CRAWLER TYPE VEHICLE CONFIGURED FOR TRAVELING ALONG A STRUCTURE, METHOD OF HANGING/SUSPENDING THE VEHICLE FOR CARRYING OUT CRAWLER-LIKE TRAVELING MOTION ALONG THE STRUCTURE, AND USE OF AT LEAST ONE CRAWLER TYPE DRIVE UNIT FOR ACTIVE TRAVELING MOTION

Abstract

Crawler type vehicle configured for travelling in a suspended manner, exhibitinga plurality of suspension elements configured for suspending the vehicle and configured for coupling the vehicle to a ceiling structure, at least one first drive unit configured for circumferential motion and accommodating a first circumferential track and a second circumferential track having a different circumferential shape/contour than the first circumferential track, wherein the suspension elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, wherein the vehicle is configured for moving along the ceiling structure by decoupling a subset of the plurality of suspension elements from resp. coupling them into the ceiling structure when the suspension elements are guided along the two circumferential tracks by the circumferential motion.

Claims

1. A crawler type vehicle configured for traveling in a suspended manner headlong at a ceiling structure, wherein the vehicle comprises: a plurality of suspension elements configured for suspending the vehicle and configured for coupling the vehicle to the structure; at least one first drive unit configured for circumferential motion and accommodating a first circumferential track and a second circumferential track having a different circumferential shape than the first circumferential track, wherein the suspension elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, wherein the vehicle is configured for moving along the structure by decoupling a subset of the plurality of suspension elements from and coupling them into the structure when the suspension elements are guided along the two circumferential tracks by the circumferential motion; at least one second drive unit configured for enabling locomotion of the ceiling vehicle in at least two spatial directions, namely a first spatial direction being predefined by the structure and a second spatial direction being defined by the guiding motion of the at least one first drive unit, wherein the second spatial direction is orthogonal to the first spatial direction, wherein the second drive unit is configured for locomotion of the vehicle in the first spatial direction providing for at least two-dimensional locomotion capability of the vehicle, wherein the respective suspension element exhibits at least one wheel which is arranged and configured for being guided along the structure; and at least two individually controllable motors, wherein at least one first drive unit and at least one second drive unit is connected to at least one motor, and wherein the motor for the first drive unit and the second drive units are different, providing for active two-dimensional traveling capability of the vehicle.

2. The crawler type vehicle according to claim 1, wherein the at least one first drive unit of the crawler type vehicle is configured for enabling a closed loop trajectory of the suspension elements; wherein the first and second circumferential tracks are shaped in such a manner that the suspension elements are coupled to and decoupled from the structure only when passing a curved section of the tracks; wherein the suspension elements are fixedly coupled by means of a first pulley to the first circumferential track, wherein the suspension elements are guided within the second circumferential track by means of a second pulley respectively, wherein the first and second pulley preferably are arranged at a lever arm of the respective suspension element, wherein the respective suspension element preferably has an L-shape; wherein each suspension element exhibits a first pulley and a second pulley arranged in longitudinal distance with respect to the first pulley at a lever arm of the respective suspension element, wherein the suspension element is coupled to the first and second tracks via the first and second pulleys; wherein each suspension element exhibits a lever arm supporting the pulley guided by the second track, wherein the pulley is arranged at a free end of the lever arm, and wherein in a linear section of the track, the lever arm is pointing in the driving direction, at least roughly; wherein the suspension elements are connected to each other by means of longitudinal connecting elements, thereby forming a closed loop of interrelated suspension elements distanced to each other in the predefined raster; wherein the first circumferential track exhibits a chain or is defined by a chain forming a closed loop of interrelated chain elements connecting the suspension elements, wherein the vehicle exhibits a plurality of counter bearings, wherein the plurality of counter bearings are preferably coupled to the first circumferential track; wherein the vehicle exhibits a further first drive unit accommodating further circumferential tracks, wherein a plurality of further suspension elements are attached to the further circumferential tracks in predefined longitudinal positions corresponding to the predefined raster and are configured for suspending the vehicle and for coupling the vehicle to the structure, wherein the vehicle exhibits further suspension elements which are attached to further circumferential tracks, wherein the suspension elements and the further suspension elements momentarily engaging the structure are securing the vehicle at the structure with respect to the driving direction and opposite thereto; wherein the vehicle exhibits a further drive unit which exhibits the same configuration as the first drive unit but with mirror-inverted arrangement of the further suspension elements and further circumferential tracks, wherein the further suspension elements are guided in a direction opposite to the guiding direction of the suspension elements of the first drive unit, wherein both the respective suspension elements and further suspension elements are simultaneously coupling to and decoupling from the structure; wherein the at least one first drive unit is configured for lifting the respective suspension element out of the structure in an unloaded state, wherein the at least one first drive unit provides for both coupling and decoupling kinematics for a subset of momentarily unloaded suspension elements and suspension of the vehicle by a subset of momentarily loaded suspension elements at the same time; wherein the at least one first drive unit has a substantially plane configuration; wherein the vehicle exhibits at least two first drive units arranged in parallel to each other; wherein the circumferential tracks are respectively guided in a plane, extending in two-dimensional manner; wherein the at least one first drive unit is coupled by means of at least three suspension elements; and wherein the respective suspension element has an L-shape which provides for two arms defining the relative arrangement of the wheel and first and second pulleys of the respective suspension element.

3. The crawler type vehicle according to claim 1, wherein the second drive unit comprises at least one holonomic wheel.

4. The crawler type vehicle according to claim 3, wherein the holonomic wheel is disc shaped and comprises a plurality of equally distributed rollers around its circumference.

5. The crawler type vehicle according to claim 3, wherein the holonomic wheel is further defined as a holonomic wheelset consisting of at least two coaxially arranged holonomic wheels.

6. The crawler type vehicle according to claim 5, wherein each of the coaxially arranged holonomic wheels has a predefined offset in the azimuthal direction in respect to their adjacent holonomic wheels.

7. The crawler type vehicle according to claim 3, wherein the holonomic wheel is connected to a return mechanism that applies a force to the holonomic wheel pressing it against the structure.

8. The crawler type vehicle according to claim 1, wherein the second drive unit comprises at least one wide elongated gearing wheel for meshing with a defined raster in the second spatial direction.

9. The crawler type vehicle according to claim 8, wherein the elongated gearing wheel is tapered at the ends.

10. The crawler type vehicle according to claim 1, further comprising a structure exhibiting a plurality of profiles defining the raster of the structure, wherein the suspension elements are configured for being guided along the profiles in a first spatial direction being defined by the structure, the vehicle's traveling motion having at least two degrees of freedom; and wherein the structure exhibits a plurality of profiles defining the raster of the structure, wherein the vehicle exhibits a plurality of further suspension elements suspending the vehicle together with the suspension elements, wherein the suspension elements and the further suspension elements secure the vehicle at the structure with respect to the driving direction.

11. The crawler type vehicle according to claim 10, wherein the plurality of profiles each exhibit second profiles defining a raster of the structure in a second spatial direction, wherein the suspension elements are configured for being guided along the first profiles in the first spatial direction being defined by the structure, the vehicle's traveling motion having at least two degrees of freedom, and wherein the gearing wheel is configured for meshing with the second profiles, such that the crawler type vehicle can move omnidirectionally via the at least two individually controllable motors and drive units.

12. A method of hanging a crawler type vehicle from a structure for traveling in a suspended manner headlong the structure, wherein the vehicle is suspended by means of a plurality of suspension elements coupling the vehicle to the structure, wherein a circumferential guiding motion is defined by first and second circumferential tracks having a different circumferential shape, wherein the suspension elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to a raster defined by the structure, wherein the vehicle is suspended such that it can move along the structure by decoupling a subset of the plurality of suspension elements from and coupling them into the structure when the suspension elements are guided along the circumferential tracks by the circumferential motion, wherein the circumferential motion is transmitted by the suspension elements momentarily engaging the structure; wherein the circumferential motion is provided by first drive units, wherein at least two motors power the at least one first drive unit and at least one second drive unit enabling active two-dimensional travel of the crawler type vehicle.

13. The method according to claim 12, further comprising a computer and a computer program comprising instructions which, when executed by the computer, cause the computer to execute steps of the method in context with provision and control of the circumferential guiding motion by controlling the first motor connected to the first drive unit and controlling the second motor connected to the second drive unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0050] These and other aspects of the present invention will also be apparent from and elucidated with reference to the embodiments described hereinafter. Individual features disclosed in the embodiments can constitute, alone or in combination, an aspect of the present invention. Features of different embodiments can be carried over from one embodiment to another embodiment. In the drawings:

[0051] FIGS. 1A, 1B, 1C, 1D, 1E, 1F, 1G, 1H, 1J, 1K, 1L, 1M, 1N, 1O show in perspective views and in side views components (first drive unit) of a ceiling vehicle;

[0052] FIGS. 2A, 2B, 2C show in perspective views an arrangement of suspension elements and respective arrangement along a circumferential track of a ceiling vehicle;

[0053] FIGS. 3A, 3B, 3C show in perspective views details of suspension elements of a ceiling vehicle;

[0054] FIGS. 4A, 4B, 4C, 4D, 4E, 4F, 4G show in perspective views and in side views components (first drive units) of a ceiling vehicle;

[0055] FIGS. 5A, 5B, 5C, 5D illustrate in different perspective views an exemplary path of a motion of a ceiling vehicle;

[0056] FIGS. 6A, 6B show, in side views, components of a ceiling vehicle (full suspension, and suspension with respect to vertical forces of inertia and lateral forces);

[0057] FIGS. 7A, 7B, 7C, 7D illustrate in different perspective views exemplary paths of motion (orientations of operation) of a ceiling vehicle;

[0058] FIGS. 8A, 8B, 9A, 9B show in perspective views ceiling vehicles with and without counter bearing;

[0059] FIGS. 10A, 10B show in perspective views a ceiling vehicle;

[0060] FIGS. 11A, 11B, 11C, 14A, 14B show in perspective views details of suspension elements (and their suspension) of a ceiling vehicle shown in FIG. 10;

[0061] FIGS. 12A, 12B show in side views details of suspension elements of a ceiling vehicle shown in FIG. 10;

[0062] FIG. 13 shows in a perspective view details of a ceiling vehicle shown in FIG. 10;

[0063] FIG. 15 shows in a side view components of a first drive unit of a ceiling vehicle shown in FIG. 10;

[0064] FIGS. 16A, 16B show in perspective views some of the details of suspension elements of a ceiling vehicle shown in FIG. 10;

[0065] FIG. 17 shows the side view shown in FIG. 6 of a ceiling vehicle according to embodiments;

[0066] FIG. 18 shows a view from the back of the ceiling vehicle in FIG. 17;

[0067] FIG. 19 shows a top view of the ceiling vehicle in FIG. 17;

[0068] FIG. 20 shows a bottom view of the ceiling vehicle in FIG. 17;

[0069] FIG. 21 shows a perspective view of the ceiling vehicle in FIG. 17;

[0070] FIG. 22 shows a detail of components (second drive unit) of the ceiling vehicle in FIG. 17;

[0071] FIG. 23 shows an exploded view of components (first drive units and a second drive unit) of a vehicle according to embodiments, especially according to the embodiment shown in FIG. 17;

[0072] FIGS. 24A, 24B show a detail of components (first drive units and a second drive unit) of a vehicle according to embodiments, especially according to the embodiment shown in FIG. 17;

[0073] FIG. 25 shows the side view as in FIG. 6 of a ceiling vehicle according to further embodiments;

[0074] FIG. 26 shows a top view of the ceiling vehicle in FIG. 25;

[0075] FIG. 27 shows a bottom view of the ceiling vehicle in FIG. 25;

[0076] FIG. 28 shows a perspective view of the ceiling vehicle in FIG. 25;

[0077] FIG. 29A, 29B, 29C show a close up view of the interaction of the ceiling vehicle in FIG. 25 with the structure.

DETAILED DESCRIPTION

[0078] First, the reference signs are described in general terms; individual reference is made in connection with respective figures.

[0079] The present invention provides for a vehicle 10, especially a ceiling vehicle 10, having at least one drive unit 11 (especially crawler track-like), especially 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 for traveling along a ceiling structure 1 exhibiting a predefined raster 1a which is, e.g., defined by T-profiles resp. T-rails 1.1 or any such profile rails. The profiles 1.1 exhibit at least one wheel tread 1.2, and optionally, a power rail 1.3 providing for energy supply can be arranged at the profiles. The vehicle 10 is coupled to the structure 1 and suspended via a plurality of suspension elements 13 (e.g. each including at least one chain element). A crawler type ceiling vehicle arrangement 100 is composed of at least one ceiling vehicle 10 and at least one ceiling structure 1.

[0080] The at least one drive unit 11 provides for a drive mechanism 11.1 with at least one motor or actuator, which allows for circumferential motion of the suspension elements 13 along circumferential tracks 12, namely simultaneously along a first and a second circumferential track 12a, 12b, which tracks exhibit individual shapes/contours XZa, XZb. Preferably, the tracks only extend two-dimensionally (2D), i.e. in a plane, and the shape is different at least in curved sections of the tracks. Each track 12a, 12b exhibits a parallel/linear section 12p (resp. two parallel sections) and a redirection/curved section 12r (resp. two curved sections). A lateral area resp. surface shell 11.2 of the at least one drive unit is preferably flat, plane, even, respectively on each lateral side. Such a configuration is also favourable in view of interconnection of several drive units.

[0081] The vehicle 10 exhibits at least one further first drive unit 11b exhibiting first and second circumferential tracks 12a, 12b and accommodating a plurality of further suspension elements 13b which are arranged mirror-inverted, with respect to the suspension elements 13 of the first drive unit 11a. The first and second drive units 11a, 11b provide for a traveling motion (e.g. by a synchronous guiding/driving motion of/to the suspension elements), and these drive units 11a, 11b can be interconnected, e.g. via cross-beams or the like. Also, the first and second drive units 11a, 11b may provide for different driving motions, e.g. in order to force a non-linear, but curved/curvilinear traveling motion. The desired/required traveling motion can be controlled via a control unit 30 coupled to at least one motor or actuator 17. In particular, the vehicle can be provided as a kind of passive vehicle which traveling motion is induced by external forces; in [0082] such a configuration, the inventive kinematics provide for hanging/suspending the vehicle, but not for actively driving the vehicle for any traveling motion. The drive section may also comprise at least one gear unit 18 configured for interacting with the track(s) and at least one energy storage unit 19. A sensor arrangement 40, e.g. comprising position sensors and velocity sensors and/or weight sensors and/or gyroscopes, may provide sensor data to the control unit.

[0083] Each suspension element 13 exhibits a first pulley 13.1 and a second pulley 13.2, and optionally, a wheel 13.3 is provided at the free end of the suspension element 13 (bearing point P13). The first and second pulleys are arranged on a lever arm 13.5 in distance from/to each other (y-offset, longitudinal extension y13 of lever arm); the bearing point P13 resp. the wheel 13.3 is arranged at a protruding section resp. suspension arm 13.6 (z-offset). At the free end of the suspension arm, optionally, a current collector resp. power-slider 13.4 (conductive slider for energy transfer) is provided in an arrangement geometrically corresponding to a/the power rail 1.3 of the respective profile 1.1. The plurality of suspension elements 13 of a/the respective drive unit 11 can be interconnected via longitudinal connecting elements 15 which can ensure a closed loop 15a of interrelated suspension elements. Thus, the suspension elements 13 are coupled to the respective circumferential tracks.

[0084] In other words: The suspension elements preferably exhibit a wheel 13.3 performing a rolling motion on the profile, allowing for motion which is orthogonal to the motion predefined and evoked by the tracks, wherein the wheel is positioned orthogonally with respect to the first and second pulleys. The wheel is motorised by means of further actuators or motors. The first pulley 13.1 is engaged with the first or second circumferential track, thereby following that track; also, the second pulley 13.2 is engaged with the first or second circumferential track, thereby following that track (which is different from the track engaged by the first pulley, i.e. vice versa). The lever arm 13.5 is preferably L-shaped, especially provided as integral element in one piece (massive, solid).

[0085] Preferably, the structure 1 and its raster 1a is defined by profiles 1.1 being arranged in parallel and with similar distance (pitch) to adjacent profiles. Each profile is preferably configured to support geometries/surface(s) which are adequate for interaction with the wheel(s) of the suspension elements (e.g. T-profile, C-profile, L-profile, l-profile), and a series of such profiles preferably provides for a planar surface at least in sections.

[0086] By means of the circumferential tracks and the suspension elements, the (respective) drive unit provides for de-/coupling kinematics 20 which ensure both vertical motion kinematics 20a and non-circular pivot motion kinematics 20b. Thereby, de-/coupling of each suspension element can be effected via circumferential motion along the tracks without the need of any axial telescopic motion within each suspension element. I.e., the suspension element can be designed as purely mechanic unit.

[0087] In particular in context with logistic tasks, the vehicle 10 may exhibit at least one hoist unit 50 providing for a traction mechanism 51 (especially with rope winch) and having at least one transmission means 53 (especially a rope).

[0088] In the following, the kinematics provided by the guiding/driving motion along the circumferential tracks is described in general, first:

[0089] The first pulley 13.1 of each suspension element 13 rotates about a first pulley axis X13.1 and defines a first guiding point G13.1 (coupling the first track and the respective suspension element), and vice versa, the corresponding point of the corresponding circumferential track defines that first guiding point G13.1 for each suspension element. Likewise, the second pulley 13.2 of each suspension element 13 rotates about a second pulley axis X13.2 (which is preferably aligned in parallel) and defines a second guiding point G13.2 (coupling the second track and the respective suspension element). When referring to the kinematics of each suspension element, an instantaneous centre of rotation Or of each suspension element is defined by the axis X13.1 of the first pulley 13.1 being coupled to the first track 12a, wherein coupling/attachment/fixation can be ensured e.g. at the axial section between a/the suspension arm 13.6 and the first pulley 13.1 (cf. FIG. 3B). The two tracks 12a, 12b are arranged with respect to another in such a manner that the contacting/bearing point/area P13 of the respective suspension element 13 can be hooked or hitched on the ceiling structure. The wheel 13.3 of each suspension element rotates about a wheel axis Y13.3 which is preferably aligned orthogonally to the first and second pulley axis X13.1, X13.2. Since each suspension element 13 is coupled to the tracks 12a, 12b in predefined positions, namely in a predefined first longitudinal position y12a via the first pulley 13.1 and in a predefined second longitudinal position y12b via the second pulley 13.2, when driving the tracks resp. when guiding the suspension elements along the tracks, the bearing point P13 at the free end of the suspension element 13 is guided according to the relative position/contour and distance of the tracks.

[0090] In the figures, (x) designates a/the first spatial direction (especially cross direction, especially direction of longitudinal extension of T-profiles), and (y) designates a/the second spatial direction (especially longitudinal direction or momentary driving direction of the drive units), and (z) designates a/the third spatial direction (especially vertical direction).

[0091] FIG. 1A shows a (ceiling) vehicle 10 exhibiting a first drive unit 11 and suspension elements 13, wherein a subset of the suspension elements 13 is momentarily coupled to a/the ceiling structure 1, namely to T-profiles. The suspension elements 13 are guided and also actively driven along two circumferential tracks (not shown, cf. FIG. 1C), and de-/coupling is carried out in curved sections of the tracks.

[0092] The vehicle 10 shown in FIG. 1A is suspended/hanging at a ceiling structure.

[0093] Nonetheless, the vehicle 10 may also be suspended in a similar structure being arranged on the ground or at the wall. The vehicle is not necessarily provided in the form of a ceiling vehicle; rather, FIG. 1A illustrated an application/use at a ceiling structure.

[0094] FIG. 1B, 1C, 1D, 1E show separate components of the respective first drive unit 11, 11a, 11b, 11c. At least one drive 17 provides for circumferential motion of the tracks 12a, 12b, especially by means of at least one gear unit 18 engaging the tracks. It is shown that the de-/coupling kinematics are provided within the curved sections 12r of the first and second circumferential tracks 12a, 12b. In contrast, within the parallel section(s) 12p, the suspension elements 13 remain in predefined relative positions at/with respect to the ceiling structure. In that section, the axis Y13.3 of the wheel 13.3 of the respective suspension element 13 is aligned parallel to the parallel section(s) 12p of the tracks.

[0095] In case the vehicle exhibits several first drive units 11a, 11b, some of these components may also be arranged in a mirror-inverted manner, especially the suspension elements (cf. FIG. 4A). Thus, any detailed description of the figures relating to any separate/single component of the respective drive unit may also describe a similar configuration of any further drive units or any further redundant components.

[0096] FIG. 1F, 1G illustrate the curved sections 12r in more detail. It can be seen that both the radius of curvature and the distance of the tracks with respect to each other deviates/changes in value and direction, thereby effecting a pivot motion of the suspension arm 13.6 (protruding section) and the wheel 13.3 resp. bearing point P13 of the respective suspension element 13 (especially pivoting within the plane yz as shown in FIG. 1F and pivoting about an x-axis and around the instantaneous centre of rotation Cr). Thus, both vertical motion kinematics 20a and non-circular pivot motion kinematics 20b can be provided by means of rigid/stiff components being guided/driven along two circumferential tracks with different shape/contour.

[0097] FIG. 1H, 1J, 1K, 1L, 1M, 1N, 1O show some more details of the de-/coupling kinematics 20. In particular, it can be seen that the first track 12a has a curvature bent up (upwards), thereby effecting a slight lifting of the wheel 13.3 from the wheel tread 1.2, namely when the first pulley 13.1 is passing that section. In particular, apart from one single section, the shape/contour XZb of the second circumferential track 12b runs (is arranged) within the shape/contour XZa of the first circumferential track 12a.

[0098] FIG. 2A, 2B, 2C show a plurality of suspension elements 13 being interconnected via longitudinal connecting elements 15 which thereby ensure a closed loop 15a of interrelated suspension elements. The suspension elements 13 are coupled to the respective circumferential tracks 12a, 12b via the first and second pulleys 13.1, 13.2.

[0099] In the embodiment shown in FIG. 2, the first and second pulleys 13.1, 13.2 are arranged on opposite lateral sides of the respective suspension element 13. Thus, the closed loop 15a of interrelated suspension elements is arranged between the first and second tracks 12a, 12b which extend on both lateral sides of the closed loop 15a.

[0100] The tracks 12a, 12b can be made of any kind of rail guide system components, in particular including at least one chain, belt, cable or the like traction or transmission means. The tracks 12a, 12b may comprise different guide/rail sections coupled together, each exhibiting a different radius of curvature or being linear. Also, the tracks 12a, 12b can be formed/made by on single continuous/coherent rail.

[0101] FIG. 3A, 3B, 3C show some more details of the suspension elements 13 and the connecting elements 15. E.g., the connecting elements 15 are coupled to the lever arm 13.5 at the axis X13.1 if the first pulley 13.1, thereby facilitating pivot motion about that axis (resp. around the respective instantaneous centre of rotation Cr).

[0102] FIG. 4A, 4B, 4C, 4D, 4E, 4F, 4G show an embodiment of a vehicle 10 exhibiting three first drive units 11a, 11b, 11c which can be interrelated/connected e.g. via cross-beams or the like. In contrast to the configuration at the first drive unit 11a, the suspension elements 13b of the further first drive unit 11b are arranged in mirror-inverted manner, but the suspension elements 13 of the further first drive unit 11c are arranged in the same manner as the suspension elements 13 of the first drive unit 11a. As can be seen in FIG. 4E, 4F, that configuration allows for a very good security and stability level (both types of suspension elements 13, 13b are guided along the T-profiles, but on different lateral sides of the T-profiles). Alternatively, the vehicle 10 may only comprise two first drive units 11a, 11b.

[0103] FIG. 5A, 5B, 5C, 5D show different kinds of traveling motions which can be effected by means of the vehicle 10 described herein. As already described further above, the present invention allows for two-dimensional traveling motion both in a first spatial direction (x) corresponding to the longitudinal direction/extension of the T-profiles 1.1 (dashed line arrow), and in a second spatial direction (y) corresponding to the driving direction resp. to the direction/extension of the tracks (dotted line arrow).

[0104] It should be mentioned that the T-profiles shown in the figures may also be provided as other kinds of profile rails; i.e., the inventive mechanism/kinematics is/are not limited to use of T-profiles only; rather, the skilled person is aware of the fact that also other profiles offering adequate suspension for the suspension elements and optionally also a guiding track to the wheels can be used.

[0105] In the following, further aspects/details of embodiments of the present invention are described in more detail. For any reference signs or elements/components or aspects not explicitly mentioned/described, it is referred to above mentioned embodiments, respectively. The embodiments described in the following passages exhibit a first drive unit comprising a chain drive, and the first circumferential track comprises a chain (with a closed loop of interrelated chain elements arranging the corresponding suspension elements and optionally also arranging counter bearing elements), and the longitudinal connecting elements of that first drive unit are provided in the form of chain elements.

[0106] FIG. 6A shows a vehicle exhibiting means for avoiding any relative motion of the vehicle with respect to the structure (full suspension especially also in view of any relative motion orthogonally/normally with respect to the structure), and FIG. 6B shows a configuration which at least ensures secure suspension in view of vertical forces of inertia and lateral forces (suspension devoid of counter bearings).

[0107] FIGS. 7A, 7B, 7C, 7D illustrate a ceiling vehicle arrangement 100 comprising a ceiling vehicle 10 exhibiting three drive units 11a, 11b, 11c. As already described further above, the present invention allows for two-dimensional traveling motion both in a first spatial direction corresponding to the longitudinal direction/extension of the T-profiles 1.1 (dashed line arrow), and in a second spatial direction corresponding to the driving direction resp. to the direction/extension of the tracks (dotted line arrow). Depending on the orientation of the structure/T-profiles 1.1, the first and/or second spatial direction may also comprise a vertical (z-) component, as illustrated in FIG. 7C, 7D (inclined plane/level).

[0108] Therein, coordinates x, y shown in the figures in context with inclined planes refer to the longitudinal extension (x) of the (ceiling) structure.

[0109] The vehicle 10 shown in FIG. 7A is suspended/hanging at a ceiling structure. Nonetheless, the vehicle 10 may also be suspended in a similar structure being arranged on the ground or at the wall. The vehicle is not necessarily provided in the form of a ceiling vehicle; rather, FIG. 7A illustrated an application/use at a ceiling structure. Same applies for any further figure of the present disclosure illustrating an application/use at a ceiling structure only as an example.

[0110] FIGS. 8A, 8B show some more details of a ceiling vehicle 10 exhibiting three first drive units 11a, 11b, 11c arranged laterally with respect to each other, wherein one of the further first drive units 11b arranged there between (in the middle) does not exhibit any suspension elements but counter bearings 16, and FIGS. 9A, 9B show some more details of a ceiling vehicle 10 exhibiting two first drive units 11a, 11c (each without counter bearing). In the embodiment shown in FIG. 8, the further first drive unit 11b provides for counter bearings 16 which are coupled to the chain 15a, i.e., the first circumferential track provides for positioning and motion of the counter bearings 16. It should be noted that in the embodiment shown in the figures, these counter bearings 16 are intended for interfering with the structure only at a face side, and therefore, no decoupling kinematics are provided in context with these counter bearings 16. Therefore, there is no need for provision of any further second circumferential track at/for the further first drive unit 11b arranged in the middle. Thus, in this embodiment, the further first drive unit 11b arranged in the middle and accommodating (only) the counter bearings only exhibits a/the first circumferential track.

[0111] FIGS. 10A, 10B show some details of a first drive unit 11, 11b only accommodating counter bearings but no suspension elements.

[0112] FIGS. 11A, 11B, 11C and FIGS. 12A, 12B and FIG. 13 and FIGS. 14A, 14B show some kinematic aspects of first drive units accommodating/arranging/guiding both suspension elements 13 and further suspension elements 13b. FIG. 13 also illustrates that one (each) first drive unit 11 may comprise the first circumferential track (here: provided/defined by the chain 15a) and two second circumferential tracks 12b, wherein these two second circumferential tracks 12b are arranged asymmetrically, i.e., the shape/contour XZb is asymmetrical. Such an arrangement also allows for providing de-/coupling kinematics for both a plurality of suspension elements 13 and a plurality of further suspension elements 13b, especially in such a manner that both types of suspension elements 13, 13b may interact and engage in the same (but asymmetrical) manner with the structure 1, especially at the same profile rail at opposite lateral sides, respectively. Such an arrangement may also ensure a high security and stability level already by means of one single first drive unit 11. Thus, scaling (two, three or even more) of the first drive units is realizable in even more flexible manner, and individual arrangements can be optimized for each application.

[0113] It should be noted that the first circumferential track resp. a/the chain may/can provide for guiding and driving both the suspension elements 13 and the further suspension elements 13b; both types of suspension elements 13, 13b can be coupled, e.g., via a protruding axial section (guiding bolt or shaft) 13.7 to the chain structure (cf. FIG. 16B) which protrudes vis-a-vis of the first pulley 13.1, especially along its axis X13.1. In particular, the suspension elements 13 and the further suspension elements 13b are arranged with longitudinal offset (y) and mirror-inverted on both sides of the chain 15a. In particular, the longitudinal distance (y) of the respective suspension element 13 and the respective further suspension element 13b of a respective pair of suspension elements 13, 13b corresponds to the extension in cross direction (y) of each element/profile of the (ceiling) structure.

[0114] FIG. 15 also shows a guiding plank or rail 14 allowing for guiding the first circumferential track resp. the chain more precisely.

[0115] FIGS. 16A, 16B show a further embodiment of suspension elements 13, wherein in comparison with the suspension elements described above in context with FIG. 3, these suspension elements exhibit two wheels or pulleys 13.3 arranged and configured for interacting with the structure 1, and these suspension elements may also exhibit a further pulley which is suspended around an axis extending in the z-direction (as shown in FIG. 16B). That optional further pulley may ensure further/improved support and guiding with respect to the structure.

[0116] In FIG. 6A, 10A, 11C, a contact point distance d provided by different protruding distances d1, d2 of the suspension element's contact point P13 and of the counter bearing's contact point (free end, especially wheel/pulley) is illustrated by referring to the relative arrangement at the (ceiling) structure, respectively.

[0117] FIG. 17 shows a side view of an embodiment of a ceiling vehicle 10 hanging in a structure 1 according to the invention. The ceiling vehicle 10 is coupled to the structure 1 via its suspension elements 13, as described in FIGS. 6A and 6B. Additionally, a holonomic wheelset 21.2 consisting of a plurality of coaxially aligned holonomic wheels 21.1 can be seen. The holonomic wheels exhibit a plurality of equally distributed rollers around their circumference, which allow them to move passively in the direction of the first drive units and allow active traveling in the second direction when they are actively rotated along the axis of the holonomic wheelset 21.2.

[0118] A front view of the ceiling vehicle 10 can be seen in FIG. 18. The ceiling vehicle 10 comprises a return mechanism 22 with a spring 22.1 that pushes the holonomic wheelset 21.2 against the structure 1 to ensure a good traction. A motor 27 powering the second drive unit and holonomic wheel 21.1 can also be seen.

[0119] FIG. 19 shows a top view of the ceiling vehicle 10. A first motor 17 connected to the first drive units 11, as well as a second motor 27 connected to the second drive unit 21 and the holonomic wheel 21.1, are shown. The two motors 17, 27 can be controlled individually via 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 FIG. 20.

[0120] With FIGS. 21, 22, and 23 the configuration of the ceiling vehicle 10 is described. The ceiling vehicle 10 comprises two first drive units and a second drive unit 21 configured for enabling locomotion of the ceiling vehicle 10. The second drive unit 21 with the holonomic wheel 21.1 is shown in FIG. 22. The first motor 17 is shown below the holonomic wheel 21.1 and is connected to the belt 21.5 to drive the first drive units 11. The second motor 27 is arranged in parallel to the holonomic wheel 21.1 and connected to it via a second belt 21.5. The return mechanism 22 ensures grip of the holonomic wheel 21.1 with the structure 1. The vehicle 10 is able to actively move in two spatial directions, the first spatial direction being predefined by the structure 1 and a second spatial direction being defined by the guiding/driving motion of the two first drive units. The exploded view in FIG. 23 shows how the components are connected.

[0121] FIGS. 24A and 24B shows the holonomic wheel 21.1 in contact with the structure 1. The contact is enhanced by the return mechanism 22 on both ends of the holonomic wheel 21.1. The close up view in FIG. 24B shows the preferred configuration in which at least two holonomic wheel 21.1 of the holonomic wheel 21.1 are in contact with the T-profile 1.1 of the structure 1. Additionally, each holonomic wheel 21.1 has an offset in azimuthal direction in relation to its adjacent holonomic wheels 21.1.

[0122] FIGS. 25, 26, 27, and 28 show a vehicle 10 according to a further embodiment, wherein the second drive unit 21 comprises an elongated gearing wheel 21.3, or spur gear, for form fit coupling with a structure 1. The structure 1 exhibits an additional raster 1b on the bottom side of the T-profiles 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-profiles 1.1 is depicted in FIG. 27. The additional raster 1b corresponds to the teeth of the spur gear 21.3. The vehicle 10 also has two motors 17, 27 for actively driving in two directions: a first motor 17 for driving the first drive units 11 and moving the vehicle 10 orthogonal to the structure 1, and a second motor 27 for driving the second drive unit and moving the vehicle 10 along the T-profiles 1.1.

[0123] When the vehicle 10 moves orthogonal to the structure 1 (in the second spatial direction) the teeth 21.4 of the spur gear 21.3 slide into/out of the additional raster 1b of the structure 1. In FIGS. 29A, 29B, and 29C, the section C in FIG. 26 is enlarged and the process of sliding into the additional raster 1b is depicted. The teeth 21.4 are tapered at the ends to allow a smooth transition into the additional raster 1b.

[0124] The embodiments shown here are only examples of the present invention and must therefore not be understood as limiting. Alternative embodiments contemplated by the skilled person are equally encompassed by the scope of protection of the present invention.

LIST OF REFERENCE SIGNS

[0125] 1 structure, e.g. ceiling structure [0126] 1 structure, e.g. ceiling structure [0127] 1a raster defined by the structure [0128] 1b additional raster [0129] 1.1 profile rail, especially T-profile resp. T-rail [0130] 1.2 wheel tread [0131] 1.3 power rail [0132] 10 vehicle, especially ceiling vehicle [0133] 11 first drive unit (especially crawler track-like) [0134] 11.1 drive mechanism [0135] 11.2 lateral area resp. surface shell of the drive unit(s) [0136] 11a first drive unit, especially chain drive unit [0137] 11b further first drive unit [0138] 11c further first drive unit [0139] 12 circumferential track [0140] 12a first circumferential track, especially comprising a chain [0141] 12b second circumferential track [0142] 12p parallel section/linear section of the track [0143] 12r redirection section/curved section of the track [0144] 13 suspension element resp. chain element [0145] 13b further suspension element [0146] 13.1. 13.2 first pulley, second pulley [0147] 13.3 wheel [0148] 13.4 current collector resp. power-slider (conductive slider for energy transfer) [0149] 13.5 lever arm [0150] 13.6 protruding section/suspension arm [0151] 13.7 protruding axial section (guiding bolt or shaft) [0152] 14 guiding plank or rail [0153] 15 longitudinal connecting element, especially chain element [0154] 15a closed loop of interrelated suspension elements, especially chain [0155] 16 counter bearing [0156] 16.1 wheel, pulley [0157] 17 first motor or actuator [0158] 18 gear unit [0159] 18a further gear unit [0160] 18b chain tensioning device [0161] 19 energy storage unit [0162] 20 de-/coupling kinematics [0163] 20a vertical motion kinematics [0164] 20b non-circular pivot motion kinematics [0165] 21 second drive unit [0166] 21.1 holonomic wheel [0167] 21.2 holonomic wheelset [0168] 21.3 spur gear [0169] 21.4 teeth [0170] 21.5 belt [0171] 22 return mechanism [0172] 22.1 spring [0173] 27 second motor [0174] 30 control unit [0175] 40 sensor arrangement [0176] 50 hoist unit [0177] 51 traction mechanism, especially rope winch [0178] 53 transmission means, especially rope [0179] 100 crawler type (ceiling) vehicle arrangement [0180] Cr instantaneous centre of rotation [0181] d1 protruding distance of the suspension element's contact point [0182] d2 protruding distance of a/the counter bearing's contact point [0183] d contact point distance [0184] G13.1 first guiding point or axis (coupling the first track and the suspension element) [0185] G13.2 second guiding point or axis (coupling the second track and the suspension element) [0186] P13 contacting/bearing point/area of the suspension element with the ceiling structure [0187] X13.1 first pulley axis [0188] X13.2 second pulley axis [0189] XZa shape/contour of the first circumferential track [0190] XZb shape/contour of the second circumferential track [0191] Y13.3 wheel axis [0192] y12a predefined first longitudinal positions [0193] y12b predefined second longitudinal positions [0194] y13 longitudinal extension of lever arm [0195] x first spatial direction, especially direction of longitudinal extension of T-profiles [0196] y second spatial direction, especially longitudinal direction or driving direction [0197] z third spatial direction, especially vertical direction