Search

CN-121986048-A - Crawler-type carrier suspended in and electrically connected to structure

CN121986048ACN 121986048 ACN121986048 ACN 121986048ACN-121986048-A

Abstract

The invention relates to a crawler-type carrier having a plurality of suspension elements (13, 13b, 13c, 13 d) configured for suspending and coupling the carrier (10) to a structure (1), wherein the carrier (10) is configured for moving along the structure (1) by decoupling a subset of the plurality of suspension elements (13, 13b, 13c, 13 d) from the structure (1) or coupling them into the structure (1), wherein a first electrical contact (13.4) of a first suspension element (13 c) for establishing an electrical connection is electrically connected to a first pole/phase/line of an electrical bus (1.3) and when the carrier (10) is coupled to the structure (1) via a second suspension element (13 d), the first electrical contact (13.4) of the second suspension element (13 d) for establishing an electrical connection is electrically connected to a second pole/phase/line of the electrical bus (1.3) in the structure (1), wherein at least when the carrier (10) is coupled to the structure (1) via the suspension elements (13 c, 13 d) to the respective pole/phase/line of the electrical bus (13.7) for establishing the electrical connection of the respective pole/phase/line (13 c) of the carrier (10).

Inventors

  • Michael. Tosten Seidel

Assignees

  • 赛力克斯股份有限公司

Dates

Publication Date
20260505
Application Date
20240927
Priority Date
20230929

Claims (15)

  1. 1. A tracked carrier (10) configured for traveling in a suspended manner, wherein the carrier (10) has: A plurality of suspension elements (13, 13b, 13c, 13 d) configured for suspending the carrier (10) and configured for coupling the carrier (10) to a structure (1), wherein at least two of the suspension elements (13 c, 13 d) each comprise at least two electrically connected electrical contacts (13.4, 13.7) configured for establishing an electrical connection between the structure (1) and the carrier (10), Wherein the carrier (10) is configured for moving along the structure (1) by decoupling a subset of the plurality of suspension elements (13, 13b, 13c, 13 d) from the structure (1) or coupling them into the structure (1), Wherein when the carrier (10) is coupled to the structure (1) via a first suspension element (13 c), the first electrical contact (13.4) of the first suspension element (13 c) for establishing an electrical connection is electrically connected to a first pole/phase/line of an electrical bus (1.3) in the structure (1), and when the carrier (10) is coupled to the structure (1) via a second suspension element (13 d), the first electrical contact (13.4) of the second suspension element (13 d) for establishing an electrical connection is electrically connected to a second pole/phase/line of the electrical bus (1.3) in the structure (1), and Wherein the second electrical contacts (13.7) of the suspension elements (13 c, 13 d) are each connected to a respective pole/phase/line of an internal bus (10.5) of the carrier (10), at least when the carrier (10) is coupled to the structure (1) via the suspension elements (13 c, 13 d) to establish an electrical connection.
  2. 2. Crawler carrier (10) according to the preceding claim, wherein the first electrical contacts (13.4) of the suspension elements (13 c, 13 d) configured for establishing an electrical connection with the structure (1) have first sliders (13.4) for sliding connection to corresponding pole/phase electrical rails (1.3) integrated in the structure (1), and wherein the second electrical contacts (13.7) of the suspension elements (13 c, 13 d) have second sliders (13.7) for sliding contact with corresponding pole/phase electrical rails (10.5), wherein each first slider (13.4) is electrically connected to its corresponding second slider (13.7) of the respective suspension element (13 c, 13 d).
  3. 3. Tracked vehicle (10) according to any one of the preceding claims, wherein the vehicle (10) comprises an electronic device connected to the internal bus (10.5) for powering the vehicle (10), and/or wherein the vehicle (10) comprises energy storage means, and/or wherein the vehicle (10) comprises connection means for connecting to a device, wherein the device can be powered via the connection means.
  4. 4. Crawler carrier (10) according to any of the preceding claims, wherein when the carrier (10) is moving, when the suspension elements (13 c, 13 d) for establishing an electrical connection are coupled into the structure (1), the second electrical contact (13.7) is connected to the electrically conductive rail (10.5) such that the first electrical contact (13.4) has a defined potential before the first electrical contact (13.4) approaches or is connected to the electrical bus (1.3), and when the suspension elements (13 c, 13 d) are decoupled from the structure (1), the first electrical contact (13.4) is disconnected from the electrical bus (1.3) before the second electrical contact (13.7) is disconnected from the electrically conductive rail (10.5), Or wherein when the carrier (10) is moving, when the suspension element (13 c, 13 d) for establishing an electrical connection is coupled into the structure (1), the first electrical contact (13.4) is connected to the electrical bus (1.3) before the second electrical contact (13.7) is close to or connected to the conductive rail (10.5), and when the suspension element (13 c, 13 d) is decoupled from the structure (1), the second electrical contact (13.7) is disconnected from the conductive rail (10.5) before the first electrical contact (13.4) is disconnected from the electrical bus (1.3).
  5. 5. Crawler carrier (10) according to any of the preceding claims, wherein the carrier has: -at least one first drive unit (11, 11a, 11b, 11 c) configured for circular movement and accommodating a first circular track (12 a) and a second circular track (12 b), the second circular track (12 b) having a different circular shape/profile than the first circular track, wherein the suspension element (13, 13b, 13c, 13 d) is attached to the first circular track (12 a) at a predetermined first longitudinal position corresponding to a predetermined grid (1 a), wherein the suspension element (13, 13b, 13c, 13 d) is guided along both circular tracks (12, 12a, 12 b) by the circular movement.
  6. 6. Crawler carrier (10) according to the preceding claim, wherein the carrier (10) further has: -at least two electrically conductive tracks (10.5) placed at least parallel to the portions of the endless tracks (12 a, 12 b), wherein the at least two suspension elements (13 c, 13 d) comprise means for disconnecting/connecting with the electrically conductive tracks (10.5) when the suspension elements (13 c, 13 d) are decoupled/coupled from the structure (1) into the structure (1).
  7. 7. Crawler carrier (10) according to claim 5 or 6, wherein the at least one drive unit (11, 11a, 11b, 11 c) comprises an even number of suspension elements (13, 13b, 13c, 13 d).
  8. 8. Crawler carrier (10) according to any of the preceding claims 5-7, wherein the suspension elements (13 c, 13 d) configured for establishing an electrical connection with the structure (1) are distributed along the at least one first drive unit (11, 11a, 11b, 11 c) such that when the carrier (10) is moving along the structure (1), the suspension elements (13 c, 13 d) for the electrical connection of the respective poles/phases/wires are coupled into the structure (1) before the other last suspension elements (13 c, 13 d) connected to the respective poles/phases/wires are decoupled from the structure (1).
  9. 9. The tracked vehicle (10) of any one of the preceding claims 5-8, wherein the at least one first drive unit (11, 11a, 11b, 11 c) of the tracked vehicle (10) is configured for achieving a closed-loop trajectory of the suspension elements (13, 13 b); Wherein the first (12 a) and second (12 b) endless tracks are shaped such that the suspension element (13, 13 b) is decoupled/coupled into the structure (1) from the structure (1) only when passing through a curved portion of the tracks; Wherein the suspension elements (13, 13 b) are fixedly attached to the first endless track (12 a)/coupled with the first endless track (12 a) by means of first pulleys, wherein the suspension elements (13, 13 b) are guided within the second endless track (12 b) by means of second pulleys, respectively, wherein the first pulleys and the second pulleys are preferably arranged at the lever arms of the respective suspension elements, wherein the respective suspension elements preferably have an L-shape, and/or wherein each suspension element has a first pulley and a second pulley, which are arranged longitudinally spaced apart relative to the first pulleys at the lever arms of the respective suspension elements, wherein the suspension elements are coupled to the first track and the second track via the first pulleys and the second pulleys, respectively, and/or wherein each suspension element has a lever arm accommodating/supporting the pulleys guided by the second track, wherein the pulleys are arranged at the free ends of the lever arms, and wherein the suspension elements are connected to each other by means of a longitudinal linkage (13 b) at least in a predetermined mutual spacing, in the longitudinal direction of the respective suspension elements and/or the longitudinal linkage (13 b) by means of a respective grid; Wherein the first endless track (12 a) has or is provided/defined by a chain forming a closed loop of interrelated chain elements connecting the suspension elements (13, 13 b), wherein the carrier (10) has a plurality of counter wheels, in particular configured and arranged for positive interaction with the suspended ceiling structure (1), wherein the plurality of counter wheels are preferably coupled to/with the first endless track (12 a), in particular to chain elements of the first endless track (12 a); Wherein the carrier (10) has a further first drive unit accommodating a further annular track (12 a, 12 b), wherein a plurality of further suspension elements (13 b) are attached to the further annular track at predetermined longitudinal positions corresponding to predetermined grids/the predetermined grids and are configured for suspending the carrier (10) and for coupling the carrier (10) to the structure, in particular such that the carrier (10) is fixed at the structure relative to the opposite direction, wherein the carrier (10) has a further suspension element (13 b) attached to a further annular track (12 a, 12 b), wherein the suspension element (13) and the further suspension element (13 b) momentarily engaging the structure (1) are fixed/blocking the carrier (10) at the structure (1) relative to the driving/travelling direction and the opposite direction thereto, and/or wherein the carrier (10) has a further drive unit with the same drive unit/the first drive unit, but with the further suspension element (13 b) being arranged in the opposite direction to the first drive unit (12 a) but with the further suspension element (13 b) being directed in the opposite direction, in particular such that the respective suspension element (13) and the further suspension element (13 b) are simultaneously decoupled/coupled from the structure; Wherein the at least one first drive unit is configured for lifting the respective suspension element from the structure (1) in an unloaded state, in particular such that the at least one first drive unit simultaneously provides decoupling/coupling kinematics of a subset of the instantaneously unloaded suspension elements (13, 13 b) and suspension of the vehicle (10) by the subset of the instantaneously loaded suspension elements (13, 13 b), and/or wherein the at least one first drive unit has a substantially planar configuration, and/or wherein the vehicle (10) has at least two first drive units arranged parallel to each other, and/or wherein the endless tracks (12 a,12 b) are guided/driven in planes respectively so as to extend in a two-dimensional manner, and/or wherein the at least one first drive unit is coupled by at least three suspension elements (13, 13 b), and/or wherein the respective suspension elements have an L-shape providing two arms defining a wheel/the respective suspension element and an arrangement of the wheel opposite the first and the second pulley.
  10. 10. Crawler carrier (10) according to any of the preceding claims 5-9, wherein the carrier (10) comprises four first drive units (11, 11a, 11b, 11 c), all arranged in parallel, wherein two of the first drive units (11, 11a, 11b, 11 c) have a mirror inverted arrangement of the further suspension elements (13 b) and further endless tracks (12, 12a, 12 b), wherein the further suspension elements (13 b) are guided/driven in a direction opposite to the guiding direction of the suspension elements (13) of the first drive units, in particular such that the respective suspension elements (13) and further suspension elements (13 b) are decoupled/coupled simultaneously with the structure, wherein the pairs of the first drive units (11, 11a, 11b, 11 c) are arranged in pairs, wherein at least one first drive unit (11, 11a, 11 c) of each pair comprises a connection (13 d) for establishing an electrical connection with the suspension elements (13 d).
  11. 11. Crawler carrier (10) according to any of the preceding claims, wherein each suspension element (13, 13b, 13c, 13 d) of the carrier (10) is configured for establishing an electrical connection with the structure (1).
  12. 12. The tracked carrier (10) of any one of the preceding claims, wherein the carrier (10) has: At least one second drive unit (21) configured for effecting movement of the suspended ceiling 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 movement of the at least one first drive unit (11), wherein the second spatial direction is orthogonal to the first spatial direction, wherein the second drive unit (21) is configured for movement of the vehicle (10) in the first spatial direction, thereby providing the vehicle (10) with at least two dimensional movement capability, wherein the respective suspension element (13) has at least one wheel (13.3), the at least one wheel (13.3) being arranged and configured for being guided along the structure (1), in particular on a wheel tread 1.2 of a respective/corresponding profile of the structure, -At least two individually controllable motors (11.5, 27), wherein at least one first drive unit (11) and at least one second drive unit (21) are connected to at least one motor (11.5, 27), and wherein the motors (11.5, 27) for the first drive unit(s) (11) and the second drive unit (21) are different, so that the vehicle has active two-dimensional travelling capability, wherein the motors (11.5, 27) are electrically connected to the energy storage means and/or the electrically conductive rail (10.5).
  13. 13. Crawler carrier (10) according to any of the preceding claims, wherein the carrier (10) has two electrically conductive tracks (10.5), wherein the electrically conductive tracks (10.5) are placed on opposite sides of one or more first drive units (11, 11a, 11b, 11 c), wherein the second electrical contact (13.7), in particular a slider, of one suspension element (13 c) is placed on one side and the second electrical contact (13.7), in particular a slider, of a second suspension element (13 d) is placed on the other side; Or wherein the carrier (10) has two electrically conductive rails (10.5), wherein the electrically conductive rails (10.5) are placed vertically spaced apart on one side of the at least one first drive unit (11, 11a, 11b, 11 c), wherein the second electrical contact (13.7), in particular the slider, of one suspension element (13 c) is placed at a corresponding first height of one side, and the second electrical contact (13.7), in particular the slider, of a second suspension element (13 d) is placed at a corresponding second height of the same side.
  14. 14. Crawler carrier (10) according to any of claims 1-12, wherein the carrier (10) has four electrically conductive tracks (10.5), wherein two electrically conductive tracks (10.5) are placed on opposite sides of one or more first drive units (11, 11a, 11b, 11 c), respectively, wherein the second electrical contacts (13.7) of two suspension elements (13 c-1, 13 c-2) are placed on one side and the second electrical contacts (13.7) of two second suspension elements (13 d-1, 13 d-2) are placed on the other side, and wherein the two electrically conductive tracks (10.5) placed on one side of the at least one first drive unit (11, 11a, 11b, 11 c), respectively, are vertically spaced apart, wherein the second electrical contacts (13.7) of the suspension elements (13 c-1, 13 d-1) are placed at a corresponding first height of one side and the second electrical contacts (13.7) of the second suspension elements (13 d-1, 13 d-2) are placed at a corresponding second height of the same second side (13.7).
  15. 15. Method of suspending a tracked vehicle (10) at a structure (1) to travel along the structure in a suspended manner, the tracked vehicle (10) being in particular a tracked vehicle (10) according to one of claims 1 to 14 in combination with claim 5, wherein the vehicle (10) is suspended by a plurality of suspension elements (13, 13b, 13c, 13 d) coupling the vehicle (10) to the structure (1), wherein an endless guiding/driving movement is defined by a first endless track (12 a) and a second endless track (12 b) having different endless shapes/profiles, wherein the suspension elements (13, 13b, 13c, 13 d) are attached to the first endless track at a predetermined first longitudinal position corresponding to a grid defined by the structure, wherein the vehicle (10) is suspended such that the vehicle (10) can be decoupled from the structure (13) by the suspension elements (13 b, 13c, 13 d) being guided along the endless tracks (12 a, 12 b) by the endless movement, wherein a transient movement of the suspension elements (13, 13b, 13c, 13 d) is transferred from the structure (1) to the first endless track (13 b ) or from the endless track (1) to the first endless track (13 b), wherein the movement of the suspension elements (13 b, 13c, 13 d) is transferred to the endless track (1) is coupled to the first endless track (1) by the endless track (1) and the endless track) is suspended by the endless track, 11b) -providing, and wherein the carrier (10) is electrically connected to an electrical bus (1.3) integrated into the structure (1), wherein it is preferably ensured that at least two suspension elements (13 c, 13 d) are always connected to at least one respective pole/phase/wire of the electrical bus (1.3), preferably to each pole/phase/wire of the electrical bus (1.3).

Description

Crawler-type carrier suspended in and electrically connected to structure Technical Field The present invention relates to tracked vehicles, and in particular to suspended ceiling vehicles, that are configured to travel in a suspended manner (e.g., head-forward) at a suspended ceiling structure. The invention further relates to a method for suspending (in particular hanging) and optionally also actively driving such a tracked vehicle. In particular, the invention relates to an apparatus and a method according to the features of the appended independent claims. Background In the prior art, various design concepts have been established in the case of providing a vehicle that should be able to ensure a predetermined travelling movement in rough terrain or in the case of unpredictable reaction forces or at high inclinations or even in elevated arrangements. The present invention focuses on the idea that the carrier or transport medium should engage/interact in a predetermined manner with a predetermined structure or underground system, possibly in a floor/on-floor arrangement (e.g. floor carrier), possibly at a wall or at a ceiling (e.g. overhead crane, wall climbing robot), e.g. in a warehouse or in a machine shop. In the case of diagnostics and parameter measurements in hardly accessible areas or systems (e.g. pipe network systems, pipe systems) comprising magnetic adhesion/interference, some points of view have been disclosed which provide reliable contact between the underground system and the carrier. However, the carrier needs to be able to provide a predetermined travelling movement and a high positioning accuracy (positional accuracy) in a very reliable manner by interacting with a predetermined structure, preferably irrespective of the kind of underground or wall construction, wherein the predetermined structure should preferably be provided to a variety of underground systems or walls or ceiling profiles/geometries in a very flexible and varying manner. Those skilled in the art can distinguish between those carriers provided for movement on an underground system and those carriers provided for movement along a suspended ceiling structure, in particular because the latter must also be suspended in a safe manner to avoid falling. Thus, there may be different approaches to ensuring the kinematics of the interaction/engagement at the interface of the structure. Disclosure of Invention It is an object of the present invention to provide a carrier and a drive mechanism, respectively, which allow a reliable and accurate travelling/driving movement and positioning of the carrier at/on the structure (preferably not only for one-dimensional tracks, but also potentially for at least two-dimensional movement tracks along the structure (e.g. at a suspended ceiling structure) and establishing an electrical connection between the carrier and the structure. In particular, the object also includes providing a suspension mechanism or suspension arrangement that allows to firmly suspend the (suspended ceiling) vehicle on the ground or at the suspended ceiling structure and to establish an electrical connection. In particular, the object may also comprise providing a suitable coupling mechanism for reliably coupling the carrier with the structure. Furthermore, the object of the invention may also comprise a reliable suspension/hanging method and optionally also an active driving method for movably hanging such a carrier on/at a structure, for example at a suspended ceiling structure in a hanging/hanging manner. The present invention solves the problems associated with the prior art by providing a device comprising the features of independent claim 1. Advantageous developments and embodiments of the device result from the dependent claims 2-14. Furthermore, the problem is solved by a method according to claim 15. The teachings of the sub-claims may be arbitrarily combined with the teachings of the main and sub-claims if not explicitly excluded. According to a first aspect of the present invention, there is provided a tracked vehicle for suspended (in particular head-forward) travel at a (suspended ceiling) structure, wherein the vehicle has: A plurality of suspension elements configured for suspending the carrier and configured for coupling the carrier to the structure, wherein at least two suspension elements each comprise at least two electrically connected electrical contacts configured for establishing an electrical connection between the structure and the carrier, Wherein the carrier is configured for moving along the structure by decoupling a subset of the plurality of suspension elements from the structure or coupling them into the structure, Wherein when the carrier is coupled to the structure via the first suspension element, the first electrical contact of the first suspension element for establishing the electrical connection is electrically connected to a first pole/phase/line of the bus in the structure, and