GB2618134A

GB2618134A - Remote controlled dolly

Info

Publication number: GB2618134A
Application number: GB2206244.2A
Authority: GB
Inventors: David Cannon Thomas
Original assignee: Tracked Carriers Ltd
Current assignee: Tracked Carriers Ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2023-11-01
Also published as: WO2023209393A1; GB202206244D0

Abstract

A remote controlled dolly 10 includes a load support portion 12 and a conveying portion 14 for conveying the dolly 10 passively along the ground. Dolly 10 further comprises a remotely controllable motor 18 for operating a mechanism 16 so as to cause the conveying portion 14 and load support portion 12 to rotate relative to one another, which may include a hypocyclic or epicyclic gear system. Dolly 10 is for use with a load carrier (50, Figure 5). Typically, dolly 10 has two conveying wheels 22 which typically roll passively, and also two stabilising wheels 24 which may be swivel castors. Also provided are a system comprising a dolly and a load carrier, which may have a rotatable load bearer (59, Figure 5) and two continuous tracks (52, Figure 5), and a load carrying method.

Description

REMOTE CONTROLLED DOLLY

The present invention relates to a remote controlled dolly for use with a remotely driven load carrier. The present invention also relates to a system comprising a remotely driven load carrier and a remote controlled dolly. The present invention also relates to a method of carrying a load using a remotely driven load carrier and a remote controlled dolly.

Remotely driven load carriers, such as tracked or wheeled carriers, are remotely driven (unmanned) apparatus which can be used to carry heavy loads around work sites. Tracked carriers, for example, typically comprise a load carrying portion conveyed by two independently driven continuous tracks. In order to move the tracked carrier in straight lines, the tracks are driven at the same velocity. In order to steer the tracked carrier, the tracks can be driven at different or at opposite velocities relative to one another. The use of continuous tracks means that tracked carriers are highly manoeuvrable and particularly suited to carrying very heavy loads around work sites having uneven ground, such as construction sites.

The dimensions of the load carrying portion of the load carrier will usually limit the size of the load that can be carried safely. In order to carry loads that are much longer than the load carrying portion, the load carrier may be used in conjunction with a passive dolly. The load can be supported between the load carrier and the dolly, with the dolly being passively pulled or pushed by the load carrier under the weight of the load as the load carrier is driven forward. In order to steer the load around obstacles, the load carrying portion of the load carrier may comprise a so-called "fifth wheel" mounted thereon which can rotate the load about a vertical axis, i.e. about an axis which is perpendicular to the load carrying portion. The dolly may also be -2 -independently steerable by manipulating a steering stick that is coupled thereto. This arrangement accordingly requires an operator to follow closely behind the dolly in order to steer the dolly manually as it is pulled or pushed by the load carrier. If an accident were to occur with the load, then the proximity of the operator to the dolly is more likely to result in injury to the operator.

It is desired to provide improvements relating to dollies for use with remotely driven load carriers.

According to an aspect of the present invention there is provided a remote controlled dolly for use with a remotely driven load carrier, the dolly comprising a load support portion for supporting at least part of a load, a conveying portion for conveying the dolly passively along the ground, a mechanism configured to rotate the conveying portion and load support portion relative to one another, and a remotely controllable motor operably coupled to the mechanism, wherein the motor is configured to operate the mechanism so as to cause the conveying portion and load support portion to rotate relative to one another.

As will be appreciated, embodiments of the present invention can allow an operator to remotely control both the dolly and the load carrier. In particular, the operator can remotely drive the load carrier and remotely rotate the conveying portion of the dolly and the load support portion of the dolly relative to one another. This in turn can reduce the risk of injuries occurring by avoiding the need for an operator to follow closely behind the dolly.

In embodiments, the load support portion may have a length in the range 250mm-3000mm and/or may have a width in the range 250mm-2000mm. These dimensions are suitable for most loads, such as constructional timber and steel. The -3 -load support portion may comprise one or more support elements for supporting the load. The one or more support elements may comprise elongate support elements. A first set of one or more support elements may be provided at a first edge of the load support portion and a second set of one or more support elements may be provided at a second (opposite) edge of the load support portion. The one or more support elements may space the load from the motor. The one or more support elements may be formed of a hardwearing and/or high friction material, such as rubber. The one or more support elements may have a width in the range 10mm-100mm, for example in the range 20mm-80mm In embodiments, the conveying portion may comprise conveying wheels for conveying the dolly along the ground. For example, the conveying portion may comprise a first conveying wheel located at a first side of the conveying portion and a second conveying wheel located at a second side of the conveying portion. The conveying wheels may be mounted on respective (e.g. distinct and/or separate) axles.

Respective axles can provide greater clearance between the conveying wheels than a single axle. However, in less preferred embodiments, the conveying wheels may be mounted on a single axle. The axes of rotation of the conveying wheels may be parallel to one another and/or may be axially aligned with one another. The locations of the conveying wheels may be substantially fixed relative to one another and/or the orientations of the axes of rotation of the conveying wheels may be substantially fixed relative to one another, e.g. during rotation of the conveying portion and load support portion relative to one another. The locations of the conveying wheels and/or the orientations of the axes of rotation of the conveying wheels may be substantially fixed relative to the conveying portion, e.g. during rotation of the conveying portion and load -4 -support portion relative to one another. The conveying wheels may allow the conveying portion and load support portion to rotate relative to one another substantially without translation of the dolly. The conveying wheels may allow the conveying portion to rotate relative to the load support portion whilst the load support portion remains substantially stationary, e.g. when under the weight of a load. These embodiments can allow the conveying portion to rotate on the spot to provide greater manoeuvrability. The conveying wheels may also allow the load support portion of the dolly to rotate relative to the conveying portion of the dolly whilst the conveying portion remains substantially stationary, e.g. when not under the weight of a load. This can help to align the load support portion with the load carrier prior to supporting a load therebetween. The conveying wheels may be configured to roll along the ground passively and/or may not be driven by a motor. This avoids the need to provide a motor and power source sufficient to drive the dolly along the ground.

In embodiments, the conveying portion may further comprise stabilising wheels for stabilising the dolly. For example, the conveying portion may comprise a first stabilising wheel located at the front of the conveying portion and a second stabilising wheel located at the rear of the conveying portion. The stabilising wheels may be mounted on respective (e.g. distinct and/or separate) axles. The stabilising wheels may comprise castors, such as swivel castors. The swivel castors may swivel independently of one another. The locations (but not the orientations) of the stabilising wheels may be substantially fixed relative to one another, e.g. during rotation of the conveying portion and load support portion relative to one another. The locations (but not the orientations) of the stabilising wheels may be substantially fixed relative to the conveying portion, e.g. during rotation of the conveying portion and load support -5 -portion relative to one another. The stabilising wheels may allow the conveying portion and load support portion to rotate relative to one another substantially without translation of the dolly. The stabilising wheels may allow the conveying portion to rotate relative to the load support portion whilst the load support portion remains substantially stationary, e.g. under the weight of the load. Again, these embodiments can allow the conveying portion to rotate on the spot to provide greater manoeuvrability. The stabilising wheels may not define a rolling plane which is coplanar with a rolling plane of the conveying wheels. The stabilising wheels may therefore contact the ground when the ground is uneven and/or when the dolly is tipped, e.g. about an axis which is parallel and/or axially aligned with the axes of rotation of the conveying wheels. The stabilising wheels may be configured to, when in contact with the ground, roll along the ground passively and/or may not be driven by a motor. The locations of the stabilising wheels may alternate with the locations of the conveying wheels around the periphery of the dolly.

In embodiments, the rotation of the conveying portion and load support portion relative to one another may be about an axis which is substantially perpendicular to the plane of the load support portion and/or which is substantially perpendicular to the plane along which the dolly is conveyed. The conveying portion of the dolly may be rotatable from an angle in which the dolly can be pulled/pushed directly behind/in front of the load carrier (e.g. in which the conveying wheels can roll in the direction of the load carrier) through to an angle in which the dolly can circle about the load carrier to negotiate obstacles (e.g. in which the conveying wheels can roll perpendicular to the direction of the load carrier). The conveying portion and load support portion may accordingly be rotatable through at least 1800 relative to one another. For example, -6 -the conveying portion and load support portion may be rotatable through at least 3600 relative to one another. The conveying portion and load support portion may be, in terms of rotation angle, freely and/or continuously and/or indefinitely rotatable relative to one another. The conveying portion and load support portion may be rotatable in the clockwise and/or the anticlockwise direction relative to one another. These embodiments can facilitate rotationally orientating the conveying portion and load support portion relative to one another.

In embodiments, the mechanism may be operably coupled between the conveying portion and load support portion to cause relative rotation thereof. The mechanism may comprise a gear mechanism. The mechanism may comprise a first gear and a second gear. The first gear may be rotatably (but otherwise fixedly) attached to the load support portion of the dolly and the second gear may be fixedly attached to the conveying portion of the dolly. Alternatively, the first gear may be rotatably (but otherwise fixedly) attached to the conveying portion of the dolly and the second gear may be fixedly attached to the load support portion of the dolly. The motor may be configured to drive the first gear so as to bear against the second gear, and so in turn to rotate the portions of the dolly relative to one another. The mechanism may comprise a hypocycloid gear mechanism or an epicyclic gear mechanism.

In embodiments, the mechanism may comprise a radially inner gear and a radially outer gear. In some embodiments, the radially inner gear may be located within the radially outer gear. In these embodiments, the radially inner gear may have teeth extending outwardly therefrom and the radially outer gear may have teeth extending inwardly therefrom. The radially inner gear may comprise a cogwheel or ring gear and/or the radially outer gear may comprise a ring gear. The radially inner gear may -7 -be rotatably (but otherwise fixedly) attached to the load support portion of the dolly and the radially outer gear may be fixedly attached to the conveying portion of the dolly. Alternatively, the radially inner gear may be rotatably (but otherwise fixedly) attached to the conveying portion of the dolly and the radially outer gear may be fixedly attached to the load support portion of the dolly. The motor may be configured to drive the radially inner gear so as to bear against the radially outer gear, and so in turn to rotate the portions of the dolly relative to one another. In other embodiments, the radially outer gear may be located outside of the radially inner gear. In these embodiments, the radially outer gear may have teeth extending outwardly therefrom and the radially inner gear may have teeth extending outwardly therefrom. The radially outer gear may comprise a cogwheel or wormgear and/or the radially inner gear may comprise a cogwheel or ring gear. The radially outer gear may be rotatably (but otherwise fixedly) attached to the load support portion of the dolly and the radially inner gear may be fixedly attached to the conveying portion of the dolly. Alternatively, the radially outer gear may be rotatably (but otherwise fixedly) attached to the conveying portion of the dolly and the radially inner gear may be fixedly attached to the load support portion of the dolly. The motor may be configured to drive the radially outer gear so as to bear against the radially inner gear, and so in turn to rotate the portions of the dolly relative to one another.

In embodiments, the dolly may be controlled and/or powered via an umbilical cord. The umbilical cord may extend from (e.g. a connector, such as a socket, on) the load carrier to (e.g. a connector, such as a plug, on) the dolly. Alternatively, the dolly may itself comprise a (e.g. wireless) receiver for receiving control signals for controlling the motor and/or may itself comprise a power source for powering the motor. The -8 -power source may comprise one or more (e.g. rechargeable) batteries. The dolly may be provided together with a remote control for remotely controlling the motor. The remote control may communicate with the motor using any desired and suitable wireless and/or wired communications protocol. The remote control may include controls for rotating the conveying portion and load support portion relative to one another. The remote control may include controls for rotating the conveying portion and load support portion in the clockwise and/or the anticlockwise direction relative to one another.

According to another aspect of the present invention there is provided a system 10 for carrying a load, the system comprising a remotely driven load carrier and a remote controlled dolly as described herein in any aspect or embodiment.

In embodiments, the load carrier may be a tracked carrier. The load carrier may comprise two independently driven continuous tracks. The load carrier may comprise one or more track motors for independently driving the continuous tracks. In order to move the load carrier in straight lines, the continuous tracks may be drivable at substantially the same velocity as one another. In order to steer the load carrier, the continuous tracks may be driveable at different and/or at opposite velocities relative to one another.

In embodiments, the continuous tracks of the load carrier may be remotely controllable. The system may comprise a remote control for controlling the continuous tracks of the load carrier. The remote control for the continuous tracks may include controls for independently controlling the continuous tracks of the load carrier. The remote control for the continuous tracks may be the same device as the remote control -9 -for the dolly. These embodiments can conveniently allow a single operator to operate both the load carrier and dolly remotely.

In embodiments, the load carrier may comprise a power source for powering the track motors. The power source may comprise one or more (e.g. rechargeable) 5 batteries. The power source may also or instead comprise an engine, such as an internal combustion engine or hybrid power source.

In embodiments, the load carrier may comprise a load carrying portion which is conveyed by the load carrier. The load carrying portion may comprise a substantially planar load carrying bed. The load carrying portion may have a length in the range 250mm-3000mm and/or may have a width in the range 250mm-2000mm. These dimensions are suitable for most loads, such as constructional timber and steel.

In embodiments, the load carrier may comprise a rotatable load bearer (or "fifth wheel"), e.g. which is rotatable relative to the load carrying portion. The rotatable load bearer may be mounted on the load carrying portion. The rotatable load bearer may be removably mounted on (e.g. bolted or screwed onto) the load carrying portion. The rotatable load bearer may be rotatable about an axis which is substantially perpendicular to the plane of the load carrying portion and/or substantially perpendicular to the plane along which the load carrier is conveyed. The rotatable load bearer may be rotatable through at least 1800 relative to the load carrying portion of the load carrier. For example, the rotatable load bearer may be rotatable through at least 360° relative to the load carrying portion of the load carrier. The rotatable load bearer may be, in terms of rotation angle, freely and/or continuously and/or indefinitely rotatable relative to the load carrying portion. The rotatable load bearer may be rotatable in the clockwise and/or the anticlockwise direction relative to the load --rc) -carrying portion. These embodiments can facilitate orientating the rotatable load bearer relative to the load carrying portion. The rotatable load bearer may be rotated passively and/or may not be rotated by a motor. The rotatable load bearer may comprise one or more load bearing elements for bearing the load. The one or more load bearing elements may comprise one or more elongate load bearing elements. The one or more load bearing elements may space the load from the load carrying portion. The one or more load bearing elements may allow pivoting of the load about an axis which is substantially parallel to the plane of the load carrying portion and/or substantially parallel to the plane along which the load carrier is conveyed. For example, the one or more load bearing elements may comprise a single elongate load bearing element or plural axially aligned elongate load bearing elements. This can facilitate transportation of a load over uneven ground. The one or more load bearing elements may be formed of a hardwearing and/or high friction material, such as rubber. The one or more load bearing elements may have a width in the range 1 Omm- 100M m, for example in the range 20mm-80mm.

According to another aspect of the present invention there is provided a method of carrying a load using a remotely driven load carrier and a remote controlled dolly as described herein in any aspect or embodiment, the method comprising supporting the load between the load carrier and the remote controlled dolly, remotely driving the load carrier, and remotely rotating the conveying portion of the dolly and the load support portion of the dolly relative to one another.

By way of example only, embodiments of the invention will now be described in detail with reference being made to the accompanying drawings in which: -11 -Figure 1 is a top perspective view of a remote controlled dolly according to an embodiment of the present invention; Figure 2 is an underside perspective view of the dolly of Figure 1; Figure 3 is a front view of the dolly of Figure 1; Figure 4 is a side view of the dolly of Figure 1; Figure 5 is a top perspective view of a remotely driven load carrier for use with the dolly of Figure 1; and Figure 6 is a top perspective view of a system comprising the dolly of Figure 1 and the load carrier of Figure 5.

Figures 1-4 show a remote controlled dolly 10 according to an embodiment of the present invention. The dolly 10 comprises a load support portion 12 for supporting one end of a long and heavy load, such as constructional timber or steel. In this embodiment, the load support portion 12 has a length and width of around 700mm. The load support portion 12 further comprises four elongate rubber support elements 20 for supporting the load, with two support elements 20 at a first edge of the load support portion 12 and two support elements at a second edge of the load support portion 12, although fewer or more support elements 20 may be used in other embodiments as desired, for example depending on the width of the load support portion 12.

The dolly 10 further comprises a conveying portion 14 for conveying the dolly passively along the ground. In this embodiment, the conveying portion 14 comprises two conveying wheels 22, which are located on respective sides of the conveying portion 14, for conveying the dolly 10 passively along the ground. The conveying wheels 22 are parallel to one another and are axially aligned, but are -12 -mounted on respective axles to provide greater clearance. The conveying wheels 22 are accordingly arranged so as to allow the conveying portion 14 to rotate relative to the load support portion 12 whilst the load support portion 12 remains substantially stationary under the weight of the load. In this embodiment, the conveying portion 14 further comprises two stabilising wheels 24, which are located at the front and rear of the conveying portion 14, for stabilising the dolly 10. The stabilising wheels 24 are in the form of swivel castors and are set higher than the conveying wheels 22 so as only to contact the ground when the ground is uneven or when the dolly 10 is tipped.

The dolly 10 further comprises a mechanism 16 configured to rotate the conveying portion 14 and the load support portion 12 relative to one another. In this embodiment, the conveying portion 14 and load support portion 12 are continuously rotatable through all angles relative to one another in both the clockwise and the anticlockwise direction. This allows the conveying portion 14 conveniently to be rotated from an angle in which the dolly 10 can be pulled or pushed passively directly behind/in /5 front of a separate remotely driven load carrier through to an angle in which the dolly 10 can circle about the load carrier to negotiate obstacles. In this embodiment, the mechanism 16 comprises a hypocycloid gear mechanism having a radially inner gear 26 rotatably (but otherwise fixedly) attached to the load support portion 12 and a radially outer ring gear 28 fixedly attached to the conveying portion 14. In other embodiments, other mechanisms could be used, such as an epicyclic gear mechanism or wormgear/cogwheel mechanism.

The dolly 10 further comprises a remotely controllable motor 18 operably coupled to the mechanism 16. The motor 18 is configured to operate the mechanism 16 so as to cause the conveying portion 14 and the load support portion 12 to rotate -13-relative to one another. In this embodiment, the motor 18 drives the radially inner gear 26 so as to bear against the radially outer ring gear 28, and so in turn rotate the conveying portion 14 to which the radially outer ring gear 28 is fixedly attached. In this embodiment, the motor 18 is controlled and powered via an umbilical cord (not shown) which extends from a socket on the load carrier to a plug on the dolly 10 (again not shown). In other embodiments, the dolly 10 may itself comprise a wireless receiver for receiving control signals for controlling the motor 18 from a remote control and a power source in the form of a rechargeable battery for powering the motor 18. The dolly 10 is provided together with a wireless remote control (also not shown) for remotely controlling the motor 18 via the umbilical cord.

Figure 5 shows a remotely driven load carrier in the form of a tracked carrier 50 for use with the dolly 10. The tracked carrier 50 comprises two independently driven continuous tracks 52. The track motors (not shown) which are used to drive the continuous tracks 52 are controlled using the same wireless remote control as that which is used to control the dolly 10. In this embodiment, the continuous tracks 52 are powered by a rechargeable battery. However, in other embodiments, an internal combustion engine or hybrid power source may be used.

The tracked carrier 50 further comprises a load carrying portion 54 in the form of a planar load carrying bed, which is conveyed by the tracked carrier 50. In this embodiment, the load carrying portion has a length of around 1500mm and a width of around 900mm. The tracked carrier 50 further comprises a rotatable load bearer 56 (or "fifth wheel") which is passively rotatable relative to the load carrying portion 54. In this embodiment, the rotatable load bearer 56 is removably mounted on the load carrying portion 54 with bolts 58 (one indicated). The rotatable load bearer 56 is -14 -continuously rotatable through all angles relative to the load carrying portion 54 in both the clockwise and the anticlockwise direction. In this embodiment, the rotatable load bearer 56 comprises two elongate rubber load bearing elements 59 for bearing the load above the load carrying portion 54, although fewer or more load bearing elements 59 may be used in other embodiments as desired, for example depending on the width of the load carrying portion 54. A load is able to pivot about the load bearing elements 59, and this can facilitate transportation of the load over uneven ground.

Figure 6 shows a system 60 comprising the dolly 10 and the tracked carrier 50 when used to carry a load 62. As is shown, the load 62 is supported between the tracked carrier 50 and the dolly 10. The tracked carrier 50 can be remotely driven to pull or push the dolly 10 along and the conveying portion 14 of the dolly 10 can be remotely rotated relative to the load support portion 12 of the dolly 10 (as indicated by the curved arrow) to steer around obstacles. -15-

Claims

CLAIMS1. A remote controlled dolly for use with a remotely driven load carrier, the dolly comprising a load support portion for supporting at least part of a load, a conveying portion for conveying the dolly passively along the ground, a mechanism configured to rotate the conveying portion and load support portion relative to one another, and a remotely controllable motor operably coupled to the mechanism, wherein the motor is configured to operate the mechanism so as to cause the conveying portion and load support portion to rotate relative to one another.
2. A dolly as claimed in claim 1, wherein the conveying portion comprises conveying wheels for conveying the dolly along the ground.
3 A dolly as claimed in claim 1 or 2, wherein the conveying portion comprises a first conveying wheel located at a first side of the conveying portion and a second conveying wheel located at a second side of the conveying portion.
4. A dolly as claimed in claim 2 or 3, wherein the conveying wheels are mounted on respective axles.
5. A dolly as claimed in claim 2, 3 or 4, wherein the axes of rotation of the conveying wheels are parallel to one another and/or are axially aligned with one another.
6. A dolly as claimed in any one of claims 2-5, wherein the orientations of the axes of rotation of the conveying wheels are substantially fixed relative to one another.
7. A dolly as claimed in any one of claims 2-6, wherein the orientations of the axes of rotation of the conveying wheels are substantially fixed relative to the conveying portion.
-16 - 8. A dolly as claimed in any one of claims 2-7, wherein the conveying wheels allow the conveying portion and load support portion to rotate relative to one another substantially without translation of the dolly.
9. A dolly as claimed in any one of claims 2-8, wherein the conveying wheels allow the conveying portion to rotate relative to the load support portion whilst the load support portion remains substantially stationary.
10. A dolly as claimed in any one of claims 2-9, wherein the conveying wheels are configured to roll along the ground passively and/or are not driven by a motor.
11. A dolly as claimed in any one of the preceding claims, wherein the conveying portion comprises stabilising wheels for stabilising the dolly.
12 A dolly as claimed in any one of the preceding claims, wherein the conveying portion comprises a first stabilising wheel located at the front of the conveying portion and a second stabilising wheel located at the rear of the conveying portion.
13. A dolly as claimed in claim 11 or 12, wherein the stabilising wheels comprise swivel castors.
14 A dolly as claimed in any one of the preceding claims, wherein the conveying portion and load support portion are rotatable through at least 360° relative to one another.
15. A dolly as claimed in any one of the preceding claims, wherein the mechanism comprises a gear mechanism.
16. A dolly as claimed in any one of the preceding claims, wherein the mechanism comprises a hypocycloid gear mechanism or an epicyclic gear mechanism.
17. A dolly as claimed in any one of the preceding claims, wherein the mechanism comprises a first gear and a second gear.
18. A dolly as claimed in claim 17, wherein the first gear is rotatably attached to the load support portion of the dolly and the second gear is fixedly attached to the conveying portion of the dolly, or wherein the first gear is rotatably attached to the conveying portion of the dolly and the second gear is fixedly attached to the load support portion of the dolly.
19. A dolly as claimed in claim 18, wherein the motor is configured to drive the first gear so as to bear against the second gear, and so in turn rotate the conveying portion and load support portion relative to one another.
A dolly as claimed in any one of the preceding claims, wherein the dolly is provided together with a remote control for remotely controlling the motor.
21. A system for carrying a load, the system comprising a remotely driven load carrier and a remote controlled dolly as claimed in any one of claims 1-20.
22. A system as claimed in claim 21, wherein the load carrier comprises two independently driven continuous tracks.
23. A system as claimed in claim 22, wherein the continuous tracks of the load carrier are remotely controllable.
24. A system as claimed in claim 21, 22 or 23, wherein the load carrier comprises a rotatable load bearer.A method of carrying a load using a remotely driven load carrier and a remote controlled dolly as claimed in any one of claims 1-20, the method comprising supporting the load between the load carrier and the remote controlled dolly, remotely driving the load carrier, and remotely rotating the conveying portion of the dolly and the load support portion of the dolly relative to one another.