.

[0020] According to one embodiment, the at least one guide rail 20 is assigned to the movable section 8 and the at least one support and guide carriage 24 is assigned to the carrier 12.

[0021] According to a further embodiment, the at least one guide rail 20 is assigned to the carrier 12 and the support and guide carriage 24 is assigned to the movable section 8.

[0022] The support and guide wheels 28 are designed as a truncated cone to compensate for the differential effect of the speed of the guide rail 20 during rotation in order to avoid undesirable slipping of the wheel guide rail.

[0023] Preferably, the at least one support and guide bogie is provided with two pairs of support and guide wheels 28 which rotate about respective axes of rotation X'-X', X''-X'' which are inclined to one another by a relative angle 32 greater than or equal to 50 degrees, the two pairs of support and guide wheels 28 being arranged and inclined so that they are mirror images and symmetrical to one another with respect to a plane of radial or transverse symmetry PR perpendicular to a main extension of the guide rail 20 and with respect to a plane of tangential symmetry PT, parallel to a tangent direction with respect to the guide rail 20 and perpendicular to the plane of radial or transverse symmetry PR.

[0024] The support and guide carriage 24 is a device whose task is to absorb the loads of the superstructure or of the movable section 8, which pass through the handling means 6 and in particular the guide rail 20, and to transfer them to the concrete substructure, i.e. the foundation.

[0025] According to one embodiment, the side surfaces 36 of the support and guide wheels 28, which are axisymmetric with respect to the relative first and second axes of rotation X'-X', X''-X'', meet at an apex 40 opposite the carrier 12 to delimit a support and guide volume 44.

[0026] The guide rail 20 comprises, in correspondence with a surface 48 facing the support 12, a wedge 52 which is opposite to the support and guide volume 44 to form a pair of inclined and opposite walls 56, each in contact with the lateral surface of one of the support and guide wheels 28.

[0027] The support and guide wheels 28 may have a cylindrical geometry with a constant diameter with respect to the relative axes of rotation X'-X', X''-X''.

[0028] It is also possible to use support and guide wheels 28 with a frustoconical geometry, which converge towards the support 12 with respect to the respective axes of rotation X'-X', X''-X''.

[0029] The axes of rotation X'-X', X''-X'' of the support and guide wheels 28 are inclined with respect to a perpendicular Y to the carrier 12 by an angle 60 which is greater than or equal to 5 degrees.

[0030] According to a preferred embodiment, the axes of rotation X'-X', X''-X'' are perpendicular to each other (ie the relative angle 32 is 90 degrees) and are inclined by an angle 60 of 45 degrees with respect to a perpendicular Y to the support 12.

[0031] The choice of the relative angle 32 between the axes X'-X' and X''-X' as well as the angle 60 between each rotational axis X'-X', X''-X'' and the vertical Y modifies the weight distribution of the movable structure 4 between the pairs of supporting and guide wheels 28.

[0032] The support and guide wheels 28 are connected to a central block 64 of the support and guide carriage 24, which in turn is supported relative to the support 12 by means of at least one leaf spring 68, which allows for bending elasticity in a Z-Z direction perpendicular to the support 12 itself. The central block 64 represents a rigid monoblock capable of supporting the support and guide wheels 28 with extreme precision. Furthermore, thanks to the elastic connection provided by the leaf springs 68, the entire central block 64 can bend relative to the support 12 and thus move elastically. In this way, on the one hand, the support and guide wheels 28 can support and guide the movable section 8 under the aforementioned extremely high load on the movable structure 4, and on the other hand, thanks to the vertical elastic displacements of the central block 64, the occurrence of stress peaks on the support and guide wheels 28 themselves and on the guide rail 20 is avoided.

[0033] Furthermore, the central block 64 is preferably anchored to the support 12 by means of a first U-shaped structure 72 comprising a pair of transverse or radial flexible supports 76 arranged on opposite sides of the rigid central block 64 with respect to a radial or transverse direction RR perpendicular to the main extension of the guide rail 20.

[0034] The transverse or radial flexible holders 76 are connected to the rigid center block 64 at cantilevered transverse ends 80 of the flexible holders 76 relative to the beam 12.

[0035] According to one embodiment, radial or transverse spacers 84 are arranged between the cantilevered transverse ends 80 and the rigid center block 64.

[0036] These radial or transverse spacers 84 can either have the function of adjusting the position of the support and guide carriage 24 relative to the guide rail 20, or the function of changing the radial or transverse elasticity between the flexible transverse or radial holders 76 and the center block 64.

[0037] In this way, the entire center block 64 can bend relative to the support 12 and thus move elastically due to the elastic connection established by the first U-structure 72. In this way, on the one hand, the support and guide wheels 28 are capable of supporting and guiding the movable section 8 under the aforementioned very high load on the movable structure 4, and on the other hand, thanks to the radial or transverse elastic displacements of the transverse or radial flexible holders 76, the occurrence of stress peaks on the support and guide wheels 28 themselves and on the guide rail 20 is avoided.

[0038] According to a possible embodiment, the rigid center block 64 is anchored to the support 12 by means of at least one second U-shaped structure 88 comprising a pair of tangential flexible holders 92 arranged from opposite sides of the rigid center block 64 with respect to a tangent direction TT with respect to a main extension of the guide rail 20.

[0039] For example, the tangential flexible holders 92 are connected to the rigid center block 64 at cantilevered tangential ends 96 of the tangential flexible holders 92 relative to the carrier 12.

[0040] According to one embodiment, tangential spacers 100 are disposed between the cantilevered tangential ends 96 and the rigid center block 64.

[0041] In this way, the entire center block 64 can bend due to the elastic connection created by the second U-structure 88 and thus move elastically with respect to the support 12. In this way, on the one hand, the support and guide wheels 28 can support and guide the movable section 8 under the aforementioned very high load on the movable structure 4, and on the other hand, thanks to the tangential elastic displacements of the tangential flexible holders 92, the occurrence of stress peaks on the support and guide wheels 28 themselves and on the guide rail 20 is avoided.

[0042] Preferably, the transverse or radial elastic supports 76 and the tangential flexible supports 92 coincide: for example, in correspondence with a central block 64, four elastic supports are arranged in a rectangular pattern to present two first "U"-shaped structures 72 and two second "U"-shaped structures 88, each first "U"-shaped structure 72 sharing an elastic support with a second "U"-shaped structure 88 adjacent to it.

[0043] In order to enable the movement of the movable section 8, at least one wheel of the at least one support and guide carriage 24 is operatively connected to a motor device 104, preferably an electric motor.

[0044] Preferably, at least one wheel of the support and guide carriage 24 is connected to a braking device 108, preferably a disc brake caliper, e.g. of the floating type.

[0045] The motion is transmitted via a system of gears 112 and electric motors 104, which drive the motorized support and guide wheels 28.

[0046] The center block 64 houses almost all mechanical sections of the support and guide carriage 24, such as the motor 104, the reduction gear 112, the rolling bearings, the brake calliper and also the wheels with their shafts.

[0047] Each support and guide carriage 24 includes at least (preferably two) running wheels.

[0048] Each shaft of each motorized support and guide wheel 28, i.e., operatively connected to the electric motors 104, is subjected to a combined load, including rotational deflection and additional motor torque, by a motor directly coupled to the respective wheel shaft without the use of intermediate gears or pinions. This makes it possible to reduce the number of elements requiring maintenance and thus reduce the need for spare parts.

[0049] The preferred electric motor 104 is a compact, forced-ventilation synchronous electric motor. This type of motor offers several advantages, such as extreme duty cycle capability, short rise times, high precision in terms of speed, torque, and positioning, and a wide speed control range. Finally, the synchronous electric motor is capable of maintaining torque even at near-zero speeds, a condition typical of the dome's tracking-speed rotational movement. In other words, it is necessary to use an electric motor with a very high starting torque, since the movement of the movable section 8 occurs at a very low speed, especially in the case of an upper structure weighing several hundred or thousands of tons.

[0050] Each electric motor 104 is preferably a brushless motor.

[0051] All gearboxes are reversible, so that in the event of a failure, the motor can be restarted without stopping the movement of the movable section.

[0052] The electric motors 104 perform the braking function during normal operation; a set of brake calipers is provided for emergencies, such as a power failure. The disc brake calipers are passive electromechanical calipers with a fail-safe principle. In the event of a power failure or an emergency stop, the drive is decelerated from its current speed to a standstill.

[0053] The brake calipers are also used as a parking brake in a parking position, e.g. during the day.

[0054] As seen, the present invention is applicable to movable structures of different types and sizes.

[0055] According to a possible embodiment, the movable structure 4 is a rotatable structure comprising a dome as a movable section 8 which rotates about a YY axis of rotation and is carried by a plurality of support and guide carriages 24 arranged in a circle parallel or, better still, tangential to a guide track which, in plan view, has the shape of a closed circle, ie extends over 360 degrees.

[0056] According to one possible embodiment, the support and guide carriages 24 are arranged at the same angle to one another: For example, the movable structure 4 comprises 36 support and guide carriages 24 which are arranged at an angle of 10 degrees to one another.

[0057] The most important aspects of the invention are explained below.

[0058] The technical problem to be solved consists, in particular, in the implementation of a new solution which is hyperstatic and capable of ensuring greater resistance to earthquakes for the structure of the plant than that of the known state of the art.

[0059] The invention can therefore cope with the stress peaks caused by the hyperstatic nature of the movable structure thanks to the elastic behaviour of the rail guide and offers greater resistance to seismic stress.

[0060] A study was conducted on solutions for wheel-rail contacts, pivots and wheel shafts, evaluating the use of materials and treatments not normally used in metalworking (e.g. carbon or alloy steels and surface hardening treatments).

[0061] In particular, for wheel-rail contacts, pivot pins and wheel shafts, the use of materials and treatments that are not common in standard metal processing has been provided, such as carbon steels or alloy steels and surface hardening.

[0062] A study was conducted on solutions for engines, transmissions and (active, passive, hydraulic, electromechanical) brake calipers for disc brake systems.

[0063] In particular, motors, gears and disc brakes are used to control the speed of the rail above the carriage.

[0064] This has led to the development of a dome rotation system consisting of several bogies and a suitable guideway that solves the problems commonly encountered by systems used for similar applications, such as: clearance between the guideway and the usual transverse guide rollers of the bogies, to avoid shocks and thus protect the mechanical components from breakage and wear that are not entirely predictable.

[0065] "Flexible" bogies have been developed, whose stiffness is precisely calibrated in the three directions X, Y, Z, so that the movements and deformations of the track are due to the elastic behavior of the rotating mechanism, which keeps the support wheels always in contact with the rail coupled to the track and avoids the formation of gaps.

[0066] In particular, the "flexible" bogies of the invention have a clearly calibrated stiffness in the three directions X, Y, Z, so that the displacements and deformations of the guideway are absorbed by the elastic behavior of the rotating mechanism, which allows the support wheels to always remain in contact with the rail coupled to the guideway, thus avoiding the formation of gaps.

[0067] The rail according to the invention has a triangular cross-section, with the carriages being equipped with a pair of wheels and two pairs of vertical support rods.

[0068] The optimal angle of inclination between the wheel pairs was determined in order to achieve both the vertical support and the transverse adjustment of the rail and the surface.

[0069] A solution was developed that involved removing two vertical support rods and then inserting a second pair of wheels into the bogie frame; in this way, each bogie supports the rail and track with four wheels.

[0070] A study and analysis of the materials and mechanical components suitable for equipping each rotating device was carried out: high-strength steel with high surface hardness, bearings, ball joints, gear motors and braking system.

[0071] In addition, a study and analysis of the sealing of the bearings was carried out to prevent their contamination by dust during operation of the plant and during maintenance work.

[0072] A study and analysis of the service life of the mechanical components was conducted, including an investigation of wear and fatigue phenomena in accordance with sector-specific regulations. This included examining the behavior of all sensitive components, in-depth evaluation of degenerative effects due to irregularities, design or installation errors, or deficiencies. Fatigue cycle analysis was performed, with particular attention to load spectra for complex scenarios. A study and analysis was conducted regarding the use of high-performance materials, examining possible heat treatments and machining processes depending on the geometric characteristics of the various elements.

[0073] In addition, studies were conducted to evaluate the effects of fatigue and wear phenomena, considering the use of heat-treated high-performance materials where appropriate.

[0074] The system of the present invention consists of a plurality of coordinated supports that allow both the azimuthal rotation (ARM) of large movable domes consisting of a plurality of carriages on a relative circular path, and the translation of covers along a predefined path, both rectilinear and curved with a constant radius.

[0075] Thus, the system of the present invention can be used to move movable covers such as rotating arches or translatory arches.

[0076] The classic vertical support wheels and transverse guide wheels of the known state of the art have been replaced by a system of bogies with controlled elasticity, equipped with pairs of inclined wheels, preferably at an angle of 45°, which simultaneously function as support wheels and transverse guide wheels.

[0077] It is therefore possible to eliminate any randomness of the forces exchanged by the bogies with the rails, due to the absorption of alignment errors caused by manufacturing defects and structural deformations by elastic deformation phenomena, and also due to the considerable size of the components involved in relation to the application and the importance that, in the case of large spans (about 90 meters) and significant loads (about 6,500 tons), any secondary effect assumes.

[0078] The invention allows a double ratio between displacements and stresses when used for the support and handling of roofs with large spans such as domes with a diameter of 90 m and a weight of 6,500 tons.

[0079] The system according to the invention for supporting large rotating or sliding covers makes it possible to avoid the occurrence of shock forces when handling large masses thanks to a new system of elements for managing offsets between the rail and the carriage with elastic deformations.

[0080] Furthermore, by managing forces and displacements acting in the elastic range, the system of the present invention makes it possible to avoid the generation of shock-like forces.

[0081] The invention also facilitates assembly on complex construction sites with extreme environmental conditions.

[0082] As is apparent from the above, the barrier devices and methods according to the invention make it possible to overcome the disadvantages of the known technology.

[0083] In particular, the carriage according to the invention is equipped with pairs of support and guide wheels which are inclined at a suitable angle and simultaneously perform the function of support wheel and guide roller.

[0084] In this application, the gaps are eliminated, which has the advantage of eliminating any relative movement between the wheel and the rail and, at the same time, the indeterminacy of the position of the movable structure: a double correspondence is thus created between the load configuration and the geometric configuration. In conventional applications, however, due to friction, different geometries can correspond to the same load configuration. In the solution of the present invention, however, the play is eliminated by establishing a precise form coupling between the track of the upper movable structure and the seat delimited by the coupled pairs of wheels of each bogie. Therefore, there is no relative play that could lead to uncontrolled movements between the rail and the bogie.

[0085] The lack of relative play could lead to very high overloads and friction in the event of imperfect movements, unbalanced loads and thermal deformations.

[0086] In reality, this is not the case. As we have seen, the bogie is designed to be so rigid that it smooths out the load peaks caused by the structure supported on top. Together with the elimination of gaps, it can prevent overloads caused by sudden jolts of the wheels on the rails when overcoming static friction. Some of the cases in which this critical situation arises include the occurrence of significant thermal gradients or changes in the configuration of the structure involving displacements of large masses (openings, closings, displacements of a section of the structure above the plane of rotation).

[0087] The carriage equipped with the aforementioned elasticities has a controllable linear behavior, which offers a convenient way to make buildings or other structures with large masses movable (rotatable).

[0088] In order to meet any specific requirements, the person skilled in the art may make numerous modifications and variations to the movable structures described above, all of which fall within the scope of the invention as defined by the following claims. List of reference symbols 4 movable structure 8 movable section 12 carriers 16 Movement device 20 guide rail 24 support and guide carriages 28 carrying and guide wheels 32 relative angle 36 side surfaces 40 vertex 44 carrying and guiding volume 48 area 52 wedge 56 pairs of sloping and opposite walls 60 corner 64 middle block 68 leaf spring 72 first “U” structure 76 transverse or radial flexible holders 80 cantilevered cross ends 84 radial or transverse spacers 88 second U-shaped structure 92 tangential flexible holders 96 cantilevered tangential ends 100 tangential spacers 104 half-engines 108 Braking device 112 gearboxes ZZ direction orthogonal to the carrier 12 TT tangential direction YY rotation axis of the movable section 8 X'-X' first axis of rotation X'-X' second axis of rotation RR radial or transverse direction PR Plane of radial or transverse symmetry PT Plane of tangential symmetry

Claims

[1] Movable structure (4) for civil applications, having the following characteristics: a movable section (8) intended to be moved, a support (12) for the movable section (8), a movement device (16) arranged between the movable section (8) and the support (12) and configured to enable relative movement of the movable section (8) with respect to the support (12), wherein the movement device (16) has the following features: at least one guide rail (20) shaped to define and guide the relative path of movement between the movable section (8) and the carrier (12), at least one support and guide carriage (24) equipped with at least one pair of support and guide wheels (28) rotating about respective axes of rotation (X'-X', X''-X'') inclined to each other by a relative angle (32) of more than or equal to 50 degrees, wherein side surfaces (36) of the support and guide wheels (28), which are axially symmetrical with respect to their respective axes of rotation (X'-X', X''-X''), meet at an apex (40) facing the carrier (12) so that they delimit a support and guide volume (44), wherein the guide rail (20) has a wedge (52) which is opposite to the support and guide volume (44) to have a pair of inclined and opposite walls (56) which are each in contact with the side surface (36) of one of the support and guide wheels (28). [2] Movable structure (4) according to claim 1, wherein the at least one guide rail (20) is associated with the movable section (8) and wherein the support and guide carriage (24) is associated with the carrier (12). [3] Movable structure (4) according to claim 1, wherein the at least one guide rail (20) is associated with the carrier (12) and wherein the support and guide carriage (24) is associated with the movable section (8). [4] Movable structure (4) according to claim 1, 2 or 3, wherein the wedge (52) is arranged on a surface (48) of the guide rail (20) facing the carrier (12). [5] Movable structure (4) according to one of claims 1 to 4, wherein the support and guide wheels (28) have a cylindrical geometry with a constant diameter with respect to the relative axes of rotation (X'-X', X''-X''). [6] Movable structure (4) according to one of claims 1 to 4, wherein the support and guide wheels (28) have a frustoconical geometry converging towards the support (12) with respect to the relative axes of rotation (X'-X', X''-X''). [7] Movable structure (4) according to one of claims 1 to 6, wherein the axes of rotation (X'-X', X''-X'') are inclined with respect to a perpendicular to the support (12) by an angle (60) greater than or equal to 5 degrees. [8] Movable structure (4) according to one of claims 1 to 7, wherein the axes of rotation (X'-X', X''-X'') are perpendicular to each other and are inclined by an angle (60) of 45 degrees with respect to a perpendicular to the support (12). [9] Movable structure (4) according to one of claims 1 to 8, wherein the support and guide wheels (28) are connected to a central block (64) of the support and guide carriage (24), which in turn is supported with respect to the support (12) by means of at least one leaf spring (68) allowing a bending elasticity in a direction (ZZ) perpendicular to the support (12). [10] Movable structure (4) according to claim 9, wherein the central block (64) is anchored to the support (12) by means of a first "U"-shaped structure (72) comprising a pair of transverse or radial flexible supports (76) arranged on opposite sides of the rigid central block (64) with respect to a radial or transverse direction (RR) perpendicular to a main extension of the guide rail (20). [11] Movable structure (4) according to claim 10, wherein the transverse or radial flexible supports (76) are associated with the rigid central block (64) at cantilevered transverse ends (80) of the transverse or radial flexible supports (76) opposite the beam (12). [12] Movable structure (4) according to claim 11, wherein radial or transverse spacers (84) are arranged between the cantilevered transverse ends (80) and the rigid central block (64). [13] Movable structure (4) according to one of claims 9 to 12, wherein the rigid central block (64) is anchored to the support (12) by means of a second "U"-shaped structure (88) comprising a pair of tangential flexible holders (92) arranged on opposite sides of the rigid central block (64) with respect to a tangent direction (TT) with respect to a main extension of the guide rail (20). [14] Movable structure (4) according to claim 13, wherein the tangential flexible supports (92) are associated with the rigid center block (64) at cantilevered tangential ends (96) of the tangential flexible supports (92) opposite the support (12). [15] A movable structure (4) according to claim 14, wherein tangential spacers (100) are arranged between the cantilevered tangential ends (96) and the rigid center block (64). [16] Movable structure (4) according to one of claims 1 to 15, wherein the at least one support and guide carriage (24) is fixed relative to the carrier (12). [17] Movable structure (4) according to one of claims 1 to 16, wherein the at least one support and guide carriage (24) is provided with two pairs of support and guide wheels (28) rotating about respective axes of rotation (X'-X', X''-X'') inclined to each other by a relative angle (32) greater than or equal to 50 degrees, wherein the two pairs of support and guide wheels (28) are arranged and inclined so as to be mirror images and symmetrical to each other with respect to a plane of radial or transverse symmetry (PR) perpendicular to a main extension of the guide rail (20) and with respect to a plane of tangential symmetry (PT) parallel to a tangent direction (TT) with respect to the guide rail (20) and perpendicular to the plane of radial or transverse symmetry (PR). [18] Movable structure (4) according to one of claims 1 to 17, wherein at least one wheel of at least one support and guide carriage (24) is operatively connected to a motor device (104). [19] Movable structure (4) according to one of claims 1 to 18, wherein at least one wheel of the support and guide carriage (24) is operatively connected to a braking device (108). [20] A movable structure (4) according to any one of claims 1 to 19, wherein the structure is a structure rotating about a rotation axis (YY), wherein the guide rail (20) is circular and has a radius of curvature incident on and perpendicular to the rotation axis (YY). [21] Movable structure (4) according to one of claims 1 to 19, wherein the structure is a translational or rototranslatory structure on an axis coplanar with the support (12).

Images