RU2816409C1 - Levitiating suspension - Google Patents

Abstract

FIELD: lifting devices.

SUBSTANCE: levitating suspension for moving under a ferromagnetic ceiling contains at least one electromagnet, at least one gap sensor and at least one linear electric motor. The suspension can be equipped with a lifting device and/or a video camera.

EFFECT: it is possible to move a levitating suspension, and therefore objects, devices and loads suspended from it, under the surface of a ferromagnetic ceiling without mechanical contact of the suspension with the ceiling.

18 cl, 2 dwg

Description

Field of technology to which the invention relates

The invention relates to a device for moving objects, devices and loads under the ceiling using the effect of magnetic levitation.

State of the art

To move cargo indoors, various crane beams are used, for example, such as those presented in patent CN214859926. The lifting device, which is part of the crane beam, can move along a load-bearing rail installed under the ceiling above the places from where the load needs to be moved. The lifting device may contain an electric motor that provides movement along the supporting rail due to rotation of the roller pressed against the supporting rail, as well as an electric motor that provides lifting and lowering of the load attached to the cable due to the rotation of the drum on which the cable is wound or from which the cable is wound.

The disadvantages of the beam crane are as follows.

1) The need to install a guide rail;

2) The lifting device can only move along the guide rail;

3) The impossibility of carrying out lifting operations and moving cargo between locations located far from the guide rail of the crane beam.

Disclosure of the Invention

The objective of the invention is to provide the ability to move objects, devices and loads in rooms under the entire surface of the ceiling using a levitating suspension, that is, without mechanical contact of the suspension with the ceiling.

The problem of the invention is solved using a levitating suspension for moving under a ferromagnetic ceiling, containing at least one electromagnet for providing levitation, at least one gap sensor and at least one linear motor inductor. The electromagnet, gap sensor and linear motor inductor must be connected to each other (preferably mechanically). In this case, the inductor (active winding, primary element, stator) of the linear motor is fixed on the levitating suspension itself, and the role of the secondary element (armature) of the linear motor in the basic version is played by the ferromagnetic ceiling.

Preferably, the suspension contains at least three electromagnets connected to each other, and may contain at least two linear motor inductors connected to each other. Electromagnets predominantly form a plane, i.e. lie at the vertices of the triangle. Inductors of linear electric motors can be multidirectional.

In one embodiment, the suspension may contain at least three gap sensors. In another embodiment, the gimbal may further comprise at least one tilt sensor. In a preferred embodiment, at least one electromagnet and at least one linear motor inductor are connected to each other using a base made using a non-magnetic material.

The ceiling can either be made entirely of steel sheets or be laid out with several steel “tracks” where movement is possible. The steel ceiling attracts electromagnets and also, in the basic version, acts as a secondary element for linear motors. In the preferred embodiment, the ceiling is supplemented from below with a thin non-magnetic plate made of a good conductor (for example, aluminum), which better performs the function of a secondary element of a linear motor.

In an advantageous embodiment, the suspension also contains a power source and/or a controller configured to process the readings of the gap sensor and regulate the current supplied to the electromagnet. In a preferred embodiment, the number of gap sensors corresponds to the number of electromagnets and the gap sensors can be placed next to the electromagnets, for example, at a distance from them no more than the size of the electromagnet, or on the electromagnets. The controller can preferably also control the inductors of linear motors. The electromagnets are preferably hybrid electromagnets, i.e. In addition to electromagnetic coils, they contain permanent magnets.

The gimbal may be equipped with a lifting device and/or a video camera and/or other payload. The suspension may also have gap sensors that determine the distance between the suspension and the walls, and/or side-view video cameras. In addition, the gimbal can be equipped with elements for receiving/transmitting data, for example, through channels such as IR, radio, induction, etc.

The problem of the invention is also solved using a movement system consisting of a ferromagnetic ceiling and a levitating suspension according to any of the options described above. The system may be configured to move an object, and the levitating suspension may be configured to attach the object being moved to it. In a particular embodiment, a conductive non-magnetic plate can be installed under the ferromagnetic ceiling.

The main technical result is to provide the ability to move a levitating suspension (and therefore objects, devices and loads suspended from it) under the surface of the ceiling without mechanical contact of the suspension with the ceiling. The technical result is achieved due to the fact that the levitating suspension is equipped with:

1) an electromagnet and a gap sensor, ensuring levitation of the suspension under the ceiling, and

2) an inductor of a linear electric motor, which ensures the movement of the levitating suspension along the ceiling, while the role of the secondary element of the linear motor is played by a ferromagnetic ceiling (in the basic version) or a conductive non-magnetic plate (in the preferred version).

The technical result is achieved only by the full set of features 1) and 2), also specified in the independent claim of the invention. To ensure the possibility of moving a levitating suspension under the surface of the ceiling without mechanical contact of the suspension with the ceiling, it is necessary to ensure both levitation and the movement itself, which is ensured by all the features specified in the independent paragraph, together.

This means that without any of the features specified in the independent claim of the invention, the technical result will be unattainable, since either levitation is not provided (without electromagnets attracted to the ferromagnetic ceiling and gap sensors measuring the distance to it), or there is no possibility of movement ( if there is no linear motor).

An additional technical result is to provide the ability to move a levitating suspension (and therefore objects, devices and loads suspended from it) under the ceiling surface in any direction without mechanical contact of the suspension with the ceiling. This additional technical result is achieved due to the fact that the levitating suspension (movement system) can be equipped with two or more linear electric motors that provide movement in all directions and, in some cases, rotation of the levitating suspension due to the creation of rotational torque by the linear motors.

In addition, another additional technical result is achieved due to the fact that the levitating suspension is equipped with three or more electromagnets and several gap sensors (or one gap sensor together with at least one tilt sensor), which provide free levitation and help keep the plane of the suspension parallel to the ceiling and not limit the possibility of its movement in any direction due to the fact that the suspension is maintained in a levitating state in a plane parallel to the ceiling, while in the prior art the suspension can only move unidirectionally.

Additional technical results are achieved only by the full set of features specified in independent claim 1 and dependent claims 2-4 of the claims. Three electromagnets attracted to the ferromagnetic ceiling and a gap sensor are necessary to ensure levitation of the suspension, not limited in possible directions of movement, and two multidirectional linear electric motors are necessary to ensure movement of the levitating suspension in any direction. Therefore, to ensure the possibility of moving a levitating suspension under the surface of the ceiling in any direction without mechanical contact of the suspension with the ceiling, it is necessary to both ensure levitation without limitation in the direction of movement, and the movement itself in any directions, which is ensured by all the features specified in the independent paragraph, together .

This means that without any feature specified in the independent claim 1 and dependent claims 2-4 of the claims, the additional technical result will be unattainable, since either levitation is not provided (without electromagnets and a gap sensor), or the possibility, stability and speed are limited movement (if there are less than three electromagnets), or movement in any direction is not provided (if there are no linear electric motors, or if there are less than two linear electric motors).

Brief description of the drawing

In fig. Figure 1 shows a top view of a levitating suspension for moving under the ceiling with three linear electric motors.

In fig. Figure 2 shows a side view of a levitating suspension for moving under the ceiling.

The figures indicate:

1. Electromagnets

2. Gap sensors

3. Inductor windings of linear electric motors

4. Base of the device

6. Conductive non-magnetic (aluminum) plate

7. Steel (ferromagnetic) ceiling

8. Device control unit (microcontroller board)

9. Battery

10. Lifting mechanism

11. Grab device

12. Payload

Carrying out the invention

The invention is described below with reference to the figures, which show a possible embodiment of the invention. The described options, incl. shown in the figures do not limit the scope of protection of the invention and are intended only to explain its essence. The scope of protection of an invention is determined by the following claims.

For ease of perception, the levitating device is depicted and described in the operating position, in which the electromagnets 1 and the inductor windings of the linear motors 3, located on the base 4 of the device, create a magnetic field at the top in the gap between the base 4 and the ceiling 7. The constant magnetic field of the electromagnets ensures attraction to the steel the ceiling, counteracting the force of gravity, and the alternating (mainly three-phase) current generated by the inductor windings ensures movement according to the circuit of a conventional asynchronous linear motor. That is, the magnetic fields from electromagnets and linear motors are directed upward, towards the ferromagnetic ceiling. This arrangement option, described in detail in the description, is not limiting, since the levitating suspension before operation (for example, during storage or transportation) can be inverted, positioned vertically or at an angle, or away from the ceiling, and moved not by magnetic forces, but by other force influences eg by a person or a mechanical forklift. Thus, the present invention in a broad sense relates to a variety of levitating suspensions, which can be arranged in any way and have all the features specified in the independent claim.

The figures show the predominant structural design of the levitating suspension. The shown device for (levitating) movement under a ferromagnetic (steel) ceiling 7, as a levitating suspension can also be called, contains a base 4 made using non-magnetic material, three electromagnets 1, gap sensors 2 and three linear electric motors 3. To increase the performance of linear motors, the ceiling 7 is supplemented from below with a thin non-magnetic plate 6 made of a good conductor (for example, aluminum), which serves as a secondary element of the motors.

The non-magnetic conductive plate 6 can be assembled from several non-magnetic conductive elements, such as beams, beams, cells, individual plates, etc., and should be located under the ceiling to increase efficiency.

The base 4 of the levitating suspension can be made using any non-magnetic material that provides sufficient structural strength.

In one embodiment, the base can be made in the form of a flat sheet, i.e. plates. Such a sheet (for example, metal) can be profiled in cross section, and the profile can have a part for attaching linear motors and a part (or several parts) for attaching suspension elements (electromagnets, sensors, etc.). In addition, the sheet may have various holes, cutouts, recesses, etc.

In another embodiment, the base can be made in the form of a volumetric element. To accommodate and interact with linear motors, mountings can be provided with appropriate methods for attaching linear motors and other suspension elements, for example, electromagnets. Some parts of the volumetric element may have flat areas. In particular embodiments, the base may have surfaces or an overall shape that are close to flat or appear flat on a general scale, but protrusions, depressions or surface irregularities on closer inspection will make the plate a three-dimensional element. In addition, the base can consist of flat sections located at an angle or at different angles with respect to each other, that is, the base can, for example, be curved and thus also be a three-dimensional element.

The base 4 serves as a housing to which other elements of the device are attached. Electromagnets 1 are attached to the base 4, on which gap sensors 2 are installed. The electromagnets are designed to attract the suspension from below to the ferromagnetic ceiling 7. The ceiling is an element of furniture located above the room or serviced area.

The ceiling can either be entirely in the form of a steel (ferromagnetic) plate or assembled from several ferromagnetic elements, such as beams, beams, cells, individual plates, etc. In other embodiments, the ceiling may be provided with a ferromagnetic plate and/or the listed ferromagnetic elements.

In fig. 1 shows that the suspension has three electromagnets 1. This number is necessary to ensure horizontal levitation of the suspension (holding the plane parallel to the ceiling). The levitating suspension itself is predominantly flat, at least in the area facing the ceiling where the electromagnets and linear motors are located. The suspension may have protrusions upward and recesses in its upper part in its operating position (that is, under the ceiling), however, the overall configuration of the suspension has a predominantly flat component.

Electromagnets 1 in the suspension shown in the figures are attached to the base 4. In the embodiment of the suspension shown in the figures, the electromagnets and other elements (sensors, linear motors) are connected to each other by means of a housing; in other embodiments, they can be connected to each other directly or using other elements. In particular, the gap sensors 2 are attached directly to the electromagnets 1, although in other embodiments other arrangements may be provided.

Electromagnets ensure levitation of the suspension due to the magnetic field interacting with the ferromagnetic ceiling, and thereby providing the force of attraction of the electromagnets, and therefore the suspension as a whole to the ceiling.

Electromagnets provide compensation for the full weight of the suspension, including the load or devices attached to it, ensuring an equilibrium levitation air gap between the suspension and the ceiling. Thanks to the magnetic field generated by the electromagnets (electromagnetic coils) included in the suspension, the suspension is attracted upward to the ceiling. The magnitude of the magnetic field generated by the electromagnets, depending on the magnitude of the current in the electromagnetic coils, is adjusted so that the suspension is in a suspended state so that a certain gap is provided between it (or the electromagnets included in its composition) and the ceiling, sufficient for levitation.

The distance (gap) between the suspension and the ceiling is measured using a gap sensor and then, based on these measurements, the current strength in the electromagnets is regulated. As the distance increases, the current strength increases, the electromagnets generate stronger magnetic fields and the pendant is more strongly attracted to the ceiling, as a result of which the distance between the pendant and the ceiling is reduced to a predetermined value. As the distance decreases, the current strength decreases, the electromagnets weaken the generated magnetic fields and the suspension is less attracted to the ceiling, as a result of which the distance between the suspension and the ceiling increases to a given value. This ensures magnetic levitation of the suspension.

The suspension has several gap sensors 2, which is necessary for measuring deviations from a given value of the gap between the suspension (in particular, its electromagnets) and the ceiling at several points on the ceiling located in a plane, mainly parallel to the plane of the ceiling. The gap sensors may have operating principles known in the art. For example, these can be optical, capacitive, ultrasonic gap sensors and other types.

In fig. Figure 1 shows three gap sensors 2 mounted on electromagnets 1. Since the gap is measured primarily in the vertical direction, the gap measurement points on the ceiling correspond to the locations of the gap sensors in the suspension, and the gap sensors must also be located in a plane or, more precisely, not on one lines. This is due to the fact that the suspension has a flat structure, located parallel to the flat ceiling, and it is necessary to maintain a gap between the suspension and the ceiling along the entire plane.

To ensure the required gap between the planes of the suspension and the ceiling, three gap sensors and three electromagnets not located on the same line are sufficient, i.e. in a plane (in which, in particular, lies a triangle, at the vertices of which there are gap sensors, for example, their average or identical points or points of direct physical field sensors used to measure gaps), and three electromagnets not located on the same line, i.e. .e. in a plane (in which, in particular, lies a triangle, at the vertices of which there are electromagnets, for example, their middle or identical points).

In cases where there are more than three gap sensors, at least three of them must not be on the same line, i.e. they must form a triangle with each other or, in other words, the lines on which the gap sensors lie in pairs must intersect, that is, form an angle between themselves greater than 0° and less than 180°. Likewise, when there are more than three electromagnets, at least three of them must not be on the same line, i.e. they must form a triangle with each other or, in other words, the lines on which the electromagnets lie in pairs must intersect, that is, form an angle between themselves greater than 0° and less than 180°. The points in the gap sensors and electromagnets through which lines are mentally drawn or planes are laid are determined according to the rules described in the previous paragraph or in another way that ensures the similarity of the location of the points.

In a preferred embodiment, as shown in FIG. 1, the number of gap sensors corresponds to the number of electromagnets, which simplifies the suspension itself and control algorithms due to the correspondence of the numbers of gap sensors and electromagnets, as well as, presumably, their locations. However, there may be more gap sensors than electromagnets, which allows more precise adjustment of the levitation of the suspension and, in some cases, simplifies control algorithms due to the larger amount of data reflecting the position of the levitating suspension relative to the ceiling, because the required clearance values can be measured or determined using simpler patterns if the sensors are placed in the suspension appropriately.

In one embodiment, the gap sensors can be located adjacent to the electromagnets, for example, on or near the electromagnets at a distance no greater than the size of the electromagnet. This will ensure that the gap values measured by the gap sensors correspond fairly closely to the gap values between the electromagnets and the ceiling. This will simplify the levitating gap control algorithms, increase the positioning accuracy of the levitating suspension relative to the ceiling and the reliability of hanging and moving the load due to the reduced risk of the suspension falling or sticking to the ceiling due to the increased accuracy of the suspension positioning.

In other embodiments, the gap sensors may be located between the electromagnets (in the plane of the suspension), and the gap for each electromagnet is calculated using the gap values measured by two or more gap sensors located on different sides of the electromagnet.

In the case of using electromagnets in the form of simple electromagnetic coils, to ensure constant levitation of the suspension, a constant current will flow in them, providing a constant magnetic field. The direct current will be quite large, which will lead to increased energy consumption, which means a large-capacity battery will be required. In an advantageous embodiment, to reduce power consumption and simplify the requirements for the power source, the electromagnets can be hybrid electromagnets, i.e. in addition to electromagnetic coils, they may contain permanent magnets.

The magnitude of the magnetic field generated by hybrid electromagnets depends on the magnitude of the coercive force of the permanent magnets and the magnitude of the current of the electromagnetic coils. The specified gap between the suspension and the ceiling is still ensured by changing the current in the electromagnetic coils, but the nature of the suspension changes. In hybrid electromagnets, the main and constant force of attraction is provided by permanent magnets, i.e. without energy consumption.

The control system for hybrid electromagnets generates control electric currents in electromagnetic coils in such a way that they, in interaction with the ferromagnetic ceiling, form the resulting electromagnetic forces that provide guaranteed safe gaps, taking into account the value of the equilibrium levitation air gap required for the operation of the described invention. Thus, the electromagnetic coils at any time create an additional magnetic force sufficient in magnitude and direction to compensate for insufficient or excessive forces of attraction of permanent magnets to the ceiling, which depend on the distances between the permanent magnets and the ceiling. As a result, it turns out that the suspension slightly deviates from the equilibrium position, in which the force of attraction of the permanent magnets exactly corresponds to the weight of the suspension (including the load), and immediately returns back to this position with the help of electromagnets.

The ponderomotive force that balances the weight of the gimbal is generated by high coercivity permanent magnets built into the hybrid electromagnets. A small amount of electrical energy is needed to power the hybrid electromagnet and stabilize the position of the suspension relative to the ceiling. Stabilization when weight changes is carried out by selecting such a gap between the ceiling and hybrid magnets, in which the force of gravity is compensated by the attraction of permanent magnets to the ceiling. The presence of hybrid electromagnets is especially important when moving a load along the ceiling due to possible unpredictable changes in the center of mass of the suspension and deviations from the center of application of the magnetic forces of the electromagnetic suspension. Compensation for such fluctuations is provided by electromagnetic coils of hybrid electromagnets. To significantly reduce the consumed electrical energy required to implement the specified vehicle position control, the cores of hybrid electromagnets can be made of soft magnetic materials with high magnetizing ability.

Hybrid electromagnets include electromagnets and permanent magnets that form a magnetic field above the suspension, directed in the vertical direction. In addition, hybrid electromagnets may contain cores or magnetic circuits to concentrate the magnetic field, preferably upward. The material of the cores of electromagnetic coils should provide low losses during magnetization reversal and not have high residual magnetization.

To move the levitating suspension in the operating position, that is, in the position of levitation relative to the ceiling, the suspension contains inductor windings of linear electric motors, which, together with a stationary secondary element (the ceiling itself in the basic version and the conductive plate on it in the preferred variants), can also be called linear engines or electric motors.

A linear motor is an electric motor in which one of the elements of the magnetic system (inductor) is open and has a deployed winding that creates an alternating magnetic field, and the other (secondary element) interacts with it and is made in the form of a ferromagnetic ceiling or (preferably) in the form conductive non-magnetic plate, providing linear movement of the moving part of the motor, i.e. inductor winding, attached in a particular version to the base, relative to the ceiling.

In the present invention, a linear motor refers to a linear motor inductor that is attached to a suspension and interacts with a ferromagnetic ceiling in an electromagnetic manner. In the case where “linear motor” is mentioned instead of the term “linear motor inductor”, it must be understood that its inductor is meant. The axis of the inductor is further understood as the line along which the thrust vector of the linear motor is directed.

The inductor winding of a linear electric motor consists of several coils located parallel to the ceiling 7. The coils are arranged sequentially one after another along a line lying in a plane parallel to the plane of the base of the suspension (or the plane of the ceiling in the levitated state) or close to it. The arrangement of the coils along the line means that the centers of the coils and/or other identical sections of them are located along the line. The line along which the coils are located is also the line along which the linear electric motor will move along with the levitating suspension.

The coils of a linear electric motor are supplied with currents that form a magnetic field that has a variable (for example, periodic) structure along the line where the coils are located and moves along this line relative to the coils and the suspension. The specified magnetic field, due to its movement and, consequently, changes in its magnitude at specific points, causes eddy currents in the non-magnetic conductive element of the ceiling and, further, in the interaction of the magnetic field with the induced eddy currents, a ponderomotive force is created, pushing the suspension in the direction lying on the line in which the coils of the linear electric motor are located.

Thanks to one linear electric motor, the levitating suspension can move along one line in the forward or reverse direction, depending on the sequence of currents supplied to the coils of the electromagnetic motor. In order for the electric motor to be able to move not only linearly, but to be able to reach any point on a flat ceiling, it must have at least two linear electric motors. In a particular version, shown in the figures, the levitating suspension contains three linear electric motors 3.

In order for the levitating suspension to move in different directions, the axes of the linear motor inductors can be located predominantly parallel (unidirectional, collinear) and not on the same line, in particular, offset from the center of gravity of the suspension of one or both inductors. Then, purely translational movement of the suspension (without rotation) can be ensured only with a certain combination of currents in the windings, and purely rotational with another combination, which can be used to set a new direction of translational movement. With all other combinations of currents, the movement of the suspension will be more difficult to control.

Two parallel inductors can be shifted on opposite sides relative to the center of gravity. Then equal currents in them will provide linear motion, since the pushing forces from the inductors will be unidirectional, and reverse currents (in polarity or phase) in them will provide rotational motion, since the pushing forces from the inductors will be opposite (reverse) directed.

In another embodiment, the axis of one of the inductors can pass through the center of gravity of the gimbal to provide linear movement without the other inductor. When you turn on an additional inductor located parallel to the main one, not in line with it and offset from the center of gravity, the suspension will rotate. It will turn especially effectively when a current flows through the additional inductor, ensuring that the suspension is pushed in the direction opposite to that in which the main suspension is pushing, since such oppositely directed forces will rotate the suspension almost in place.

In another embodiment, to ensure the movement of the levitating suspension in different directions, the axes of the linear motor inductors can pass through the center of gravity of the suspension and be located at an angle to each other, that is, they must be multidirectional. Then there is always no rotation of the gimbal, and the thrust vector applied to the gimbal is the vector sum of the contributions of each engine. For two motors, the optimal angle is 90° between the axes, for three - 120°, but the functionality of the device is maintained even with a deviation of ±80° for two and ±30° for three motors.

A combined option is also possible, when the axes of some of the inductors are shifted from the center of gravity and located at an angle to each other. However, motion control in such a system will be more complex.

In an advantageous embodiment, the suspension also contains a power source, which can be a battery of chemical batteries or a rechargeable battery. This will ensure the autonomy of the levitating suspension. In particular, in FIG. 2 position 9 indicates the battery.

In other embodiments, electrical power can be supplied to the levitating suspension through current collectors or supply wires or cables, which are predominantly bendable, which will reduce the weight of the levitating suspension due to the absence of the need to place a battery or accumulator on board, and also increase its operating time, since in the case of By supplying power from an external source, the levitating gimbal can operate continuously all the time without wasting time on changing the battery or recharging the battery.

The levitating suspension preferably includes a controller that processes the readings of the gap sensors and regulates the current(s) supplied to the electromagnets. In particular, in FIG. 2, position 8 denotes the device control unit, which can be a microcontroller board on which the controller is located. Thanks to the presence of such a controller, the autonomy of the levitating suspension is ensured.

In another embodiment, data from the gap sensors can be transmitted to an external controller or computer, where they are processed and the currents that need to be supplied to the electromagnets are determined. Next, currents themselves can be supplied to the levitating suspension for supply to electromagnets (for example, through wires) or calculated values of currents (or their other parameters), which can then be formed in electromagnets directly in the levitating suspension. Using an external controller or computer can reduce the weight of the levitating gimbal and increase its operating time.

The controller included in the gimbal can preferably also control linear motors. To do this, he can determine the magnitude of currents and their other parameters in the inductor windings of linear motors or their changes at each moment of time, with subsequent transmission to the circuits that form currents for linear electric motors, in such a way as to ensure movement of the levitating suspension in a given direction. In other embodiments of the suspension, the current values for the coils of linear motors can be determined in an external controller or computer, and the calculated values or currents for the coils of linear motors can be supplied directly to the suspension (for example, via wires), which will reduce the weight of the levitating suspension and increase the duration of its operation .

The suspension can be equipped with a load-lifting device 10, thanks to which the levitating suspension can lift and move the payload 12 along the ceiling. To grab the load 12, a grab device 11 or an electromagnet can be used (in the case when the load has magnetic elements).

In another embodiment, the gimbal can be equipped with a video camera. In particular, a video camera can be installed instead of a lifting mechanism and have a rotation/tilt device. This arrangement of the video camera on a levitating suspension will allow it to be brought closer to the area of interest and ensure the shooting of frames that have the most informative or aesthetic location of the objects being filmed.

To prevent collisions with walls, other hangers, or objects mounted on the ceiling/walls (e.g., lamps, chandeliers, fixtures), the hanger may also have clearance sensors that determine the distance between the hanger and the walls, and/or side-view cameras.

In addition, the gimbal can be equipped with elements for receiving/transmitting data, for example, through channels such as IR, radio, induction, etc. to provide external data processing and/or external control. In particular, through such data reception/transmission elements, channels can be provided to control the movement of the suspension along the ceiling (for example, from a control panel) and/or control the cargo device and/or video cameras.

In the basic version, a levitating suspension for moving under a ferromagnetic ceiling may contain one electromagnet, one gap sensor and one linear electric motor connected to each other (mainly mechanically, including rigidly, for example by attaching to each other; the connection can also be electric). The electromagnet and the linear motor can be connected to each other directly or through a base made using a non-magnetic material. The gap sensor can be attached to the electromagnet directly or to a base to which the electromagnet is attached.

If there are several electromagnets, then they can also be connected to each other (mechanically and/or electrically) directly or using a base. If there are several inductors of linear electric motors, then they can also be connected to each other (mechanically and/or electrically) directly or using a base. If there are several sensors, they can also be connected to each other (mechanically and/or electrically) directly or using a base.

The ability to move the levitating suspension (and therefore objects, devices and loads suspended from it) under the surface of the ceiling without mechanical contact of the suspension with the ceiling is ensured due to the fact that the levitating suspension is equipped with:

1) an electromagnet and a gap sensor, ensuring levitation of the suspension under the ceiling, and

2) a linear electric motor that ensures the movement of the levitating suspension along the ceiling.

The ability to move a levitating suspension under the ceiling surface without mechanical contact of the suspension with the ceiling is provided only jointly by an electromagnet, a gap sensor and a linear motor. To ensure the possibility of moving a levitating suspension under the surface of the ceiling without mechanical contact of the suspension with the ceiling, it is necessary to ensure both levitation and the movement itself, which is ensured by these features together.

Specifically, an electromagnet is attracted to a ferromagnetic ceiling and a gap sensor measures the gap to the ceiling and the current supplied to the electromagnet is adjusted so that the gap between the hanger and the ceiling remains within the specified limits due to the changing magnitude of the magnetic field generated by the electromagnet. At the same time, an alternating voltage is applied to the linear motor inductor, as a result of which the linear motor generates a changing electromagnetic field that interacts with the ferromagnetic ceiling and causes the suspension to move relative to the ceiling.

As you can see, in order for the suspension to levitate and move under the ferromagnetic ceiling, one electromagnet and one linear electric motor are enough. A larger number of electromagnets (at least three) are necessary to keep the suspension in a levitating state parallel to the ferromagnetic ceiling. In turn, a larger number of linear ones is necessary to ensure the ability to move the levitating suspension under the ferromagnetic ceiling in any direction - this will require at least two multidirectional linear electric motors.

To ensure a horizontal position of the suspension, the currents supplied to several electromagnets located not on the same line and thereby forming a triangle defining the plane of the suspension can, in addition to the gap sensor, be adjusted using the readings of a tilt sensor, which can be additionally equipped with the suspension. Preferably, the pendant may include two or more multi-directional tilt sensors so that it can detect deviation from a plane parallel to the ceiling (i.e., the horizontal plane) in several directions and then increase or decrease the current in the corresponding electromagnets so as to return the pendant to given plane.

In another embodiment, described above, the suspension may contain several gap sensors, preferably located near or on the electromagnets and measuring the gap between the suspension and the ceiling near the electromagnets. This will simplify the algorithm for regulating the electromagnet currents, ensuring that the suspension is located at a given distance from the ceiling in a plane parallel to the ceiling. The number of gap sensors in this embodiment preferably corresponds to the number of electromagnets, which further simplifies the control algorithm.

The above-described embodiments of the invention can be implemented either individually or in combination. The presented examples of implementation are given only to simplify the understanding of the invention and are not intended to limit the scope of protection of the invention as defined by the claims.

Claims (18)

1. A levitating suspension for moving under a ferromagnetic ceiling, including at least one electromagnet, at least one gap sensor and at least two linear motor inductors connected to each other, wherein the linear motor inductors are multidirectional. 2. The suspension according to claim 1, characterized in that it includes at least three electromagnets connected to each other. 3. Suspension according to claim 2, characterized in that the electromagnets form a plane. 4. Suspension according to claim 1, characterized in that it includes at least three gap sensors. 5. Suspension according to claim 1, characterized in that it includes at least one tilt sensor. 6. The suspension according to claim 1, characterized in that at least one electromagnet and at least one linear motor inductor are connected to each other using a base made using a non-magnetic material. 7. Suspension according to claim 1, characterized in that it includes a power source. 8. The suspension according to claim 1, characterized in that it includes a controller configured to process the readings of the gap sensor and regulate the current supplied to the electromagnet. 9. Suspension according to claim 8, characterized in that the controller is configured to control the inductor with a linear electric motor. 10. Suspension according to claim 1, characterized in that the number of gap sensors corresponds to the number of electromagnets. 11. Suspension according to claim 1, characterized in that the gap sensors are placed next to the electromagnets or on the electromagnets. 12. Suspension according to claim 1, characterized in that the electromagnets are hybrid electromagnets. 13. Suspension according to claim 1, characterized in that it is equipped with a lifting device and/or a video camera. 14. The suspension according to claim 1, characterized in that it includes gap sensors that determine the distance between the suspension and the walls, and/or side-view video cameras. 15. Suspension according to claim 1, characterized in that it includes elements for receiving/transmitting data. 16. A movement system, including a ferromagnetic ceiling and a levitating suspension according to any of paragraphs 1-15. 17. The system according to claim 16, characterized in that it is designed to move an object and the levitating suspension is configured to attach the moved object to it. 18. The system according to claim 17, characterized in that a conductive non-magnetic plate is installed under the ferromagnetic ceiling.