The present disclosure generally relates to a support structure for supporting an elevator cabin. In particular, a support structure for supporting a cabin on a track of an elevator system and an elevator system comprising a cabin and a support structure are provided.

Background

Various types of elevator systems for vertically transporting people and/or goods are known. Some elevator systems include a rotatably supported cabin such that the cabin can be maintained in a horizontal orientation as the cabin transitions between horizontal and vertical track sections.

US 2001020429 A1 discloses an autonomous transport system where a cabin is connected to a rolling traction with a cantilever. The cantilever holds the cabin with a swivel joint at a fixed distance from the wheel guides.

The Articulated Funiculator (R) is a new concept of vertical transportation which is described in WO 2013159800 A1. This transportation system may for example be used in tall buildings, deep underground subway stations and deep mines.

The concept of the Articulated Funiculator (R) opens up for the use of a wide range of track configurations. For example, practically endless combinations of straight, curved, inclined, twisted and helical track sections may be used. For these track configurations, a cabin support structure such as the one shown in US 2001020429 A1 is not suitable. Summary

Accordingly, one object of the present disclosure is to provide a support structure for supporting a cabin on a track of an elevator system that can travel through a wide range of different types of track sections, including twisted and curved track sections.

A further object of the present disclosure is to provide a support structure with a simple and compact configuration. A still further object of the present disclosure is to provide a support structure that can maintain a floor of the cabin in a substantially horizontal orientation as the support structure travels through the different track sections.

According to one aspect, there is provided a support structure for supporting a cabin on a track of an elevator system, where the support structure comprises a first bogie member, a second bogie member and a base member configured to support the first bogie member and the second bogie member for relative rotation about a roll axis and a yaw axis of the track. In other words, the base member allows the first bogie member to rotate with respect to the second bogie member both about a roll axis and a yaw axis of the track.

The base member may be configured to support the first bogie member and the second bogie member for a relative rotation about a roll axis of up to 90°, such as up to 45°, such as up to 30°, such as up to 10°.

Alternatively, the base member may be configured to support the first bogie member and the second bogie member for an endless relative rotation about the roll axis (i.e. 360°). Furthermore, the base member may be configured to support the first bogie member and the second bogie member for a relative rotation about a yaw axis of up to 80°, such as up to 60°, such as up to 45°, such as up to 30°.

The cabin may be a passenger cabin and/or a cargo cabin. The cabin may alternatively be referred to as a pod, carriage or car. Several cabins may be used in the elevator system. The cabins may be individually routed on the track or collectively as trains with two or more cabins. In case the cabins are driven collectively as trains, the cabins may be driven individually or interconnected, for example with cables. The support structure according to the present disclosure is not limited to any particular type of propulsion system. For example, all cabins in the elevator system may be driven with a cable or set of cables or each cabin may have an individual propulsion system. Two or more different types of propulsion systems may also be combined within the elevator system. Throughout the present disclosure, the support structure may

alternatively be referred to as a chassis or suspension arrangement.

The elevator system may for example be used in a tall building or underground to access a deep underground subway station or a deep mine. In case the elevator system is implemented in a building, the track may be provided in an elevator shaft within the building and/or be provided at the exterior of the building.

The track may include a single rail or several rails. One suitable track is constituted by a pair of rails. The track may for example contain twisted sections such that the support structure can roll in space, curved sections such that the support structure can yaw in space, and/or sections that transition between horizontal and vertical (i.e. tilted or inclined sections) such that the support structure can pitch in space as the support structure with the cabin is moved along the track.

The roll, yaw and pitch terminology is analogous with the principal axes of an aircraft. For a straight horizontal track section, a roll axis is parallel with the travel direction of the track, a yaw axis is vertical and

perpendicular to the roll axis, and a pitch axis is horizontal and

perpendicular to both the yaw axis and the roll axis. If the track contains a twisted section, both the support structure and the cabin may roll together during movement along the twisted track section. However, in case a first roll bearing member is provided between the first bogie member and the base member and a second roll bearing member is provided between the second bogie member and the base member, the cabin may also be allowed to roll relative to the track by means of a rolling motion of the base member relative to the first and second bogie members.

In this manner, the cabin may roll relative to the track also at a straight (i.e. "non-twisted") section of the track. Depending on the configuration of the support structure and the cabin, this type of roll motion may be limited due to interference with the track. In some configurations, only a roll motion of the cabin relative to the track in an angular range of up to 180°, such as up to 120°, such as up to 60°, is allowed by the

configuration of the support structure. However, it is also possible to configure the support structure such that an endless roll motion (i.e. 360°) of the cabin relative to the track is enabled at straight sections of the track.

The track may include any type of loop configuration including for example a single vertically elongated loop or several interconnected or separated loops. In case the track is designed with two loops, the track may have a layout substantially in the form of an "8-shape".

In case the track comprises two or more loops, the track may be substantially horizontally oriented at crossing regions between each pair of loops. A station for passengers may be arranged adjacent to each such crossing region. However, one or more stations may also, or

alternatively, be provided at any vertical or inclined sections of the track.

At some stations (e.g. at stations vertically between two loops), two substantially horizontal track sections may be laid parallel (i.e. next to each other substantially at the same vertical height). In order to avoid interference of the track sections, the track sections may have to turn (i.e. to be curved) in the horizontal plane, requiring a relative yaw movement between the first bogie member and the second bogie member. In case a station is arranged at an upper portion and at a lower portion of a track loop, the track may roll 180° between the stations such that a cabin can be stopped at each station with the same relationship to the track, either such that the cabin "hangs from the track" (i.e. under the track) or such that the cabin "stands on the track" (i.e. above the track). For example, a cabin (or a train comprising several cabins) may travel from a horizontal track section at a lower station of a track loop, through a lower tilted section that transitions from horizontal to vertical, through a roll section that rolls 180°, through an upper tilted section that transitions from vertical to horizontal, and to a horizontal track section at an upper station of the track loop. Such roll sections of the track require a relative roll movement between the first bogie member and the second bogie member.

The first bogie member and the second bogie member may throughout the present disclosure alternatively be referred to as a first framework and a second framework, respectively. Each of the first and second bogie members may comprise at least one track engaging element for engaging the track and allowing a movement of the support structure along the track. Although the present disclosure mainly exemplifies the track engaging elements as wheel assemblies engaging a rail portion, other track engaging elements are possible, for example track engaging elements relying on magnetic forces between the track engaging elements and the track. Thus, in this case the track may not be

mechanically, but merely magnetically, engaged by the track engaging elements. The first and second bogie members may have an elongated appearance and may be oriented substantially parallel with the pitch axis, i.e. substantially transverse to the roll axis and the yaw axis of the track. Moreover, the first and second bogie members may each be constituted by a rigid piece of material.

The base member may comprise a first roll bearing member that rotatably connects the base member to the first bogie member for relative rotation about the roll axis. In this case, the base member may be fixedly attached to the second bogie member. In this manner, the base member supports the first bogie member and the second bogie member for relative rotation about the roll axis. With a fixed attachment is meant a firm connection not allowing any relative movement (including rotation) between the parts.

Alternatively, the base member may comprise a second roll bearing member that rotatably connects the base member to the second bogie member for relative rotation about the roll axis. In this case, the base member may be fixedly attached to the first bogie member. Also in this manner, the base member supports the first bogie member and the second bogie member for relative rotation about the roll axis.

As a further alternative configuration, the base member may comprise both a first roll bearing member and a second roll bearing member as described below. Also in this configuration, the base member supports the first bogie member and the second bogie member for relative rotation about the roll axis. Both a first roll bearing member and a second roll bearing member may for example comprise a roller bearing.

The base member may comprise two parts that are rotatable relative to each other about the yaw axis. In this manner, the base member can support the first bogie member and the second bogie member for relative rotation about the yaw axis of the track.

A first part of the base member may be fixedly attached to, or integrally formed with, the first bogie member or with a part (e.g. an inner race) of the first roll bearing member (in case a first roll bearing member is provided). A second part of the base member may be fixedly attached to, or integrally formed with, the second bogie member or with a part (e.g. an inner race) of the second roll bearing member (in case a second roll bearing member is provided). Since the first part and the second part of the base member are allowed to swivel about the yaw axis, the base member may throughout this disclosure alternatively be referred to as a swivel member.

The first bogie member and the second bogie member may each comprise at least one wheel assembly having at least one wheel for engaging a portion of a rail of the track to move along the track.

According to one variant, each of the first bogie member and the second bogie member comprises two wheel assemblies for engaging a pair of rails where each wheel assembly includes a plurality of wheels, for example four wheels (two wheels on an upper part of the rail and two wheels on a lower part of the rail) or six wheels (two wheels on an upper part of the rail, two wheels on a lower part of the rail and two wheels on a lateral part of the rail).

The wheel assemblies may be openable so that in an open state the support structure and the cabin can be lifted off a track by a machine or robot and in a closed state lock the support structure and the cabin can be locked to the track for relative movement thereon.

According to one realization, at least one of the first bogie member and the second bogie member may be configured to support the respective at least one wheel assembly for relative rotation about a pitch axis of the track. That is, the at least one wheel assembly of the first bogie member may be rotationally coupled to the first bogie member for a rotation about a pitch axis. Alternatively, the at least one wheel assembly of the second bogie member may be rotationally coupled to the second bogie member for a rotation about a pitch axis. Alternatively, both the first and second bogie members may be configured to support the respective at least one wheel assembly for relative rotation about a pitch axis of the track. In this case, the at least one wheel assembly of the first bogie member may be rotatable about a first pitch axis and the at least one wheel assembly of the second bogie member may be rotatable about a second pitch axis, parallel with the first pitch axis (in case the the first bogie member is not rotated with respect to the second bogie member about the yaw axis or the roll axis).

In all these three configurations, the at least one wheel assembly of the first bogie member is rotatable about a pitch axis with respect to the at least one wheel assembly of the second bogie member. In these manners, the support structure is configured to follow track sections that transition between horizontal and vertical (i.e. tilted or inclined sections) such that the support structure can pitch in space as the support structure with the cabin is moved along the track. The first and second bogie members may be configured to support the respective wheel assemblies for a rotation about a pitch axis of up to 45°, such as up to 30°, such as up to 15°, such as up to 10°, such as up to 5°.

The base member may be substantially centered between the first bogie member and the second bogie member. The definition substantially centered includes an offset distance of up to 20%, such as up to 10%, such as up to 5%, such as up to 2%, of the distance between the first bogie member and the second bogie member when the first bogie member and the second bogie member are not rotated relative to each other about the yaw axis. Moreover, if the first and second bogie members comprise wheel assemblies rotationally coupled about a respective pitch axis, the distance between the first bogie member and the second bogie member may be measured between the two pitch axes.

According to one variant, the base member is substantially centered between the first and second bogie members and the base member is configured to support the first and second bogie members for relative rotation about a yaw axis that is not centered between the first and second bogie members. For example, the yaw movement of the support structure may take place between the first bogie member and the base member or between the second bogie member and the base member.

The yaw axis may however be substantially centered between the first bogie member and the second bogie member. According to one

realization, both the yaw axis and the base member are substantially centered between the first and second bogie members. Alternatively, the yaw axis may be substantially centered between the first and second bogie member while the base member is not centered between the first and second bogie member. This may for example be accomplished by means of an asymmetrically designed base member (asymmetric as seen in the travel direction of the track).

The base member may be configured to support each of the first bogie member and the second bogie member for rotation about a roll axis relative to the base member. For example, the base member may comprise both a first roll bearing member and a second roll bearing member where the first roll bearing member rotatably connects the base member to the first bogie member for relative rotation about the roll axis and where the second roll bearing member rotatably connects the base member to the second bogie member for relative rotation about the roll axis. Also in this manner, the base member supports the first bogie member and the second bogie member for relative rotation about the roll axis of the track.

If with this configuration the first bogie member is rotated relative to the second bogie member about the yaw axis (e.g. during a curve of the track), the first bogie member will be rotatable relative to the base member about a first roll axis and the second bogie member will be rotatable relative to the base member about a second roll axis, inclined with respect to the first roll axis. However, the first roll axis and the second roll axis will coincide when the support structure comes to a straight track section. As an alternative configuration, the base member may be configured to support one of the first bogie member and the second bogie member for rotation about a roll axis relative to the base member and fixedly support the other of the first bogie member and the second bogie member such that the other of the of the first and second bogie members is prevented from rolling relative to the base member. For example, the first bogie member can be fixedly connected to the base member such that the first bogie member is prevented from rotating about the roll axis relative to the base member and the second bogie member can be coupled to the base member such that a relative rotation about the roll axis relative to the base member is allowed.

The base member may comprise two plates rotatably arranged with respect to each other for rotation about the yaw axis and one of the plates may be configured to support the cabin. Thus, the base member may be configured to support the cabin.

The support structure may further comprise a support member

configured to support the cabin for rotation about a cabin axis

substantially perpendicular to the yaw axis. The cabin may have a cylindrical appearance (e.g. barrel shaped) and the cabin axis may be substantially coincident with the cylinder axis of the cabin. The cabin axis may or may not be constituted by a pitch axis. That is, in case the support structure is also configured to rotationally support the cabin about a yaw axis, the cabin axis may not always constitute the pitch axis.

The support member may be connected to the base member, for example directly connected to the base member. The support member may comprise a yaw bearing member connected to the base member, two bearing frames for holding the cabin and two arms connecting the yaw bearing member and a respective bearing frame. One or both of the bearing frames may be driven by a motor to control the pitch of the cabin relative to the support structure and/or the yaw bearing member may be driven by a motor to control the yaw of the cabin relative to the support structure. The motors may be electric motors.

According to a further aspect, there is provided an elevator system comprising at least one cabin and at least one support structure according to the present disclosure for supporting the at least one cabin. Throughout the present disclosure, the elevator system may alternatively be referred to as a vertical transportation system.

Brief Description of the Drawings

Further details, advantages and aspects of the present disclosure will become apparent from the following embodiments taken in conjunction with the drawings, wherein:

Fig. 1 : schematically represents a partial view of an elevator system comprising a twisted track, a cabin and a support structure supporting the cabin on the track;

Fig. 2a: schematically represents a bottom view of the support

structure in Fig. 1 on a straight track section;

Fig. 2b: schematically represents a bottom view of the support

structure in Figs. 1 and 2a on a curved track section; Fig. 2c: schematically represents a view of the support structure and the cabin along section A-A of the twisted track section in

Fig. 1 ; and

Fig. 2d: schematically represents partial side view of a tilted track

section transitioning from horizontal to vertical and the support structure in Figs. 1, 2a, 2b and 2c. Detailed Description

In the following, a support structure for supporting a cabin on a track of an elevator system and an elevator system comprising a cabin and the support structure will be described. The same reference numerals will be used to denote the same or similar structural features. Fig. 1 schematically represents a partial view of an elevator system 10 comprising a track 12 having a twisted section, a cabin 14 and a support structure 16 supporting the cabin 14 on the track 12 for movement along the track 12 in a travel direction 18. Arrows 20 and 22 represent a vertical direction and a horizontal direction in space, respectively. The track 12 comprises two rails 24 for being engaged by wheels of the support structure 16.

The section of the track 12 in Fig. 1 is slightly oblique with respect to the vertical direction 20. Moreover, the track 12 is twisted approximately 90° from a lower portion along the travel direction 18 to an upper portion. The section of the track 12 in Fig. 1 constitutes a part of an elevator system 10 that may comprise practically endless combinations of straight, curved, inclined, twisted and helical track sections and any type of loop configuration as described above. Fig. 2a schematically represents a bottom view of the support structure 16 in Fig. 1 on a straight section of the track 12. The cabin 14 has been left out in Fig.2a (and also in Fig. 2b) in order to improve the visibility of the support structure 16.

The support structure 16 comprises a first bogie member 26 and a second bogie member 28. When the support structure 16 moves along the travel direction 18, the first bogie member 26 constitutes a front bogie member and the second bogie member 28 constitutes a rear bogie member.

The support structure 16 further comprises a base member 30. The base member 30 is configured to support the first bogie member 26 and the second bogie member 28 for relative rotation about a yaw axis 32. As can be seen in Fig. 2a, the base member 30 is substantially centered between the first and second bogie members 26, 28, between a first pitch axis 34a of the first bogie member 26 and a second pitch axis 34b of the second bogie member 28. Also the yaw axis 32 of the base member 30 is substantially centered between the first bogie member 26 and the second bogie member 28.

Both the first bogie member 26 and the second bogie member 28 comprise track engaging elements in the form of two wheel assemblies 36, each comprising six wheels 38 (only four shown) for engaging a portion of a respective rail 24 of the track 12 to move along the track 12. The number of wheel assemblies 36 and wheels 38 comprised by the first and second bogie members 26, 28 may however be adjusted depending on the implementation. The first bogie member 26 rotationally supports two wheel assemblies 36 for a relative rotation about a front or first pitch axis 34a.

Correspondingly, the second bogie member 28 rotationally supports two wheel assemblies 36 for a relative rotation about a rear or second pitch axis 34b. Thus, the wheel assemblies 36 of the first bogie member 26 can pitch relative to the wheel assemblies 36 of the second bogie member 28.

The base member 30 comprises two relatively rotatable parts, here constituted by two plates 40, 42 rotatably arranged with respect to each other for rotation about a yaw axis 32. The base member 30 thereby supports the first bogie member 26 and the second bogie member 28 for relative rotation about a roll axis 44 of the track 12.

A support member (not shown) for supporting the cabin 14 may be attached to the plate 42 such that the base member 30 supports the cabin 14. A roller bearing or frictional bearing may for example be used to provide the relative rotation between the two plates 40, 42.

The base member 30 further comprises a first roll bearing member 46 and a second roll bearing member 48. The first roll bearing member 46 rotatably connects the base member 30 to the first bogie member 26 for relative rotation about a roll axis 44 of the track 12. The second roll bearing member 48 rotatably connects the base member 30 to the second bogie member 28 for relative rotation about the roll axis 44. The base member 30 thereby supports the first bogie member 26 and the second bogie member 28 for relative rotation about the roll axis 44. The first and second roll bearing members 46, 48 allow an endless rotation of the first and second bogie members 26, 28, respectively, relative to the base member 30. The maximum rotation of the first and second bogie members 26, 28 about the roll axis 44 is determined by the layout of the track 12 and possible interferences with the cabin 14. The configuration of the support structure 16 in Fig. 2a also allows a rotation of the cabin 14 about the roll axis 44 relative to the track 12 by means of a rolling motion of the base member 30 relative to the first and second bogie members 26, 28. Thus, the cabin 14 can roll relative to a straight section of the track 12. The rotation of the base member 30 about the roll axis 44 may be controlled by using suitable rotational position sensors and motors.

In the implementation of the base member 30 in Fig. 2a, the first plate 40 is integrally formed with an inner race (not shown) of the first roll bearing member 46 and the second plate 42 is integrally formed with an inner race (not shown) of the second roll bearing member 48. The part of the plate 42 that is visible in Fig. 2a is a downwardly protruding portion. The plate 42 also comprises a circular part with the same outer diameter as the plate 40. The plate 40 has the appearance of a circular disc.

The outer races of the first and second roll bearing members 46, 48 are integrally formed with the first and second bogie members 26, 28, respectively. Each of the first and second bogie members 26, 28 has an elongated appearance oriented substantially parallel with the respective pitch axis 34a, 34b. The maximum relative rotation of the first and second bogie members 26, 28 about the yaw axis 32 is determined by the angle where two wheel assemblies 36 interfere with each other. In this implementation, a maximum relative rotation of the first and second bogie members 26, 28 about the yaw axis 32 of approximately 80° is allowed.

The support structure 16 may comprise a yaw biasing mechanism and/or a roll biasing mechanism (not shown). The yaw biasing mechanism can bias the first and second bogie members 26, 28 towards the neutral positions in Fig. 2a where the first and second bogie members 26, 28 are not rotated about the yaw axis 32. Correspondingly, the roll biasing mechanism can bias the first and second bogie member 26, 28 towards the neutral positions in Fig. 2a where the first and second bogie members 26, 28 are not rotated about the roll axis 44.

One of the first and second roll bearing members 46, 48 may however be omitted so that the base member 30 is rigidly connected (or integrally formed) with the first bogie member 26 or the second bogie member 28. In this manner, the cabin 14 can be rotationally locked with one of the first and second bogie members 26, 28 for rotations about the roll axis 44. Fig. 2b schematically represents a bottom view of the support structure 16 in Figs. 1 and 2a on a curved section of the track 12. The section of the track 12 is curved in a horizontal plane requiring a yaw movement between the first and second bogie member 26, 28. Both the support structure 16 and the cabin 14 may yaw together in space during movement along the curved section of the track 12 in Fig. 2b.

As can be seen in Fig.2b, the first bogie member 26 is rotated relative to the second bogie member 28 about the yaw axis 32 by means of the base member 30. Since the first bogie member 26 is rotationally coupled to the base member 30 via the first roll bearing member 46 and since the second bogie member 28 is rotationally coupled to the base member 30 via the second roll bearing member 48, the first bogie member 26 is rotatable about a first roll axis 44a and the second bogie member 28 is rotatable about a second roll axis 44b, at an angle to the first roll axis 44a that corresponds to the curvature of the track 12, as the first bogie member 26 is rotated relative to the second bogie member 28 about the yaw axis 32.

Fig. 2c schematically represents a view of the support structure 16 and the cabin 14 along section A-A of the track 12 in Fig. 1. The support structure 16 comprises a support member 50 configured to support the cabin 14 for rotation about a cabin axis 52. The cabin axis 52 is

substantially perpendicular to the yaw axis 32. Both the support structure 16 and the cabin 14 may roll together in space during movement along the twisted section of the track 12 in Fig. 2c.

As can be seen in Fig.2c, the cabin 14 has a cylindrical appearance in the form of a barrel. The cabin axis 52 extends substantially through a geometrical centre of the cabin 14.

The support member 50 comprises a yaw bearing member 54, two bearing frames 56 and two arms 58 interconnecting the yaw bearing member 54 with a respective bearing frame 56. The yaw bearing member 54 is rigidly attached to the plate 42 of the base member 30. The yaw bearing member 54 allows the cabin 14 to rotate about the yaw axis 32 relative to the base member 30. Since the cabin 14 is rotatable about the yaw axis 32, the cabin axis 52 may or may not be parallel with a pitch axis 34a, 34b, depending on the rotational position of the cabin 14 about the yaw axis 32.

The bearing frames 56 allow the cabin 14 to rotate relative to the support member 50 about the cabin axis 52. The rotation of the cabin 14 relative to the base member 30 about the yaw axis 32 by means of the yaw bearing member 54 may be controlled by a motor in or adjacent to the yaw bearing member 54. The rotation of the cabin 14 relative to the base member 30 and the support member 50 about the cabin axis 52 may be controlled by a motor in or adjacent to one or both of the bearing frames 56.

In Fig. 2c, the cabin 14 is substantially aligned with the first bogie member 26. Both the cabin axis 52 and the first bogie member 26 are oriented substantially parallel with the horizontal direction 22. Thus, the first roll bearing member 46 is in a neutral state (i.e. not rotated). Due to the twisted track 12, the second bogie member 28 is rotated relative to the cabin 14 about the roll axis 44. Fig. 2d schematically represents a partial side view of a tilted section of the track 12 transitioning from horizontal to vertical and the support structure 16 in Figs. 1 , 2a, 2b and 2c. Both the support structure 16 and the cabin 14 may pitch together in space during movement along the section of the track 12 in Fig. 2d. Since the wheel assemblies 36 of the first bogie member 26 are rotatable about a pitch axis (34a and/or 34b) with respect to the wheel assemblies 36 of the second bogie member 28, the support structure 16 is

configured to follow sections of the track 12 that transition between horizontal and vertical (i.e. tilted or inclined sections) such that the support structure 16 can pitch in space as the support structure 16 together with the cabin 14 are moved along the track 12.

Each wheel assembly 36 may be configured for an endless rotation about a respective pitch axis 34a, 34b. As can be seen in Fig. 2d, the sharpest inclination of the track 12 during a transition from horizontal to vertical is rather determined by the inclination where the plate 42 of the base member 30 interferes with the rails 24.

Fig. 2d further illustrates an interior floor 60 of the cabin 14. The support structure 16 according to the present disclosure is configured to maintain this floor 60 in a substantially horizontal orientation as the support structure 16 together with the cabin 14 travel through the elevator system 10.

While the present disclosure has been described with reference to exemplary embodiments, it will be appreciated that the present invention is not limited to what has been described above. For example, it will be appreciated that the dimensions of the parts may be varied as needed. Accordingly, it is intended that the present invention may be limited only by the scope of the claims appended hereto.