Crawler Vehicle Suspension with Dynamic Decoupling Kinematics
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Solution Overview
Problem
Existing systems fail to provide reliable and accurate suspension and positioning of crawler type vehicles on ceilings or walls, especially in rough terrain, with unpredictable reaction forces, while ensuring predefined traveling motion and high positional accuracy.
Innovation Solution
A suspension arrangement with crawler type vehicles featuring suspension elements and de-/coupling kinematics, allowing vehicles to couple and decouple with structures in two spatial directions, using profile units and drive units connected by joints, enabling motion along curved paths and ensuring secure attachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If magnetic adhesion is used to ensure contact between the unit and structure, then reliability of contact is improved, but adaptability to different structure types is worsened
Solution Approach 1:
The suspension arrangement is divided into multiple independent suspension elements (first and second suspension elements) that can independently engage with the structure. Each suspension element can operate autonomously, allowing the system to adapt to different structural configurations while maintaining reliable contact through at least one engaged element.
Solution Approach 2:
The suspension elements are designed with universal engagement capability to interact with various structure types (ceilings, walls, columns) through a common engagement mechanism. The drive units and suspension elements can function in multiple modes (driving, suspending, positioning) across different structural environments, enhancing both reliability and adaptability.
2Measurement precision
If the vehicle is designed to move along predefined paths on ceilings or walls, then positioning accuracy is improved, but freedom of motion is worsened
Solution Approach 1:
The suspension arrangement employs dynamic suspension elements that can transition between engaged and disengaged states, and between different spatial orientations. The drive units can dynamically adjust their position and orientation while maintaining accurate positioning through controlled engagement with the structure, enabling both precision and freedom of motion.
Solution Approach 2:
The system operates in three-dimensional space, allowing the vehicle to move not only along predefined paths but also to adjust its position in multiple dimensions (x, y, and rotational dimensions). The suspension elements provide engagement in multiple spatial directions, enabling accurate positioning while maintaining freedom of motion through multi-dimensional control.
3Adaptability or versatility
If multiple drive units are used to enable omnidirectional motion, then freedom of motion is improved, but device complexity is worsened
Solution Approach 1:
The first and second drive units are integrated into a unified suspension arrangement with shared control and coordination mechanisms. The suspension elements serve dual purposes of both suspending the vehicle and providing engagement surfaces for the drive units, reducing overall system complexity while maintaining omnidirectional motion capability.
Solution Approach 2:
The suspension elements automatically engage and disengage based on the vehicle's motion requirements, reducing the need for complex external control mechanisms. The drive units coordinate their actions through the shared suspension structure, enabling omnidirectional motion through self-coordinating operations of the integrated components.
4Reliability
If the suspension system is designed for secure attachment to prevent falling, then reliability is improved, but ease of operation is worsened
Solution Approach 1:
The suspension elements incorporate dynamic engagement mechanisms that can quickly transition between locked and unlocked states. The coupling and decoupling operations are simplified through controlled release mechanisms that maintain secure attachment during operation but allow rapid release when needed, improving ease of operation without compromising reliability.
Data Source
Figure 1a~1d
Figure 2a~2c
Figure 2d~2j
AI summary
The invention relates to suspension arrangements (100) exhibiting at least one crawler type vehicle (10) and a structure (1, 1') extending in at least two spatial directions (x, y), wherein the structure (1, 1') comprises a plurality of profile units (1.1) extending in a first spatial direction (x), wherein the structure (1, 1') defines at least one structural regularity (1a) in a second spatial direction (y), wherein the crawler type vehicle (10) exhibits a plurality of suspension elements (13, 13a, 13b) configured for suspending the crawler type vehicle (10) and configured for coupling the crawler type vehicle (10) to the structure (1, 1') by means of de-/coupling kinematics depending on a relative motion of the crawler type vehicle (10) with respect to the structure (1, 1') in at least said second spatial direction (y), especially with the crawler type vehicle (10) being configured to be moved in said first spatial direction (x) along the profile units (1.1) irrespective of momentary motion in said second spatial direction (y), wherein the crawler type vehicle (10) exhibits at least two drive units (11) and at least one joint, especially a ball joint (14.1).