Crawler-type vehicle configured for movement along a structure, method for suspending the vehicle to perform crawler-like locomotion along a structure, and use of at least one crawler-type drive unit for active locomotion - Patents.com

Abstract

A crawler type vehicle configured for suspended support and movement, the crawler type vehicle exhibiting: - a plurality of suspended support elements configured for suspending the vehicle and configured to couple the vehicle to a ceiling structure; - at least one drive unit configured for circumferential movement and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended support elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, the vehicle being configured to move along the ceiling structure by detaching a subset of the plurality of suspended support elements, respectively, from coupling to the ceiling structure when the suspended support elements are guided along the two circumferential tracks by the circumferential movement.

Description

[Technical field]

[0001] This invention claims priority to European Patent Application Publication No. 22165188.8, filed March 29, 2022, European Patent Application Publication No. 22165205.0, filed March 29, 2022, and European Patent Application Publication No. 22171776.2, filed May 5, 2022.

[0002] The invention relates to a crawler type vehicle, in particular a ceiling vehicle, adapted for suspended movement, for example upside down, in a ceiling structure. Furthermore, the invention relates to a method for suspending (in particular suspending) and actively driving such a crawler type vehicle. In particular, the invention relates to a device and a method according to the features of the enclosed independent claims. [Background technology]

[0003] In the prior art, several design philosophies have already been established in terms of providing vehicles that should be able to ensure a predefined locomotion even in rough terrain, or in terms of unpredictable reaction forces, or at high inclines, or even in overhead arrangements. The present invention focuses on philosophies that move away from the idea that a vehicle or transport medium should engage / interact in a predefined way with a predefined structure or underground, whether it be an arrangement on the ground / floor (e.g. ground vehicles) or a structure in a wall or ceiling (e.g. overhead cranes, wall crawling robots), for example in a warehouse or in a machine hall. Some ideas of providing a reliable contact between an underground structure and a vehicle have already been published in terms of diagnostics and parameter measurements in nearly inaccessible areas or systems (e.g. ductwork, waterways), including magnetic attraction / interference. Nevertheless, there exists a need for a vehicle that is able to provide both predefined movement and high positioning accuracy (positioning precision) by interacting with a predefined structure, preferably in a very reliable manner, regardless of the type of underground or wall structure, and the predefined structure should preferably be provided in a very flexible and variable manner for many types of underground or wall or ceiling contours / geometry.

[0004] A person skilled in the art can distinguish between vehicles arranged to move underground and those arranged to move along a ceiling structure, especially since the latter must be suspended in a similarly secure manner to avoid falling. Therefore, there may be different approaches in terms of the kinematics that ensure the interaction / engagement at the interfaces of the structures. Summary of the Invention [Problem to be solved by the invention]

[0005] It is an object of the present invention to provide a (ceiling) vehicle and an active drive mechanism, respectively, which allows a very reliable and precise active moving / driving movement and positioning of the vehicle relative to a structure in two directions, in particular also to an underground structure or to a wall structure or to any further type of structure (not only ceilings). In particular, the object may also include the provision of a suitable coupling mechanism for a reliable coupling of the vehicle with the structure. Also, in particular, the object of the present invention may further include a reliable suspension / suspension method and an active drive method for movably suspending such a vehicle on / at a structure in two directions, for example in terms of logistic tasks in a suspended / suspended manner on a ceiling structure. [Means for solving the problem]

[0006] The object of the invention is solved by the features of the independent main claims. Advantageous features are set out in the subclaims. If not expressly excluded, the teachings of the subclaims may be combined in any way with the teachings of the main and subclaims.

[0007] According to a first aspect, the invention relates to the kinematics of suspension elements separated / coupled by a driving movement along a circumferential track. In that respect, the invention can also provide a vehicle and (optionally) an active driving mechanism, which respectively allows a highly reliable and precise movement / driving and positioning of the vehicle relative to a structure in at least two directions in terms of a logistics task, in particular also relative to a cargo or load function, in particular in an arrangement in the ceiling or overhead (upside down). In particular, the invention also provides a coupling mechanism which allows a reliable coupling of the vehicle with a support structure for transferring a predefined driving movement in at least two spatial dimensions / directions (2D) to the support structure in a highly reliable manner, thus allowing a reliable positioning of the vehicle.

[0008] In particular, the object is therefore solved by a crawler type vehicle, in particular adapted for moving in a suspended manner upside down on a ceiling structure, the vehicle comprising: - a plurality of suspension elements configured to suspend the (ceiling) vehicle and configured to couple the (ceiling) vehicle to a (ceiling) structure; - at least one first drive unit configured for circumferential movement and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended support elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to predefined rasters, and the ceiling vehicle configured to move along the structure by decoupling a subset of the plurality of suspended support elements from being coupled to the ceiling structure, respectively, when the suspended support elements are guided along the two circumferential tracks by the circumferential movement.

[0009] According to the present disclosure, when a "structure" or "ceiling structure" is referenced, a structure may be specified that may extend on the ground or along a wall or on an inclined plane (or the like). The present invention may be preferably applied for a ceiling vehicle that is disposed on the ceiling structure and moves along the ceiling structure, respectively, and further, the present invention similarly allows any movement along any structure having alternative orientations and / or configurations. Thus, reference to a "structure" or "ceiling structure" includes reference to any other "structure" that exhibits features that allow coupling with / to the vehicle of the present invention and separation / coupling kinematics.

[0010] In accordance with this disclosure, when a "vehicle" or "ceiling vehicle" is referenced, the disclosure generally refers to a crawler-type vehicle and its relative spatial configuration or locomotion (e.g., on the ground or on an inclined plane or on a wall, as well).

[0011] In accordance with the present disclosure, when reference is made to a "circumferential track," the present disclosure generally refers to closed-loop guiding and lines as well as predefined contours along which a suspended support element is guided and / or driven.

[0012] According to the present disclosure, when a "profile" or "T-profile" is referenced, the present disclosure generally refers to different types of profiles as well, such as, for example, an I-profile or an L-profile, which may provide advantageous / preferred configurations in individual applications.

[0013] According to one embodiment, the suspended holding elements are coupled with the ceiling structure on the basis of form-fit (form closure, positive locking), in particular exclusively form-fit (without pressure spring coupling). According to the invention, it has been found that the form-fit can advantageously be provided by wheels or any other bearing points at the free ends of the respective suspended holding elements in order to be in contact with a T-profile or other type of profile rail (e.g. C-profile or L-profile or I-profile) of the ceiling structure. In particular, it has been found that the form-fit provides a preferred / superior method of coupling in many situations, in comparison with a magnetic coupling or similar. Depending on the type of drive unit or vehicle or the spatial orientation of the structure, the skilled person can determine which type of profile (e.g. T-profile) is most appropriate.

[0014] Similarly, depending on the orientation of the structure, the translational movement of the drive unit (with respect to its spatial direction, movement, respectively) can be unique. Those skilled in the art can implement the invention for different types of spatial translational movements in 2D or even 3D degrees of freedom without any particular restrictions.

[0015] Likewise, the shape / contour of each circumferential track can be unique, i.e. the skilled person can determine, for example, a specific degree (radius) of curvature in a specific section of each circumferential track. For example, each track presents at least three different guide / rail sections, i.e. a first (straight) section where each suspended retaining element engages with the profile and where the suspended retaining element performs a linear movement, and at least one second (curved) section where each suspended retaining element performs a separation / coupling movement (each track can present two oppositely arranged second sections), and a third (straight) section where the suspended retaining element returns to engage with the profile again (for a continued circumferential movement and engagement process). Thereby, the first and second tracks can define a trajectory of each free end of the suspended holding element, in particular at least one roller attached to each suspended holding element, by any suitable means configured to predefine a certain contour and to guide the free end, roller, respectively, to follow that contour of the track (e.g. by a sliding / rolling contour, a chain drive, a timing belt or any similar mechanism or mechanical feature).

[0016] According to a second aspect, the invention relates to an application in a ceiling, where suspension support may in particular be provided with regard to active 2D locomotion along a ceiling structure.

[0017] In particular, the above-mentioned object can be solved similarly by a crawler-type ceiling vehicle configured for moving in at least two spatial directions while suspended headfirst in a ceiling structure defining a first spatial direction of said spatial directions, the movement having at least two degrees of freedom, the ceiling vehicle comprising a plurality of suspended holding elements configured for suspending the ceiling vehicle and for coupling the ceiling vehicle to the ceiling structure, whereby the suspended holding elements can be moved / driven (e.g. rolled, slid) along the ceiling structure in said first spatial direction, and at least one crawler track, such as a crawler track, housing a first circumferential track and a second circumferential track and configured for a circumferential driving / guiding movement. The present invention shows at least two drive units having a first circumferential track-like drive unit (referred to as first drive units), the suspended retention element being attached to a first circumferential track at a predefined first longitudinal position corresponding to a raster defined by a ceiling structure in a second spatial direction, the second spatial direction being perpendicular to the first spatial direction, the suspended retention element engaging with a second circumferential track at a predefined second longitudinal position, the first and second tracks having different shapes / contours, the first and second tracks being (rigidly) positioned relative to each other such that the suspended retention element is separated from the ceiling structure by a / the (crawler-track-like) circumferential movement provided by the first drive unit and the first or second track and by at least one (second) drive unit configured to move the crawler type vehicle in said first spatial direction, the drive unit being connected to a motor, in particular an electric motor.

[0018] The present invention makes it possible to overcome the limitation of standard overhead cranes, such as gantry cranes, where only one hoist can operate within a defined workspace.

[0019] The vehicle is configured to move along the ceiling structure in a second spatial direction of the structure by decoupling a subset of the plurality of suspended support elements from coupling to the structure, respectively, in particular when said subset of suspended support elements is guided along the curved section of the circumferential track. According to the present invention, it should be noted that the term "spatial direction" designates a direction in space, and thus the term "spatial direction" can include a movement along a spatial axis in both directions along the spatial axis. Thus, the term "in a first / second spatial direction" refers to a one-dimensional movement (bidirectional, i.e., back and forth) with one degree of freedom (in particular, a linear movement). As a result, the / term "two-dimensional motion" refers to motion with two degrees of freedom (particularly linear motion in a first spatial direction defined by a structure, and also in a bidirectional manner in a second spatial direction, e.g. perpendicular to the first spatial direction). The spatial directions are defined by a structure to which the crawler-type (ceiling) vehicle is connected, the structure exhibiting a plurality of, preferably parallel, profiles along which a "first spatial direction" is defined, and perpendicular to the profile (but remaining in the plane of the structure) a "second spatial direction" is defined.

[0020] It should be noted that according to the present invention, the term "drive unit" can specifically designate the entire assembly of drive and kinematic components required to realize the desired locomotion movement. Likewise, the drive unit can further comprise a case or chassis housing structural parts and elements for the arrangement of any part of the drive section. Furthermore, the drive unit can also comprise structural parts or supports or beams for the mounting and support of any hoist or passenger / cargo transport components.

[0021] The shape or dimensions of the at least one first drive unit (and likewise of the circumferential track) can be individually defined according to the specific application. For example, the cross-sectional geometry of the at least one first drive unit is the shape of a racecourse (parallel longitudinal sections and opposing semicircular sections). However, alternatively, the cross-sectional geometry can be, for example, circular or elliptical. The vehicle can optionally be equipped with different types of power units, drives, motors and actuators, not only for the drive units but also for further functions, such as, for example, winch or hoist functions. In general, the vehicle can be provided as an active vehicle exhibiting at least two motors interacting with the drive mechanism, the suspended holding element, respectively. In particular, the vehicle may present at least one power unit or motor for each drive unit, for example an electric motor coupled to the rotation axis of a gear unit interacting with the respective circumferential track or an electric motor interacting with the wheels of the suspended holding element via at least one second drive unit, allowing a motorized movement in at least two spatial directions, so that the wheels may be driven by any drive that actively drives along the profile rail. Similarly, the vehicle, respectively, at least two drive units may comprise an energy storage unit, in particular a rechargeable battery pack, that provides energy to the at least two drives / motors without relying on any external energy supply (powering the motor to drive the vehicle, track, respectively, guided movement along the track). In particular, the vehicle may also present at least one hoist (hoist unit) and a traction mechanism configured to lift the load. For example, the hoist unit may be fixed to and supported by the at least one first drive unit.

[0022] Each power unit, drive, motor and / or actuator of the vehicle may be coupled to a control unit of the vehicle. In particular, the control unit may control the type / kind of movement, which may also control, for example, the lifting action of the hoist unit, for example in terms of a cargo task or a logistic task in general. For example, the vehicle may exhibit two or three drive units, which may be arranged at a predefined lateral distance from each other (for example defined / connected by a cross beam or the like), and if the vehicle is actively driven, each drive unit may exhibit at least one drive / motor for actively driving a suspended holding element along a circumferential track or the vehicle in a second spatial direction, which drives / motors may be controlled dependent on each other, for example by the rotational speed. So the movement direction may be controlled in particular in combination with an actively driven wheel of the suspended holding element driven along a profile rail of the ceiling structure.

[0023] In other words, in the present disclosure, the term "drive unit" specifically refers to a unit that houses the kinematics that enable the locomotion movement of the vehicle.

[0024] In the following, advantageous aspects of the claimed invention are described, and further in the following, preferred modified embodiments of the invention are described. In particular, the descriptions of the advantages and definitions of features are essentially descriptive and preferred, but not restrictive examples. If the descriptions should be understood as restrictive descriptions / representations, this is explicitly stated.

[0025] According to one embodiment, a crawler type (ceiling) vehicle exhibits a plurality of suspended support elements configured to suspend and couple the (ceiling) vehicle to a (ceiling) structure, at least one first drive unit configured for circumferential motion and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended support elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, and the (ceiling) vehicle is configured to move along the (ceiling) structure by detaching a subset of the plurality of suspended support elements, respectively, from coupling within the (ceiling) structure, when the suspended support elements are guided along the two circumferential tracks by the circumferential motion.

[0026] According to one embodiment, the crawler type (ceiling) vehicle further exhibits at least one second drive unit configured to enable movement of the ceiling vehicle in at least two spatial directions, namely a first spatial direction predefined by the structure and a second spatial direction defined by a guiding / driving movement of the at least one first drive unit, the second spatial direction being perpendicular to the first spatial direction, the second drive unit being configured for movement of the vehicle in the first spatial direction providing at least a two-dimensional movement capability of the vehicle, each suspended holding element exhibiting in particular at least one wheel arranged and configured to be guided along the structure, on a wheel tread of a respective / corresponding profile of the structure, at least two individually controllable motors, the at least one first drive unit and the at least one second drive unit being connected to the at least one motor, the motors for the first drive unit and the second drive unit being different and providing an active two-dimensional movement of the vehicle. The first drive units of the vehicle may be scaled up in number, for example a vehicle exhibiting three first drive units each based on the same kinematic concept, but at least one of these drive units providing a mirror image type / method of separated / combined kinematics.

[0027] The present invention advantageously enables omni-wheel behavior of a vehicle, providing for at least two dimensional movement of the vehicle.

[0028] According to one embodiment, at least one first drive unit of the crawler type vehicle is configured to enable a closed-loop trajectory of the suspended holding element, the first and second circumferential tracks being shaped in such a way that the suspended holding element is separated / coupled from / to the structure only when passing through a curved section of the track, the suspended holding element being / firmly attached / coupled to the first circumferential track by a first pulley and the suspended holding element being guided in the second circumferential track by a second pulley, the first and second pulleys being preferably arranged on the lever arm of the respective suspended holding element, the respective suspended holding element preferably having an L-shape, and / or each suspended holding element exhibits a first pulley and a second pulley arranged at a longitudinal distance to the first pulley on the lever arm of the respective suspended holding element, the suspended holding element being coupled to the first and second tracks by the first and second pulleys, and / or each the suspended holding elements present a lever arm which accommodates / supports a / the pulley guided by the second track, the pulley being arranged at the free end of the lever arm, in a straight section of the track the lever arm at least approximately points in the drive / movement direction, the suspended holding elements are connected to one another by longitudinal connecting elements, in particular by longitudinal connecting elements which are connected at the axis of a / the first pulley of the respective suspended holding elements, thereby forming a closed loop of mutually associated suspended holding elements spaced apart from one another in a predefined raster, the first circumferential track presents a chain or is provided / defined by a chain which forms a closed loop of mutually associated chain elements connecting the suspended holding elements, the vehicle presents a plurality of counter bearings which are particularly configured and arranged to interact in the front with the ceiling structure, the plurality of counter bearings being preferably coupled to / with the first circumferential track which is in particular coupled to the chain elements of the first circumferential track, The vehicle presents a further first drive unit housing a further circumferential track, and a plurality of further suspended retention elements are mounted on the further circumferential track at predefined longitudinal positions corresponding to the / said predefined raster, and are configured in particular to suspend and couple the vehicle to the structure, such that the vehicle is fixed in the structure with respect to the reverse direction, the vehicle presents further suspended retention elements mounted on the further circumferential track, the suspended retention elements and the further suspended retention elements temporarily engaging with the structure fix / block the vehicle in the structure with respect to the driving / moving direction and the reverse direction, and / or the vehicle presents a further drive unit presenting the same configuration as the / said first drive unit, but with a mirror-image arrangement of the further suspended retention elements and the further circumferential track, the further suspended retention elements in particular being oriented in a direction opposite to the guiding direction of the suspended retention elements of the first drive unit, such that both the respective suspended retention element and the further suspended retention element are simultaneously separated / coupled to / from the structure. the at least one first drive unit is configured to lift the respective suspended support elements in an unloaded state from the structure, in particular such that the at least one first drive unit simultaneously provides both decoupling / coupling kinematics for the temporarily unloaded subset of suspended support elements and suspension support of the vehicle by the temporarily loaded subset of suspended support elements, and / or the at least one first drive unit has a substantially planar configuration, and / or the vehicle exhibits at least two first drive units arranged parallel to one another, and / or the circumferential tracks are respectively guided / driven in a plane extending in two dimensions, and / or the at least one first drive unit is coupled by at least three suspended support elements, and / or each suspended support element has an L-shape, the L-shape providing two arms that define the relative arrangement of a / the wheel and the first and second pulleys of each suspended support element.This configuration is favorable in terms of scaling and allows to provide a section along the straight section of the track, where the suspension of the vehicle can be fixed by a scalable number of suspended retention elements. Moreover, this arrangement also allows a high precision of the predefined path and the amount of predefined movement of the free end of each element (or of a / the wheel). The lever arm pointing (approximately) in the drive / movement direction (second spatial direction) allows to provide a large effective length of the lever arm section between the first and second pulley, thereby ensuring a significant pivoting movement for the separation / engagement kinematics. Likewise, this configuration allows to adjust the shape / contour of the track by means of a chain tensioning device or other kind of deflection points / pulleys. In particular, the first circumferential track can be defined by a chain connecting the suspended retention elements. According to the present disclosure, the term "chain" can also refer to a belt or a cable or any other circumferential drive element that allows to follow / constrain the circumferential track(s). The skilled person can determine which configuration of the chain is most appropriate in / for the individual application. The multiple counter bearings allow to fix the position of the vehicle with respect to a further (second) spatial direction (normal forces are applied to the structure if the vehicle is placed upside down or in an inclined plane). In particular, the multiple counter bearings may / can provide a counter force drive module (counter force unit) that allows / facilitates even more secure positioning and suspension of the vehicle (upside down) on an inclined plane or in an overhead arrangement configuration. The free end of the counter bearing can be configured depending on the type / shape of the (ceiling) structure, for example, the free end of the counter bearing presents at least one wheel or pulley. The additional first drive unit accommodating an additional circumferential track configured for synchronous circumferential movement of the additional suspension element facilitates the scale-up and favors configurations for vehicles with high stability and security requirements.Furthermore, the first drive unit provides high security and even self-locking suspension retention as well. The closed loop of mutually related suspension retention elements spaced apart from one another in a predefined raster ensures a precise relative positioning of the multiple suspension retention elements with respect to one another. Each longitudinal connection element preferably exhibits the shape of a rod or stick or a small lever arm. In other words, the multiple longitudinal connection elements can provide a closed loop of mutually related elements forming a kind of chain or the like that is guided / driven along a circumferential track(s). The further (first) drive unit with the mirror-image arrangement advantageously fits into ceiling structures made of or provided by T-profiles or T-shaped support elements (in particular T-shaped ceiling beams). The kind of separation / combination kinematics provided also provides a totally energy-efficient and force-efficient way of driving / moving / advancing. Likewise, minimizing the forces and thrusts in view of the separation / coupling process also favors possibly very fast crawling movement(s), even if the vehicle exhibits a significant weight or has to unload a significant load. The parallel arrangement configuration of the multiple first drive units with a substantially planar configuration in lateral view (side view) favors the implementation of two or even three first drive units, respectively, in a quite narrow / slim arrangement. The guidance / driving of the circumferential track in a plane extending in two dimensions favors the implementation of a linear movement movement combined with a movement along the ceiling structure, perpendicular to the movement movement of the circumferential track. The coupling of the vehicles by at least three suspended retaining elements allows any force and thrust to be distributed by the multiple suspended retaining elements, thereby also ensuring a good security and stability level. The L-shape of the configuration allows a robust design. Likewise, the suspended retaining elements can be easily designed individually according to the specific application and the specific ceiling structure by adapting the design of the lever arm.

[0029] According to one embodiment, the vehicle comprises at least one holonomic wheel that is part of a second drive unit, which provides active movement in a first spatial direction defined by the structure and passive movement in a second spatial direction by means of the second drive unit and a motor connected thereto.

[0030] According to the invention, a holonomic wheel is a wheel whose wheel tread consists of rollers whose rotation axis is at an angle to the rotation axis of the main wheel. The absolute angle between the axes can be any angle between 5 and 90 degrees, in particular 45 degrees. This angle must be taken into account when controlling at least two motors, because if the angle of the rollers to the wheel is different from 90 degrees, the movements of the first and second drive units are not independent. An angle smaller than 90 degrees can result in advantageous configurations for the traction of the holonomic wheel with the profile of the structure. If the angle is small, it is possible to place more rollers with the same diameter around the wheel, which can increase the traction transmission and compensate for the gaps in the traction transmission of a single omni wheel.

[0031] According to one embodiment, the holonomic wheel is disc-shaped and comprises a number of rollers evenly distributed around its circumference, such that the holonomic wheel allows for traction control in a first spatial direction and is not affected by motion in a second spatial direction. In this case, the angle between the rollers and the wheel is 90 degrees. This allows for easier control of the configuration.

[0032] According to one embodiment, the crawler type vehicle comprises a holonomic wheel set consisting of at least two coaxially arranged holonomic wheels, the wheel set being connected to a second drive unit. The holonomic wheels are preferably disc-shaped and have a thickness that is half the width of the profile of the structure, such that there is a place for at least two holonomic wheels of the holonomic wheel set to interact with one profile (rail) of the structure. This configuration enhances the traction of the disc-shaped holonomic wheels.

[0033] According to one embodiment, each of the coaxially arranged holonomic wheels has a predefined offset in the azimuthal direction with respect to their neighboring holonomic wheels. If a holonomic wheel comprises n rollers evenly distributed around the circumference of the wheel, it is preferable that each wheel is offset by 180 / n degrees with respect to its neighbor. In this way, it can be ensured that there is always at least one wheel of the wheel set in contact with the profile of the structure, so that sliding of the second drive unit is prevented.

[0034] According to one embodiment, the holonomic wheel(s) are connected to a return mechanism that applies a force to the holonomic wheel(s) pressing the holonomic wheel / s against the structure. This configuration further enhances the traction of the holonomic wheels against the profile (rail) of the structure.

[0035] According to one embodiment, the vehicle comprises at least one wide and elongated gearing wheel for meshing with a predefined raster in a first spatial direction, the gearing wheel being connected to a second drive unit. The wide and elongated gearing wheel, also called a "spur gear", defines a further raster, a "sub raster", in the profile of the structure, whereby the teeth of the gear mesh with the sub raster. When the spur gear is turned by the motor and the second drive unit, the vehicle pushes itself forward in the first spatial direction.

[0036] According to one embodiment, the elongated gearing wheel is tapered at the end to allow a smooth transition to the further raster, which reduces the risk of being stopped or damaged by imperfect alignment with the sub-raster element.

[0037] The above-mentioned object is likewise solved by a crawler type vehicle arrangement (particularly a ceiling vehicle arrangement) comprising at least one vehicle (particularly a ceiling vehicle) as described above and a / that structure (particularly a ceiling structure) exhibiting a plurality of profiles (particularly (parallel) T-profiles) defining a / that raster of the structure, the raster of the relative arrangement of the suspended support elements corresponds to the raster of the structure, a subset of the suspended support elements (i.e. the suspended support elements temporarily engaged in the profiles) are arranged / configured to be guided / driven along the profiles in a (first) spatial direction defined by the structure, the locomotion of the vehicle thereby having at least two degrees of freedom. This provides the above-mentioned advantages, in particular in view of an optimized form-fit at the bonding interface between the suspended support elements and the structure.

[0038] The above stated object is similarly solved by a crawler type vehicle arrangement comprising at least one crawler type vehicle having a spur gear and a structure exhibiting a plurality of first profiles defining a raster of the structure in a first spatial direction, the plurality of profiles each exhibiting a plurality of second profiles defining a raster of the structure in a second spatial direction, the suspended support element being configured to be guided along the first profiles in the first spatial direction defined by the structure, the locomotion movement of the vehicle having at least two degrees of freedom, and the gearing wheels being configured to mesh with the second profiles such that the crawler type vehicle can move in all directions by means of at least two individually controllable drive units.

[0039] The above-mentioned object is likewise solved by a method for suspending / suspending (meaning actively driving the crawler type ceiling vehicle) in / from a (ceiling) structure a crawler type vehicle, in particular a crawler type vehicle as described above, for head-on suspension and movement from a (ceiling) structure, the ceiling vehicle being suspended by a plurality of suspension elements connecting the (ceiling) vehicle to the (ceiling) structure, the circumferential guiding / driving movement being provided by at least one drive unit connected to a motor housing first and second circumferential tracks having different circumferential shapes / contours. The suspended support elements are mounted on a first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the (ceiling) structure, the (ceiling) vehicle is suspended such that when the suspended support elements are guided along the circumferential track by a circumferential movement (guiding / driving movement), the vehicle can move along the (ceiling) structure by uncoupling a subset of the plurality of suspended support elements from coupling, respectively, within the ceiling structure, and further motors are connected to a second drive unit such that the vehicle can actively move in two dimensions along the structure. This provides the advantages mentioned above, in particular in view of the high degree of autonomy (mobility) and security of any movement along the ceiling structure.

[0040] The above-stated object can likewise be solved by a method for providing a two-dimensional crawler-like locomotion by means of a crawler-type ceiling vehicle, in particular by means of the crawler-type ceiling vehicle described above, suspended upside down in a ceiling structure defining a first spatial direction, a plurality of suspended support elements, which suspend the ceiling vehicle, are temporarily coupled to the ceiling structure such that the suspended support elements can be moved / driven via a motor along the ceiling structure in said first spatial direction, and the circumferential guiding / driving movement is provided by at least one drive unit (in particular crawler-like) which accommodates a first circumferential track and a second circumferential track. wherein the suspended retention element is attached to a first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the ceiling structure in a second spatial direction of said spatial direction, the suspended retention element engages with a second circumferential track at a predefined second longitudinal position, the first and second tracks having different shapes / contours, the suspended retention element being separated from coupling into the ceiling structure by a / the said circumferential guiding / driving movement of at least one drive unit or track, respectively, and during the circumferential guiding / driving movement in the second spatial direction the first and second tracks remain in a (fixed) relative arrangement configuration, in particular a parallel arrangement configuration, relative to each other.

[0041] The above stated object may likewise be solved by a method for providing crawler-like locomotion or positioning by a crawler type vehicle coupled to a structure having a predefined raster, in particular by a crawler type vehicle as described above, wherein a plurality of suspended retaining elements of the vehicle are temporarily coupled to the structure, and a separation / coupling kinematics comprising a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track at least in the curved section of the track(s) is provided, in particular by at least one drive unit (in particular a drive unit for driving the first and second circumferential tracks) adapted to guide / drive the suspended retaining elements along the curved section of the circumferential track. the separation / coupling kinematics enabling a subset of the suspended retention elements to be separated / coupled from / to the structure, respectively, by a first circumferential track (such as a roller track), the suspended retention elements being coupled to a first circumferential track at a predefined first longitudinal position corresponding to a raster of the structure and the suspended retention elements being guided in / by a second circumferential track at a respective second longitudinal position that is longitudinally offset with respect to the respective first longitudinal position, the separation / coupling kinematics providing both a first (vertical) movement perpendicular to the movement / driving direction of the circumferential track and a second movement to pivot each suspended retention element as the suspended retention elements are guided / driven along a certain / relevant (temporary) curved section of the circumferential track by the circumferential guiding / driving movement.

[0042] The circumferential motion is transmitted / transferred by the suspended retaining elements temporarily engaged in the ceiling structure. This also allows any forces and thrusts to be distributed by the suspended retaining elements temporarily engaged in the ceiling structure. In other words, scaling can be easily done with the length of the vehicle. It should be noted that the action can be provided by the (respective) drive unit(s) and only the reaction is provided by the ceiling structure. There is no need for any active components or drives acting within the ceiling structure.

[0043] The guiding / driving movement is provided by first drive units, one of which provides a circumferential movement of a first subset of the suspended holding elements on a first closed-loop track (particularly in a first direction) and another of which provides a circumferential movement of a second subset of the suspended holding elements on a second closed-loop track (particularly in a second direction, the direction of movement of which is optionally the same or different from the first closed-loop track, in particular opposite to the first closed-loop track, in particular in a second direction opposite to the first closed-loop track). This arrangement likewise favors a secure method of coupling, the vehicle can be fixed in different spatial directions.

[0044] The above mentioned object is also solved by a computer program comprising instructions for causing a computer to carry out, when the program is executed by the computer, the steps of the above described method, in particular with respect to providing and controlling a circumferential guidance / drive movement by controlling at least one of the first drive units, which provides the above mentioned advantages, in particular in view of the remote control of the vehicle.

[0045] The above-stated object is likewise solved by the use of at least one crawler-type drive unit housing first and second circumferential tracks having different circumferential shapes / contours for suspending / holding and actively driving a crawler-type ceiling vehicle, in particular for suspending / holding and actively driving the crawler-type ceiling vehicle described above, in order to move it headfirst in a ceiling structure, in which the ceiling vehicle is suspended by a plurality of suspended support elements coupling the ceiling vehicle to the ceiling structure, the suspended support elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to a raster defined by the ceiling structure, and a / said circumferential guiding / driving movement is provided by at least one of the first drive units, in such a way that the vehicle moves along the ceiling structure by detaching a subset of the plurality of suspended support elements, respectively, from coupling to the ceiling structure when the suspended support elements are guided / driven along the circumferential track in a second spatial direction. This provides the advantages mentioned above, especially considering that it also allows for a simple and cost-effective ceiling construction. In other words, at least one crawler type drive unit provides both the separation / connection kinematics and the suspension of the vehicle at the same time (simultaneously). In that respect, using battery technology (embedded in the vehicle to provide energy to the vehicle, e.g., to power the on-board controller, hoist(s), and motor(s) for locomotion) can make the vehicle even more autonomous.

[0046] These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. Individual features disclosed in the embodiments can constitute aspects of the invention alone or in combination. Features of different embodiments can be carried over from one embodiment to another. [Brief description of the drawings]

[0047] [Figure 1A] FIG. 2 is a perspective view of a component (first drive unit) of the ceiling vehicle. [Figure 1B] FIG. 2 is a perspective view of a component (first drive unit) of the ceiling vehicle. [Figure 1C] FIG. 2 is a perspective view of a component (first drive unit) of the ceiling vehicle. [Figure 1D] FIG. 2 is a perspective view of a component (first drive unit) of the ceiling vehicle. [Figure 1E] FIG. 2 is a perspective view of a component (first drive unit) of the ceiling vehicle. [Figure 1F] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1G] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1H] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1J] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1K] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1L] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1M] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1N] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 1O] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 2A] FIG. 2 is a perspective view of the arrangement of the suspended support elements and their respective locations along the circumferential track of the ceiling vehicle. [Figure 2B] FIG. 2 is a perspective view of the arrangement of the suspended support elements and their respective locations along the circumferential track of the ceiling vehicle. [Figure 2C] FIG. 2 is a perspective view of the arrangement of the suspended support elements and their respective locations along the circumferential track of the ceiling vehicle. [Figure 3A] FIG. 2 is a detailed perspective view of a suspension support element of the ceiling vehicle. [Figure 3B] FIG. 2 is a detailed perspective view of a suspension support element of the ceiling vehicle. [Figure 3C] FIG. 2 is a detailed perspective view of a suspension support element of the ceiling vehicle. [Figure 4A] FIG. 2 is a perspective view of a component (first drive unit) of the ceiling vehicle. [Figure 4B] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 4C] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 4D] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 4E] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 4F] FIG. 2 is a side view of a component (first drive unit) of the ceiling vehicle. [Figure 4G] FIG. 2 is a perspective view of a component (first drive unit) of the ceiling vehicle. [Figure 5A] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle. [Figure 5B] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle. [Figure 5C] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle. [Figure 5D] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle. [Figure 6A] FIG. 1 is a side view of the components of a ceiling vehicle (full suspension support). [Figure 6B] FIG. 1 is a side view of the components of the ceiling vehicle (suspension support for vertical inertial and lateral forces). [Figure 7A]1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle. [Figure 7B] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle. [Figure 7C] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle. [Figure 7D] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle. [Figure 8A] FIG. 1 is a perspective view of a ceiling vehicle with a counter bearing. [Figure 8B] FIG. 1 is a perspective view of a ceiling vehicle with a counter bearing. [Figure 9A] FIG. 1 is a perspective view of a ceiling vehicle without a counter bearing. [Figure 9B] FIG. 1 is a perspective view of a ceiling vehicle without a counter bearing. [Figure 10A] FIG. [Figure 10B] FIG. [Figure 11A] FIG. 11 is a detailed perspective view of the suspension support elements (and their suspension supports) of the ceiling vehicle shown in FIG. 10. [Figure 11B] FIG. 11 is a detailed perspective view of the suspension support elements (and their suspension supports) of the ceiling vehicle shown in FIG. 10. [Figure 11C] FIG. 11 is a detailed perspective view of the suspension support elements (and their suspension supports) of the ceiling vehicle shown in FIG. 10. [Figure 12A] FIG. 11 is a detailed side view of the suspended support element of the ceiling vehicle shown in FIG. 10. [Figure 12B] FIG. 11 is a detailed side view of the suspended support element of the ceiling vehicle shown in FIG. 10. [Figure 13] FIG. 11 is a detailed perspective view of the ceiling vehicle shown in FIG. [Figure 14A] FIG. 11 is a detailed perspective view of the suspension support elements (and their suspension supports) of the ceiling vehicle shown in FIG. 10. [Figure 14B]FIG. 11 is a detailed perspective view of the suspension support elements (and their suspension supports) of the ceiling vehicle shown in FIG. 10. [Figure 15] FIG. 11 is a side view of components of the first drive unit of the ceiling vehicle shown in FIG. 10. [Figure 16A] FIG. 11 is a perspective view of a portion of the details of the suspended support element of the ceiling vehicle shown in FIG. 10 . [Figure 16B] FIG. 11 is a perspective view of a portion of the details of the suspended support element of the ceiling vehicle shown in FIG. 10 . [Figure 17] FIG. 7 is a side view of the ceiling vehicle shown in FIG. 6 according to the embodiment. [Figure 18] FIG. 18 is a rear view of the ceiling vehicle of FIG. 17. [Figure 19] FIG. 18 is a top view of the ceiling vehicle of FIG. [Figure 20] FIG. 18 is a bottom view of the ceiling vehicle of FIG. [Figure 21] FIG. 18 is a perspective view of the ceiling vehicle of FIG. [Figure 22] FIG. 18 is a diagram showing details of a component (second drive unit) of the ceiling vehicle of FIG. 17. [Figure 23] 18 is an exploded view of the components (first drive unit and second drive unit) of a vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 17. [Figure 24A] 18 shows details of components of a vehicle (first drive unit and second drive unit) according to an embodiment, in particular according to the embodiment shown in FIG. 17. [Figure 24B] 18 shows details of components of a vehicle (first drive unit and second drive unit) according to an embodiment, in particular according to the embodiment shown in FIG. 17. [Diagram 25] 7 is a side view similar to that of FIG. 6 of a ceiling vehicle according to a further embodiment. [Figure 26] FIG. 26 is a top view of the ceiling vehicle of FIG. 25. [Figure 27] FIG. 26 is a bottom view of the ceiling vehicle of FIG. 25. [Figure 28]FIG. 26 is a perspective view of the ceiling vehicle of FIG. 25. [Figure 29A] FIG. 26 is a close-up view of the interaction of the ceiling vehicle with the structure of FIG. 25. [Figure 29B] FIG. 26 is a close-up view of the interaction of the ceiling vehicle with the structure of FIG. 25. [Figure 29C] FIG. 26 is a close-up view of the interaction of the ceiling vehicle with the structure of FIG. 25. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0048] Initially, reference will be made in general terms and specific reference will be made to the respective figures.

[0049] The invention provides a vehicle 10, in particular a ceiling vehicle 10, having at least one drive unit 11 (in particular like a crawler track), in particular a first drive unit 11a and a further first drive unit 11b and optionally also a further first drive unit 11c. The vehicle 10 is configured to move along a ceiling structure 1 exhibiting a predefined raster 1a, for example defined by a T-profile, a T-rail 1.1 or any such profile rail, respectively. The profile 1.1 exhibits at least one wheel tread 1.2 and optionally a power rail 1.3 providing an energy supply may be arranged on the profile. The vehicle 10 is coupled to the structure 1 and is suspended by a number of suspension support elements 13 (for example each including at least one element of a chain). The crawler type ceiling vehicle arrangement 100 consists of at least one ceiling vehicle 10 and at least one ceiling structure 1.

[0050] At least one drive unit 11 provides a drive mechanism 11.1 with at least one motor or actuator that allows the circumferential movement of the suspended holding element 13 along the circumferential track 12, i.e. simultaneously along the first and second circumferential tracks 12a, 12b exhibiting respective shapes / contours XZa, XZb. Preferably, the tracks only extend in two dimensions (2D), i.e. in a plane, and the shapes differ at least in the curved sections of the tracks. Each track 12a, 12b exhibits a parallel / straight section 12p (respectively, two parallel sections) and a redirection / curved section 12r (respectively, two curved sections). The lateral areas, respectively, of the at least one drive unit, the surface shell 11.2, respectively, are preferably flat, planar, horizontal, respectively, on each side. Such an arrangement is likewise preferred in view of the interconnection of several drive units.

[0051] The vehicle 10 presents at least one further first drive unit 11b presenting first and second circumferential tracks 12a, 12b and housing a number of further suspended holding elements 13b arranged in mirror image with respect to the suspended holding elements 13 of the first drive unit 11a. The first and second drive units 11a, 11b provide a movement movement (e.g. by synchronous guiding / driving movement of / with respect to the suspended holding elements), the drive units 11a, 11b may be interconnected, for example, by a cross beam or the like. Similarly, the first and second drive units 11a, 11b may provide different driving movements, for example to enforce non-linear, but curved / curved, movement movements. The desired / required movement movement may be controlled by a control unit 30 coupled to at least one motor or actuator 17. In particular, the vehicle may be provided as a kind of passive vehicle whose locomotion is induced by external forces. In such a configuration, the kinematics of the present invention provide for suspending / holding the vehicle but not for actively driving it for any locomotion. The drive section may also comprise at least one gear unit 18 configured to interact with the track(s) and at least one energy storage unit 19. A sensor arrangement 40, for example comprising position and speed sensors and / or weight sensors and / or gyroscopes, may provide sensor data to the control unit.

[0052] Each suspended holding element 13 presents a first pulley 13.1 and a second pulley 13.2, optionally a wheel 13.3, which is provided at the free end of the suspended holding element 13 (bearing point P13). The first and second pulleys are arranged on a lever arm 13.5 at a distance from / relative to each other (y offset, longitudinal extension y13 of the lever arm). Respectively, the bearing point P13, the wheel 13.3 is arranged on a protruding section, respectively, of the suspended holding arm 13.6 (z offset). At the free end of the suspended holding arm, optionally, respectively, a current collector, a power slider 13.4 (conductive slider for energy transfer) is provided in an arrangement that corresponds geometrically to a / the power rail 1.3 of the / the respective profile 1.1. The multiple suspended holding elements 13 of a / the respective drive unit 11 can be interconnected via a longitudinal connection element 15 that can ensure a closed loop 15a of the mutually associated suspended holding elements. To this end, the suspended retaining elements 13 are connected to the respective circumferential tracks.

[0053] In other words, the suspended holding element preferably presents a wheel 13.3 which performs a rolling movement on the profile, allowing a movement which is perpendicular to the movement predefined and caused by the track, the wheel being positioned perpendicular to the first and second pulleys. The wheel is motorized by a further actuator or motor. The first pulley 13.1 engages with a first or second circumferential track and thereby follows said track, and similarly the second pulley 13.2 engages with a first or second circumferential track and thereby follows said track (different from the track engaged by the first pulley, i.e. vice versa). The lever arm 13.5 is preferably L-shaped and is provided as a one-piece (bulk, solid) integral element, in particular.

[0054] Preferably, the structure 1 and its raster 1a are defined by profiles 1.1 arranged parallel to and having a similar distance (pitch) to adjacent profiles. Each profile (e.g. T-profile, C-profile, L-profile, I-profile) is preferably configured to support a suitable geometry / surface(s) for interaction with the wheel(s) of the suspended holding element, and a series of such profiles preferably provides a planar surface at least in several sections.

[0055] By means of the circumferential track and the suspended support elements, the (respective) drive unit provides a separation / coupling kinematics 20 that ensures both a vertical movement kinematics 20a and a non-circular pivoting movement kinematics 20b. Thereby, separation / coupling of each suspended support element can be brought about by a circumferential movement along the track, without the need for any axial telescopic movement within each suspended support element. That is to say, the suspended support elements can be designed purely as mechanical engineering units.

[0056] In particular, in terms of logistic tasks, the vehicle 10 may exhibit at least one hoist unit 50 providing a towing mechanism 51 (in particular having a rope winch), the hoist unit 50 having at least one transmission means 53 (in particular a rope).

[0057] In the following, the kinematics provided by the guide / drive motion along the circumferential track are generally described, first: The first pulley 13.1 of each suspended retaining element 13 rotates about a first pulley axis X13.1 and defines a first induction point G13.1 (connecting the first track and the respective suspended retaining element) and vice versa, the corresponding point of the corresponding circumferential track defines for each suspended retaining element its first induction point G13.1. Similarly, the second pulley 13.2 of each suspended retaining element 13 rotates about a second pulley axis X13.2 (preferably aligned in parallel) and defines a second induction point G13.2 (connecting the second track and the respective suspended retaining element). When referring to the kinematics of each suspended support element, the instantaneous center of rotation Cr of each suspended support element is defined by the axis X13.1 of the first pulley 13.1 coupled to the first track 12a, and the coupling / attachment / fixing can be ensured, for example, in the axial section between one / the suspended support arm 13.6 and the first pulley 13.1 (see FIG. 3B). The two tracks 12a, 12b are arranged relative to another such that the contact / bearing point / area P13 of the respective suspended support element 13 can be fastened or hung on the ceiling structure. The wheel 13.3 of each suspended support element rotates around a wheel axis Y13.3 that is preferably aligned perpendicularly to the first and second pulley axes X13.1, X13.2. Each suspended holding element 13 is coupled to the tracks 12a, 12b at a predefined position, i.e. at a predefined first longitudinal position y12a by the first pulley 13.1 and at a predefined second longitudinal position y12b by the second pulley 13.2, respectively, when driving the tracks and guiding the suspended holding element along the tracks, so that the bearing point P13 at the free end of the suspended holding element 13 is guided according to the relative position / contour and distance of the tracks.

[0058] In the figure, (x) designates a / the first spatial direction (in particular the transverse direction, in particular the direction of the longitudinal extension of the T-profile), (y) designates a / the second spatial direction (in particular the longitudinal direction or the temporary drive direction of the drive unit), and (z) designates a / the third spatial direction (in particular the vertical direction).

[0059] Figure 1A shows a (ceiling) vehicle 10 showing a first drive unit 11 and suspended support elements 13, a subset of which are temporarily coupled to a / the ceiling structure 1, i.e. a T-profile. The suspended support elements 13 are guided along two circumferential tracks (not shown, see Figure 1C) and are also actively driven, the decoupling / coupling being performed within curved sections of the tracks.

[0060] The vehicle 10 shown in Figure 1A is suspended / suspended in a ceiling structure. However, the vehicle 10 may similarly be suspended in a similar structure located on the ground or on a wall. The vehicle is not necessarily provided in the form of a ceiling vehicle, rather Figure 1A illustrates application / use in a ceiling structure.

[0061] 1B, 1C, 1D, 1E show the separate components of each first drive unit 11, 11a, 11b, 11c. At least one drive 17 provides the circumferential movement of the tracks 12a, 12b, in particular by means of at least one gear unit 18 engaging the tracks. It is shown that a separation / coupling kinematics is provided in the curved section 12r of the first and second circumferential tracks 12a, 12b. In contrast, in the parallel section(s) 12p, the suspended retaining element 13 remains in a predefined relative position in / with respect to the ceiling structure. In that section, the axis Y13.3 of the wheel 13.3 of each suspended retaining element 13 is aligned parallel to the parallel section(s) 12p of the tracks.

[0062] If the vehicle shows several first drive units 11a, 11b, some of these components, in particular the suspended support elements (see FIG. 4A), may be arranged similarly in a mirror image, so that any detailed description in the figures relating to any separate / single component of the respective drive unit can also describe a similar configuration of any further drive units or any further redundant components.

[0063] 1F, 1G show the curved section 12r in more detail. It can be seen that both the radius of curvature of the tracks and the distance of the tracks relative to each other deviate / change in value and direction, thereby resulting in a pivoting movement (in particular in the plane yz and around the x-axis and the instantaneous center of rotation Cr shown in FIG. 1F) of the bearing point P13 of the respective suspended retaining element 13 of the suspended retaining arm 13.6 (projecting section) and the wheel 13.3, respectively. Thus, both the vertical movement kinematics 20a and the non-circular pivoting movement kinematics 20b can be provided by hard / rigid components guided / driven along two circumferential tracks with different shapes / contours.

[0064] 1H, 1J, 1K, 1L, 1M, 1N, 1O show some more details of the separation / coupling kinematics 20. In particular, it can be seen that the first track 12a has a curved bent-up, i.e. resulting in a slight lifting of the wheel 13.3 from the wheel tread 1.2, i.e. when the first pulley 13.1 passes through that section. In particular, except for one section, the shape / contour XZb of the second circumferential track 12b extends (is located) within the shape / contour XZa of the first circumferential track 12a.

[0065] 2A, 2B, 2C show a number of suspended support elements 13 interconnected by longitudinal connecting elements 15, thereby ensuring a closed loop 15a of interrelated suspended support elements. The suspended support elements 13 are coupled to respective circumferential tracks 12a, 12b by first and second pulleys 13.1, 13.2.

[0066] In the embodiment shown in Figure 2, the first and second pulleys 13.1, 13.2 are arranged on opposite sides of the respective suspended support element 13. Thus, the closed loop 15a of the mutually associated suspended support element is arranged between the first and second tracks 12a, 12b which extend on both sides of the closed loop 15a.

[0067] The tracks 12a, 12b may be made of any kind of rail guide system components, including, inter alia, at least one chain, belt, cable, or similar traction or transmission means. The tracks 12a, 12b may comprise different guide / rail sections joined together, each of which may be straight or exhibit a different radius of curvature. Similarly, the tracks 12a, 12b may be formed / made by / on a single continuous / coherent rail.

[0068] 3A, 3B, 3C show some more details of the suspended retaining element 13 and the connecting element 15. For example, the connecting element 15, in the case of the first pulley 13.1, is coupled to a lever arm 13.5 at an axis X13.1, thereby facilitating a pivoting movement about that axis (respectively about the respective instantaneous centre of rotation Cr).

[0069] Figures 4A, 4B, 4C, 4D, 4E, 4F, 4G show an embodiment of the vehicle 10 showing three first drive units 11a, 11b, 11c which may be related / connected to each other, for example, by a cross beam or the like. In contrast to the configuration of the first drive unit 11a, the suspended retaining elements 13b of the further first drive unit 11b are arranged in a mirror image inversion, whereas the suspended retaining elements 13 of the further first drive unit 11c are arranged in the same way as the suspended retaining elements 13 of the first drive unit 11a. As can be seen in Figures 4E, 4F, the configuration allows a very good security and stability level (both types of suspended retaining elements 13, 13b are guided along the T-profile, but on different sides of the T-profile). Alternatively, the vehicle 10 can only be equipped with two first drive units 11a, 11b.

[0070] 5A, 5B, 5C, 5D show different types of locomotion that can be provided by the vehicle 10 described herein. As already explained further above, the present invention allows two-dimensional locomotion in both a first spatial direction (x) (dashed arrow) corresponding to the longitudinal direction / extension of the T-profile 1.1 and a second spatial direction (y) (dotted arrow) corresponding to the drive direction, track direction / extension, respectively.

[0071] It should be mentioned that a person skilled in the art knows that the T-profile shown in the figure can be provided as well as other types of profile rails, i.e. the mechanism / kinematics of the present invention is not limited to the use of T-profiles only, but rather other profiles can be used which also provide suitable suspension support for the suspension support elements and, optionally, guiding tracks for the wheels as well.

[0072] In the following, further aspects / details of the embodiments of the invention are described in more detail. For any reference signs or elements / components or aspects not explicitly mentioned / described, reference is made to the above-mentioned embodiments, respectively. The embodiments described in the following paragraphs show a first drive unit with a chain drive, where a first circumferential track is provided with a chain (having a closed loop of interrelated chain elements arranging corresponding suspended retaining elements and optionally also counter-bearing elements), the longitudinal connection elements of which first drive unit are provided in the form of chain elements.

[0073] FIG. 6A shows a vehicle exhibiting means for avoiding any relative movement of the vehicle with respect to the structure (fully suspended, in particular also taking into account any relative movement perpendicular / vertical to the structure), while FIG. 6B shows an arrangement which at least ensures secure suspended position taking into account vertical inertial and lateral forces (suspended position without counter-bearing).

[0074] Figures 7A, 7B, 7C, 7D show a ceiling vehicle arrangement 100 with a ceiling vehicle 10 showing three drive units 11a, 11b, 11c. As already explained further above, the invention allows two-dimensional locomotion movements in both a first spatial direction (dashed arrow) corresponding to the longitudinal direction / extension of the T-profile 1.1 and a second spatial direction (dotted arrow) corresponding to the driving direction of the track, respectively the direction / extension of the track. Depending on the structure / or orientation of the T-profile 1.1, the first and / or second spatial direction can also include a vertical (z) component (inclined plane / level), as shown in Figures 7C, 7D.

[0075] Therein, the coordinates x, y shown in the figure in terms of an inclined plane refer to the longitudinal extension (x) of the (ceiling) structure.

[0076] The vehicle 10 shown in Fig. 7A is suspended in a ceiling structure. Nevertheless, the vehicle 10 may similarly be suspended in a similar structure disposed on the ground or on a wall. The vehicle is not necessarily provided in the form of a ceiling vehicle, rather Fig. 7A shows an application / use in a ceiling structure. The same is true for any further figures of the present disclosure that show an application / use in a ceiling structure, merely by way of example.

[0077] 8A, 8B show some more details of the ceiling vehicle 10 showing three first drive units 11a, 11b, 11c arranged laterally relative to each other, one of the (central) further first drive units 11b arranged between the first drive units does not show a suspended retaining element but a counter bearing 16, and FIGS. 9A, 9B show some more details of the ceiling vehicle 10 showing two first drive units 11a, 11c (each without a counter bearing). In the embodiment shown in FIG. 8, the further first drive unit 11b provides a counter bearing 16 that is coupled to the chain 15a. That is to say, the first circumferential track provides the positioning and movement of the counter bearing 16. It should be noted that in the embodiment shown in the figures, these counter bearings 16 are intended to interfere with the structure only on the face side, and therefore no separation / coupling kinematics are provided in terms of these counter bearings 16. There is therefore no need to provide any further second circumferential track in / for the centrally arranged further first drive unit 11b, so that in this embodiment the centrally arranged further first drive unit 11b, which houses (only) the counter-bearing, only represents a / the first circumferential track.

[0078] 10A, 10B show some details of the first drive unit 11, 11b which does not house a suspended retaining element but only houses a counter-bearing.

[0079] Figures 11A, 11B, 11C and 12A, 12B and 13 and 14A, 14B show some kinematic aspects of the first drive unit which houses / positions / guides both the suspended retaining element 13 and the further suspended retaining element 13b. Figure 13 also shows that one (respective) first drive unit 11 can comprise a first circumferential track (here provided / defined by a chain 15a) and two second circumferential tracks 12b, these two second circumferential tracks 12b being asymmetrically arranged, i.e. the shape / contour XZb is asymmetric. Such an arrangement likewise makes it possible to provide separation / engagement kinematics for both the plurality of suspended retention elements 13 and the plurality of further suspended retention elements 13b, in particular on the same profile rails at opposite sides, in particular such that both types of suspended retention elements 13, 13b can interact and engage, respectively, in the same (but asymmetrical) way as in the structure 1. Such an arrangement also allows already to ensure a high security and stability level with one single first drive unit 11. Scaling of the first drive units (to two, three or even a higher number) is thus feasible in an even more flexible manner, and the individual arrangements can be optimized for each application.

[0080] A first circumferential track, a / the chain may / can provide for guiding and driving both the suspended retaining element 13 and the further suspended retaining element 13b. It should be noted that both types of suspended retaining elements 13, 13b can be connected to the chain structure (see FIG. 16B) by a protruding axial section (guiding bolt or shaft) 13.7, which protrudes, for example, relative to the first pulley 13.1, in particular along its axis X13.1. In particular, the suspended retaining element 13 and the further suspended retaining element 13b are arranged with a longitudinal offset (y) and are mirror-imaged on both sides of the chain 15a. In particular, the longitudinal distance (y) of each suspended retaining element 13 and each further suspended retaining element 13b of each pair of suspended retaining elements 13, 13b corresponds to the transverse (y) extension of each element / profile of the (ceiling) structure.

[0081] FIG. 15 also shows the first circumferential track, respectively the guiding plank or rail 14 which allows for more precise guiding of the chain.

[0082] Figures 16A, 16B show further embodiments of the suspended retaining elements 13, which, in comparison with the suspended retaining elements described above in view of Figure 3, show two wheels or pulleys 13.3 arranged and configured to interact with the structure 1, and which can also show a further pulley suspended about an axis extending in the z-direction (shown in Figure 16B), which optional further pulley can ensure further / improved support and guidance for the structure.

[0083] In Figures 6A, 10A, 11C the contact point distances Δd provided by the different projection distances d1, d2 of the contact point P13 of the suspended retaining element and of the contact point of the counter-bearing (free end, in particular the wheel / pulley) are respectively shown by reference to their relative positioning in the (ceiling) structure.

[0084] Figure 17 shows a side view of an embodiment of a ceiling vehicle 10 suspended in a structure 1 according to the invention. The ceiling vehicle 10 is coupled to the structure 1 by its suspended retaining elements 13 as described in Figures 6A and 6B. Furthermore, a holonomic wheel set 21.2 can be seen, consisting of a number of coaxially aligned holonomic wheels 21.1. The holonomic wheel exhibits a number of evenly distributed rollers around its circumference, which allow the holonomic wheel to move passively in the direction of the first drive unit and active movement in a second direction when the holonomic wheel actively rotates along the axis of the holonomic wheel set 21.2.

[0085] A front view of the ceiling vehicle 10 can be seen in Figure 18. The ceiling vehicle 10 comprises a return mechanism 22 with a spring 22.1 which presses a set of holonomic wheels 21.2 against the structure 1 to ensure good traction. A second drive unit and a motor 27 which powers the holonomic wheels 21.1 can also be seen.

[0086] Figure 19 shows a top view of the ceiling vehicle 10. A first motor 17 connected to a first drive unit 11 and a second motor 27 connected to a second drive unit 21 and a holonomic wheel 21.1 are shown. The two motors 17, 27 can be individually controlled by a control unit such that the ceiling vehicle 10 is configured for omnidirectional movement along the structure 1. A bottom view of the ceiling vehicle 10 is shown in Figure 20.

[0087] By figures 21, 22 and 23 the configuration of the ceiling vehicle 10 is explained. The ceiling vehicle 10 comprises two first drive units and a second drive unit 21 configured to allow the movement of the ceiling vehicle 10. The second drive unit 21 with a holonomic wheel 21.1 is shown in figure 22. A first motor 17 is shown below the holonomic wheel 21.1 and is connected to the belt 21.5 to drive the first drive unit 11. A second motor 27 is arranged parallel to the holonomic wheel 21.1 and is connected to the holonomic wheel 21.1 via the second belt 21.5. A return mechanism 22 ensures the grip of the holonomic wheel 21.1 with the structure 1. The vehicle 10 can actively move in two spatial directions, the first spatial direction being predefined by the structure 1 and the second spatial direction being defined by the guiding / driving movement of the two first drive units. The exploded view in Figure 23 shows how the components are connected.

[0088] Figures 24A and 24B show a holonomic wheel 21.1 in contact with the structure 1. The contact is reinforced by return mechanisms 22 at both ends of the holonomic wheel 21.1. The enlarged view of Figure 24B shows a preferred configuration in which at least two of the holonomic wheels 21.1 are in contact with the T-profile 1.1 of the structure 1. Furthermore, each holonomic wheel 21.1 has an azimuth offset with respect to its neighboring holonomic wheels 21.1.

[0089] Figures 25, 26, 27 and 28 show a vehicle 10 according to a further embodiment, in which the second drive unit 21 is provided with an elongated gearing wheel 21.3 or spur gear for a form-fitting connection with the structure 1'. The structure 1' shows a further raster 1b on the bottom side of the T-profile 1.1. Preferably, the spur gear 21.3 is fixed at a predefined height. However, an optional return mechanism 22 is also shown. The bottom side of the T-profile 1.1 is shown in Figure 27. The further raster 1b corresponds to the teeth of the spur gear 21.3. The vehicle 10 also has two motors 17, 27 for active driving in two directions, namely a first motor 17 for driving the first drive unit 11 and moving the vehicle 10 perpendicular to the structure 1' and a second motor 27 for driving the second drive unit and moving the vehicle 10 along the T-profile 1.1.

[0090] When the vehicle 10 moves perpendicular to the structure 1' (in a second spatial direction), the teeth 21.4 of the spur gear 21.3 slide into / out of the further raster 1b of the structure 1'. In Figures 29A, 29B, and 29C, section C of Figure 26 is enlarged to show the process of sliding into the further raster 1b. The teeth 21.4 are tapered at the end to allow a smooth transition into the further raster 1b.

[0091] The embodiments shown here are merely examples of the present invention and therefore should not be understood as limiting. Alternative embodiments contemplated by those skilled in the art are likewise encompassed by the scope of protection of the present invention. [Explanation of symbols]

[0092] 1 Structure, e.g. ceiling structure 1' Structure, e.g. ceiling structure 1a Raster defined by structure 1b More rasters 1.1 Profile rails, in particular T-profiles and T-rails, respectively 1.2 Wheel tread 1.3 Power Rails 10 Vehicles, especially ceiling vehicles 11 First drive unit (especially for crawler trucks) 11.1 Drive Mechanism 11.2 The lateral area and surface shell of each of the drive units 11a First drive unit, in particular a chain drive unit 11b Further first drive units 11c More Primary Drive Units 12 Circumferential Tracks 12a first circumferential track, in particular with chains 12b Second circumferential track 12p Parallel / Straight Section of Track 12r Track redirection section / curved section 13 respectively, the suspension element and the chain element 13b Further Suspension Retention Elements 13.1, 13.2 First pulley, second pulley 13.3 Wheels 13.4 Current collector, power slider (conductive slider for energy transfer) 13.5 Lever Arm 13.6 Protruding Sections / Suspension Support Arms 13.7 Projecting axial sections (guiding bolts or shafts) 14 Guiding Plank or Rail 15 Longitudinal connecting elements, in particular chain elements 15a A closed loop of interrelated suspended support elements, in particular a chain 16 Counter bearing 16.1 Wheels and pulleys 17 first motor or actuator 18 gear unit 18a Further Gear Units 18b Chain tensioning device 19 Energy Storage Unit 20 Separate / Combine Kinematics 20a Vertical Motion Kinematics 20b Non-circular turning kinematics 21 Second Drive Unit 21.1 Holonomic Wheel 21.2 Holonomic Wheel Set 21.3 Spur Gear 21.4 Teeth 21.5 Belt 22 Return mechanism 22.1 Springs 27 Second Motor 30 Control Unit 40 Sensor arrangement configuration 50 Hoist Unit 51 Traction mechanisms, in particular rope winches 53 Means of transmission, in particular ropes 100 Crawler type (ceiling) vehicle configuration Cr Instantaneous rotation center d1 protruding distance of the contact point of the suspended support element d2: The protruding distance of the contact point of a / the counter bearing Δd Contact point distance G13.1 First guide point or axis (connecting the first track and the suspended support element) G13.2 Second guide point or axis (connecting the second track and the suspension support element) P13 Contact / bearing points / areas of suspended support elements with ceiling structure X13.1 First pulley shaft X13.2 Second pulley shaft XZa First circumferential track shape / contour XZb Second circumferential track shape / contour Y13.3 Wheel axis y12a: first predefined vertical position y12b Predefined second vertical position y13 Vertical extension of lever arm x the first spatial direction, in particular the direction of the longitudinal extension of the T-profile y - the second spatial direction, in particular the longitudinal or drive direction z The third spatial direction, specifically the vertical direction

Claims

1. In particular, a crawler-type vehicle (10) configured to move while suspended upside down in a ceiling structure (1), wherein the vehicle (10) A plurality of suspension elements (13, 13b) configured to suspend and hold a vehicle (10) and to connect the vehicle (10) to a structure (1), The diagram shows at least one first drive unit (11, 11a, 11b, 11c) configured for circumferential motion, housing a first circumferential track (12a) and a second circumferential track (12b) having a different circumferential shape / contour from the first circumferential track. The suspension elements (13, 13b) are attached to a first circumferential track (12a) at a predetermined first longitudinal position corresponding to a predetermined raster, and the vehicle (10) is a crawler-type vehicle configured to move along the structure (1) by separating a subset of the suspension elements (13, 13b) from being coupled to the structure (1) as the suspension elements (13, 13b) are guided along two circumferential tracks (12, 12a, 12b) by circumferential motion.

2. The vehicle At least one second drive unit (21) configured to enable movement of the overhead vehicle (10) in at least two spatial directions, namely a first spatial direction predetermined by the structure (1) and a second spatial direction defined by the guiding / driving motion of at least one first drive unit (11), wherein the second spatial direction is perpendicular to the first spatial direction, and the second drive unit (21) is configured for movement of the vehicle (10) in the first spatial direction, providing the vehicle (10) with at least two-dimensional mobility, and each suspension holding element (13) indicates at least one wheel (13.3) which is configured to be guided along the structure (1) on the wheel tread of each / corresponding profile of the structure, At least two individual controllable motors (17, 27), wherein at least one first drive unit (11) and at least one second drive unit (21) are connected to at least one motor (17, 27), and the motors (17, 27) for the first drive unit (multiple) (11) and the second drive unit (21) are different, providing the vehicle with active two-dimensional mobility. A crawler-type vehicle (10) according to claim 1, further comprising the above.

3. At least one first drive unit (11, 11a, 11b, 11c) of the crawler-type vehicle (10) is configured to enable a closed-loop trajectory for the suspension holding elements (13, 13a), The first and second circumferential tracks (12a, 12b) are shaped such that the suspension holding elements (13, 13a) are separated from / joined to structure (1) only when passing through the curved section of the track. The suspension elements (13, 13a) are securely attached to / connected to a first circumferential track (12a) by a first pulley, and each suspension element (13, 13a) is guided in a second circumferential track (12b) by a second pulley, the first and second pulleys are preferably positioned on the lever arms of each suspension element, each suspension element is preferably L-shaped, and / or each suspension element is positioned longitudinally relative to the first pulley on the lever arm of each suspension element, and the suspension elements are positioned by the first and second pulleys Coupled to first and second tracks, and / or each suspension element indicates a lever arm housing / supporting a pulley guided by the second track, the pulley positioned at the free end of the lever arm, and in a straight section of the track, the lever arm points at least approximately in the direction of drive / movement, and / or the suspension elements (13, 13b) are connected to one another by longitudinal connecting elements, in particular by longitudinal connecting elements connected at the axis of the first pulley of each suspension element, thereby forming a closed loop of related suspension elements (13, 13b) spaced apart from each other in a predetermined raster. A first circumferential track (12a) is provided / defined by a chain that shows a chain or forms a closed loop of related chain elements connecting suspension holding elements (13, 13b), and the vehicle (10) shows a plurality of counter bearings that are specifically configured and arranged to interact with the ceiling structure (1) at the front, the plurality of counter bearings preferably coupled to the first circumferential track (12a) which is specifically coupled to the chain elements of the first circumferential track, The vehicle (10) shows a further first drive unit that accommodates further circumferential tracks (12a, 12b), and a plurality of further suspension elements (13b) are attached to the further circumferential tracks at predetermined longitudinal positions corresponding to predetermined rasters, and are configured to suspend and hold the vehicle (10) and connect the vehicle (10) to the structure such that the vehicle (10) is fixed in the structure with respect to the reverse direction, and the vehicle (10) shows further suspension elements (13b) attached to the further circumferential tracks (12a, 12b), and suspension elements (13) and further suspension elements that temporarily engage with the structure (1) 13b) fixes / blocks the vehicle (10) in structure (1) with respect to the drive / movement direction and the opposite direction, and / or the vehicle (10) shows a further drive unit, the further drive unit showing the same configuration as the first drive unit but having a mirror-image arrangement of further suspension retaining elements (13b) and further circumferential tracks (12, 12a, 12b), in particular, the further suspension retaining elements (13b) are guided / driven in the opposite direction to the guidance direction of the suspension retaining elements (13) of the first drive unit, such that each suspension retaining element (13) and the further suspension retaining element (13b) are simultaneously separated / connected to / from the structure. In particular, at least one first drive unit is configured to unload each suspension element in an unloaded state from the structure (1) so that at least one drive unit simultaneously provides both separation / combination kinematics for a subset of temporarily unloaded suspension elements (13, 13b) and suspension holding of the vehicle (10) by the subset of temporarily loaded suspension elements (13, 13b), and / or at least one first drive unit has a substantially planar configuration, and / or the vehicle (10) is connected to each other. A crawler-type vehicle (10) according to claim 1, comprising at least two first drive units arranged parallel to each other, and / or circumferential tracks (12a, 12b) respectively guided / driven in a two-dimensional plane, and / or at least one first drive unit coupled by at least three suspension-holding element elements (13, 13b), and / or each suspension-holding element having an L-shape, the L-shape providing two arms that define the wheel of each suspension-holding element and the relative arrangement configuration of the first and second pulleys.

4. The crawler-type vehicle (10) according to claim 1, wherein the second drive unit (21) comprises at least one holonomic wheel (21.1).

5. The crawler-type vehicle (10) according to claim 4, wherein the holonomic wheel is disc-shaped and comprises a plurality of evenly distributed rollers around the circumference of the holonomic wheel.

6. The crawler-type vehicle (10) according to claim 5, wherein the second drive unit (21) comprises a holonomic wheelset (21.2) consisting of at least two coaxially arranged holonomic wheels (21.1).

7. The crawler-type vehicle (10) according to claim 6, wherein each of the coaxially arranged holonomic wheels (21.1) has a predetermined offset in the azimuthal direction with respect to adjacent holonomic wheels (21.1).

8. The crawler-type vehicle (10) according to claim 4, wherein at least one holonomic wheel (21.1) is connected to a return mechanism (22) that applies a force to the at least one holonomic wheel (21.1) that presses the at least one holonomic wheel against a structure (1).

9. The crawler-type vehicle (10) according to claim 1, wherein the second drive unit (21) comprises at least one wide, elongated gearing wheel (21.3) for engaging with a raster (1b) defined in a second spatial direction.

10. A crawler-type vehicle (10) according to claim 9, wherein the elongated gearing wheel (21.3) is tapered at its end.

11. A crawler-type vehicle arrangement configuration (100) comprising at least one crawler-type vehicle (10) according to any one of claims 1 to 8 and a structure (1) showing a plurality of profiles defining a raster of the structure, wherein the suspension-holding elements (13, 13b) are configured to be guided along the profiles in a first spatial direction defined by the structure, the moving motion of the vehicle has at least two degrees of freedom, and / or the structure (1) shows a plurality of profiles defining a raster of the structure, the vehicle (10) shows a plurality of further suspension-holding elements (13b) that suspend the vehicle (10) together with the suspension-holding element (13), and the suspension-holding element (13) and the further suspension-holding elements (13b) fix / block the vehicle (10) in the structure (1) with respect to the drive / movement direction.

12. A crawler-type vehicle arrangement configuration (100) comprising at least one crawler-type vehicle (10) according to claim 9 or 10 and a structure (1') showing a plurality of first profiles defining a raster of the structure in a first spatial direction, wherein each of the plurality of profiles shows a plurality of second profiles defining a raster of the structure in a second spatial direction, the suspension holding elements (13, 13b) are configured to be guided along the first profiles in the first spatial direction defined by the structure, the moving motion of the vehicle has at least two degrees of freedom, and the gearing wheels are configured to mesh with the second profiles so that the crawler-type vehicle (10) can move in all directions by at least two individually controllable motors (17, 27) and drive units (11, 21).

13. A method for suspending / holding a crawler-type vehicle (10), in particular the crawler-type vehicle (10) according to any one of claims 1 to 10, in and out of a structure (1) for upside-down suspension and movement of the vehicle (10), wherein the vehicle (10) is suspended by a plurality of suspension elements (13, 13b) connecting the vehicle (10) to the structure, the circumferential guidance / driving motion is defined by first and second circumferential tracks (12a, 12b) having different circumferential shapes / contours, the suspension elements (13, 13b) are attached to the first circumferential track at a predetermined first longitudinal position corresponding to a raster defined by the structure, and the suspension elements (13, 13b) are circular A method enabling active two-dimensional movement of a crawler-type vehicle (10), such that the vehicle (10) can move along the structure (1) by separating a subset of a plurality of suspension holding elements (13, 13b) from being coupled to the structure (1), the vehicle (10) is suspended and held, the circumferential motion is transmitted / transferred by suspension holding elements (13, 13b) that temporarily engage with the structure, and / or the circumferential motion is provided by a first drive unit (11a, 11b), and at least two motors power at least one first drive and at least one second drive.

14. A computer program comprising instructions to cause a computer to perform steps of the method according to claim 13, in view of providing and controlling circumferential induction / driving motion by controlling a first motor (17) connected to at least one first drive unit (11) and a second motor (27) connected to at least one second drive unit (21), when the program is executed by a computer.

15. The use of at least one crawler-type drive unit (11, 11a, 11b, 11c) housing first and second circumferential tracks (12a, 12b) having different circumferential shapes / contours, for suspending / holding and actively driving a crawler-type vehicle (10) in particular to move it in an upside-down suspended position in a structure, in particular for suspending / holding a crawler-type vehicle (10) according to any one of claims 1 to 10, wherein the vehicle (10) is suspended by a plurality of suspension elements (13, 13b) connecting the vehicle (10) to a structure The suspension elements (13, 13b) are held and mounted on a first circumferential track at a predetermined first longitudinal position corresponding to a raster defined by the structure, and the circumferential induction / driving motion is provided by a first motor (17) connected to at least one drive unit (11, 11a, 11b, 11c) so that the vehicle (10) moves along the structure (1) by separating a subset of the suspension elements (13, 13b) from being coupled to the structure (1).

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