WO2023209393A1 - Tracked carrier - Google Patents

Tracked carrier Download PDF

Info

Publication number
WO2023209393A1
WO2023209393A1 PCT/GB2023/051140 GB2023051140W WO2023209393A1 WO 2023209393 A1 WO2023209393 A1 WO 2023209393A1 GB 2023051140 W GB2023051140 W GB 2023051140W WO 2023209393 A1 WO2023209393 A1 WO 2023209393A1
Authority
WO
WIPO (PCT)
Prior art keywords
tracked
load carrying
carrier
gear
carrying portion
Prior art date
Application number
PCT/GB2023/051140
Other languages
French (fr)
Inventor
Thomas David CANNON
Original Assignee
Tracked Carriers Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tracked Carriers Limited filed Critical Tracked Carriers Limited
Publication of WO2023209393A1 publication Critical patent/WO2023209393A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles

Definitions

  • the present invention relates to a tracked carrier for carrying a load.
  • the present invention also relates to a method of carrying a load using a tracked carrier.
  • Tracked carriers are remotely driven (unmanned) apparatus which can be used to carry heavy loads around work sites.
  • Tracked carriers 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 velocities relative to one another. In order to rotate the tracked carrier, the tracks can be driven at opposite velocities.
  • the use of 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.
  • a tracked carrier for carrying a load
  • the tracked carrier comprising: a remotely driven tracked portion having tracks for conveying the tracked carrier along the ground; a load carrying portion for supporting a load thereon, the load carrying portion being rotatably mounted on the tracked portion; a mechanism configured to rotate the load carrying portion relative to the tracked portion; and a remotely controllable motor operably coupled to the mechanism, wherein the motor is configured to operate the mechanism so as to cause the load carrying portion to rotate relative to the tracked portion.
  • embodiments of the present invention can allow an operator both to remotely drive the tracked carrier and to remotely rotate the load carrying portion relative to the tracked portion. This can avoid the need to rotate the tracked carrier on the spot when trying to orientate a load. This can also reduce the risk of injuries occurring by avoiding the need for an operator to try to orientate the load by manually manipulating the load on the load carrying portion.
  • the tracked portion may have (exactly) two tracks.
  • the tracks may comprise continuous tracks.
  • the tracks may comprise independently driven tracks.
  • the tracked portion may comprise track motors for independently driving the tracks.
  • the track motors may be remotely controllable in order to remotely drive the tracked portion.
  • the tracked carrier may be provided together with a remote control for controlling the tracked portion (e.g. track motors).
  • the remote control may communicate with the tracked portion (e.g. track motors) using any desired and suitable wireless and/or wired communications protocol.
  • the remote control for the tracked portion (e.g. track motors) may include controls for independently controlling the tracks. In order to move the tracked portion in straight lines, the tracks may be drivable at substantially the same velocity as one another.
  • the tracks may be driveable at different velocities relative to one another. In order to rotate the tracked portion relative to the ground, the tracks may be driveable at opposite velocities.
  • the tracked carrier may comprise a (e.g. wireless) receiver for receiving control signals for controlling the tracked portion (e.g. track motors).
  • the tracked carrier may comprise a power source for powering the tracked portion (e.g. track motors).
  • the power source may comprise one or more (e.g. rechargeable) batteries.
  • the power source may also or instead comprise an engine, such as an internal combustion engine or hybrid power source.
  • the load carrying portion may comprise a load carrying bed for supporting a load thereon.
  • the load carrying portion e.g. bed
  • the load carrying portion may have a substantially planar surface for supporting the load thereon.
  • the load carrying portion may be substantially rectangular (including square or oblong).
  • the load carrying portion e.g. bed
  • the load carrying portion may have a length in the range 750mm-2500mm and/or may have a width in the range 500-2000mm. These dimensions are suitable for loads such as construction materials.
  • the load carrying portion (e.g. bed) may be located above the mechanism and/or motor.
  • the load carrying portion e.g. bed
  • the load carrying portion may comprise a cover. The cover may be removable to access the mechanism and/or motor for the mechanism thereunder.
  • the load carrying portion may be rotatable relative to the tracked portion whilst the tracked portion remains substantially stationary on the ground. This can help to orientate the load carrying portion for convenient loading and unloading of the load.
  • the load carrying portion may also or instead be rotatable relative to the tracked portion whilst the tracked portion is conveyed along the ground. This can help to orientate the load carrying portion, and e.g. a load thereon, to avoid obstacles whilst in motion.
  • the tracked portion may be rotatable relative to the ground substantially without translation of the tracked portion over the ground. This can allow the tracked portion to rotate on the spot.
  • the tracked portion may be rotatable relative to the ground and simultaneously rotatable relative to the load carrying portion, e.g.
  • the load carrying portion remains substantially stationary.
  • This can be achieved by rotating the tracked portion relative to the ground whilst also rotating (e.g. counterrotating) the load carrying portion relative to the tracked portion.
  • These embodiments can allow the tracked portion to rotate on the spot under a substantially stationary load to provide greater manoeuvrability.
  • the rotation of the load carrying portion relative to the tracked portion may be about an axis which is substantially perpendicular to the plane of the load carrying portion and/or to the plane along which the tracked portion is conveyed.
  • the load carrying portion may be rotatable through at least 90° relative to the tracked portion.
  • the load carrying portion may be rotatable through at least 180° relative to the tracked portion.
  • the load carrying portion may be rotatable through at least 360° relative to the tracked portion.
  • the load carrying portion may be, in terms of rotation angle, continuously and/or indefinitely rotatable relative to the tracked portion.
  • the load carrying portion may be rotatable in the clockwise direction and/or anticlockwise direction relative to the tracked portion.
  • the mechanism may be operably coupled between the load carrying portion and the tracked 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 tracked portion and the second gear may be fixedly and/or irrotational ly attached to the load carrying portion.
  • the first gear may be rotatably (but otherwise fixedly) attached to the load carrying portion and the second gear may be fixedly and/or irrotationally attached to the tracked portion.
  • the motor for the mechanism may be configured to drive (e.g. rotate) the first gear so as to bear against the second gear, and so in turn to rotate the portions of the tracked carrier relative to one another.
  • the mechanism may comprise a hypocycloid gear mechanism or an epicyclic gear mechanism.
  • the mechanism may comprise a radially inner gear and a radially outer gear.
  • the radially inner gear may be located within the radially outer gear.
  • 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 be rotatably (but otherwise fixedly) attached to the tracked portion and the radially outer gear may be fixedly and/or irrotationally attached to the load carrying portion.
  • the radially inner gear may be rotatably (but otherwise fixedly) attached to the load carrying portion and the radially outer gear may be fixedly and/or irrotationally attached to the tracked portion.
  • the motor for the mechanism may be configured to drive (e.g. rotate) the radially inner gear so as to bear against the radially outer gear, and so in turn to rotate the portions of the tracked carrier relative to one another.
  • the radially outer gear may be located outside of the radially inner gear.
  • 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 tracked portion and the radially inner gear may be fixedly and/or irrotationally attached to the load carrying portion.
  • the radially outer gear may be rotatably (but otherwise fixedly) attached to the load carrying portion and the radially inner gear may be fixedly and/or irrotationally attached to the tracked portion.
  • the motor for the mechanism may be configured to drive (e.g. rotate) the radially outer gear so as to bear against the radially inner gear, and so in turn to rotate the portions of the tracked carrier relative to one another.
  • the tracked carrier may be provided together with a remote control for remotely controlling the motor for the mechanism.
  • the remote control may communicate with the motor for the mechanism using any desired and suitable wireless and/or wired communications protocol.
  • the remote control may include controls for rotating the load carrying portion relative to the tracked portion.
  • the remote control may include controls for rotating the load carrying portion in the clockwise direction and/or anticlockwise direction relative to the tracked portion.
  • the remote control for controlling the motor for the mechanism may be the same device as the remote control for controlling the tracked portion.
  • the receiver for controlling the motor for the mechanism may be the same device as the receiver for controlling the tracked portion.
  • the tracked carrier may comprise a power source for powering the motor for the mechanism.
  • the power source may comprise one or more (e.g. rechargeable) batteries.
  • the power source may also or instead comprise an engine, such as an internal combustion engine or hybrid power source.
  • the power source for powering the motor for the mechanism may be the same device as the power source for powering the tracked portion.
  • a method of carrying a load using a tracked carrier as described herein in any aspect or embodiment, the method comprising supporting a load on the load carrying portion, remotely driving the tracked portion, and remotely rotating the load carrying portion relative to the tracked portion.
  • Figure 1 is a perspective view of a tracked carrier according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of the tracked carrier of Figure 1 with the load carrying portion rotated relative to the tracked portion;
  • FIG 3 is a perspective view of the tracked carrier of Figure 1 with the cover of the load carrying portion removed;
  • FIG 4 is a perspective view of the tracked carrier of Figure 1 with the load carrying portion removed;
  • FIG 5 is a top view of the tracked carrier of Figure 1 with the load carrying portion removed.
  • FIGs 1 and 2 show a tracked carrier 10 according to an embodiment of the present invention.
  • the tracked carrier 10 comprises a remotely driven tracked portion 12 for conveying the tracked carrier 10 along the ground.
  • the tracked portion 12 comprises two independently driven continuous tracks 14, 16.
  • the tracked carrier 10 also comprises a load carrying portion 18 in the form of a rectangular bed having a planar upper surface for supporting a load.
  • the load carrying portion 18 has a length of approximately 1680mm and a width of approximately 1325mm, although other dimensions could be used.
  • the load carrying portion 18 is rotatable relative to the tracked portion 12 about an axis which is perpendicular to the plane of the load carrying portion 18.
  • the load carrying portion 18 is continuously and indefinitely rotatable in both the clockwise direction and the anticlockwise direction through any angle relative to the tracked portion 12. As is shown in Figures 1 and 2, the load carrying portion 18 also comprises a removable cover 20 that allows components of the tracked carrier 10 to be serviced and repaired.
  • FIG 3 shows the tracked carrier 10 with the cover 20 removed.
  • the tracked carrier 10 comprises a mechanism 22 that can rotate the load carrying portion 18 relative to the tracked portion 12.
  • the tracked carrier 10 also comprises a remotely controllable motor 24 operably coupled to the mechanism 22. The motor 24 operates the mechanism 22 so as to cause the load carrying portion 18 to rotate relative to the tracked portion 12.
  • Figures 4 and 5 show the tracked carrier 10 with the load carrying portion 18 removed.
  • the mechanism 22 is a hypocycloid gear mechanism comprising a radially inner cogwheel gear 26 which is rotatably but otherwise fixedly attached to the tracked portion 12 and a radially outer ring gear 28 which is irrotational ly fixedly attached to the underside of the load carrying portion 18.
  • the motor 24 drives the cogwheel gear 26 so as to bear against the ring gear 28, and so in turn to rotate the load carrying portion 18 relative to the tracked portion 12.
  • the tracked carrier 10 comprises two remotely controllable track motors 30, 32 for independently driving the tracks 14, 16 of the tracked portion 12.
  • the tracks 14, 16 are drivable at substantially the same velocity as one another.
  • the tracks 14, 16 are driveable at different velocities relative to one another.
  • the tracks 14, 16 are driveable at opposite velocities.
  • a wireless receiver (not shown) for receiving control signals from a remote control (also not shown) is located in a housing 34. The control signals control the driving and rotating functions of the tracked carrier 10.
  • a power source in the form of rechargeable batteries (also not shown) for powering the various functions of the tracked carrier 10 are also located in the housing 34.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Handcart (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

A tracked carrier (10) comprises a remotely driven tracked portion (12) having tracks (14), (16) for conveying the tracked carrier (10) along the ground. The tracked carrier (10) further comprises a load carrying portion (18) rotatably mounted on the tracked portion (12). The tracked carrier (10) further comprises a remotely controllable motor (24) which operates a mechanism (22) so as to cause the load carrying portion (18) to rotate relative to the tracked portion (12).

Description

TRACKED CARRIER
The present invention relates to a tracked carrier for carrying a load. The present invention also relates to a method of carrying a load using a tracked carrier.
Tracked carriers are remotely driven (unmanned) apparatus which can be used to carry heavy loads around work sites. Tracked carriers 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 velocities relative to one another. In order to rotate the tracked carrier, the tracks can be driven at opposite velocities. The use of 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.
It is desired to provide improvements relating to tracked carriers.
According to an aspect of the present invention there is provided a tracked carrier for carrying a load, the tracked carrier comprising: a remotely driven tracked portion having tracks for conveying the tracked carrier along the ground; a load carrying portion for supporting a load thereon, the load carrying portion being rotatably mounted on the tracked portion; a mechanism configured to rotate the load carrying portion relative to the tracked portion; and a remotely controllable motor operably coupled to the mechanism, wherein the motor is configured to operate the mechanism so as to cause the load carrying portion to rotate relative to the tracked portion.
As will be appreciated, embodiments of the present invention can allow an operator both to remotely drive the tracked carrier and to remotely rotate the load carrying portion relative to the tracked portion. This can avoid the need to rotate the tracked carrier on the spot when trying to orientate a load. This can also reduce the risk of injuries occurring by avoiding the need for an operator to try to orientate the load by manually manipulating the load on the load carrying portion.
In embodiments, the tracked portion may have (exactly) two tracks. The tracks may comprise continuous tracks. The tracks may comprise independently driven tracks. The tracked portion may comprise track motors for independently driving the tracks. The track motors may be remotely controllable in order to remotely drive the tracked portion. The tracked carrier may be provided together with a remote control for controlling the tracked portion (e.g. track motors). The remote control may communicate with the tracked portion (e.g. track motors) using any desired and suitable wireless and/or wired communications protocol. The remote control for the tracked portion (e.g. track motors) may include controls for independently controlling the tracks. In order to move the tracked portion in straight lines, the tracks may be drivable at substantially the same velocity as one another. In order to steer the tracked portion, the tracks may be driveable at different velocities relative to one another. In order to rotate the tracked portion relative to the ground, the tracks may be driveable at opposite velocities. The tracked carrier may comprise a (e.g. wireless) receiver for receiving control signals for controlling the tracked portion (e.g. track motors). The tracked carrier may comprise a power source for powering the tracked portion (e.g. track motors). The power source may comprise one or more (e.g. rechargeable) 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 carrying portion may comprise a load carrying bed for supporting a load thereon. The load carrying portion (e.g. bed) may have a substantially planar surface for supporting the load thereon. The load carrying portion (e.g. bed) may be substantially rectangular (including square or oblong). The load carrying portion (e.g. bed) may have a length in the range 750mm-2500mm and/or may have a width in the range 500-2000mm. These dimensions are suitable for loads such as construction materials. The load carrying portion (e.g. bed) may be located above the mechanism and/or motor. The load carrying portion (e.g. bed) may comprise a cover. The cover may be removable to access the mechanism and/or motor for the mechanism thereunder.
In embodiments, the load carrying portion may be rotatable relative to the tracked portion whilst the tracked portion remains substantially stationary on the ground. This can help to orientate the load carrying portion for convenient loading and unloading of the load. The load carrying portion may also or instead be rotatable relative to the tracked portion whilst the tracked portion is conveyed along the ground. This can help to orientate the load carrying portion, and e.g. a load thereon, to avoid obstacles whilst in motion. The tracked portion may be rotatable relative to the ground substantially without translation of the tracked portion over the ground. This can allow the tracked portion to rotate on the spot. The tracked portion may be rotatable relative to the ground and simultaneously rotatable relative to the load carrying portion, e.g. such that the load carrying portion remains substantially stationary. This can be achieved by rotating the tracked portion relative to the ground whilst also rotating (e.g. counterrotating) the load carrying portion relative to the tracked portion. These embodiments can allow the tracked portion to rotate on the spot under a substantially stationary load to provide greater manoeuvrability. In embodiments, the rotation of the load carrying portion relative to the tracked portion may be about an axis which is substantially perpendicular to the plane of the load carrying portion and/or to the plane along which the tracked portion is conveyed. The load carrying portion may be rotatable through at least 90° relative to the tracked portion. For example, the load carrying portion may be rotatable through at least 180° relative to the tracked portion. For example, the load carrying portion may be rotatable through at least 360° relative to the tracked portion. The load carrying portion may be, in terms of rotation angle, continuously and/or indefinitely rotatable relative to the tracked portion. The load carrying portion may be rotatable in the clockwise direction and/or anticlockwise direction relative to the tracked portion. These embodiments can facilitate rotationally orientating the load carrying portion relative to the tracked portion.
In embodiments, the mechanism may be operably coupled between the load carrying portion and the tracked 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 tracked portion and the second gear may be fixedly and/or irrotational ly attached to the load carrying portion. Alternatively, the first gear may be rotatably (but otherwise fixedly) attached to the load carrying portion and the second gear may be fixedly and/or irrotationally attached to the tracked portion. The motor for the mechanism may be configured to drive (e.g. rotate) the first gear so as to bear against the second gear, and so in turn to rotate the portions of the tracked carrier 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 be rotatably (but otherwise fixedly) attached to the tracked portion and the radially outer gear may be fixedly and/or irrotationally attached to the load carrying portion. Alternatively, the radially inner gear may be rotatably (but otherwise fixedly) attached to the load carrying portion and the radially outer gear may be fixedly and/or irrotationally attached to the tracked portion. The motor for the mechanism may be configured to drive (e.g. rotate) the radially inner gear so as to bear against the radially outer gear, and so in turn to rotate the portions of the tracked carrier 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 tracked portion and the radially inner gear may be fixedly and/or irrotationally attached to the load carrying portion. Alternatively, the radially outer gear may be rotatably (but otherwise fixedly) attached to the load carrying portion and the radially inner gear may be fixedly and/or irrotationally attached to the tracked portion. The motor for the mechanism may be configured to drive (e.g. rotate) the radially outer gear so as to bear against the radially inner gear, and so in turn to rotate the portions of the tracked carrier relative to one another.
In embodiments, the tracked carrier may be provided together with a remote control for remotely controlling the motor for the mechanism. The remote control may communicate with the motor for the mechanism using any desired and suitable wireless and/or wired communications protocol. The remote control may include controls for rotating the load carrying portion relative to the tracked portion. The remote control may include controls for rotating the load carrying portion in the clockwise direction and/or anticlockwise direction relative to the tracked portion. The remote control for controlling the motor for the mechanism may be the same device as the remote control for controlling the tracked portion. These embodiments can provide a convenient way in which to operate the rotating and/or driving functions of the tracked carrier. The tracked carrier may comprise a (e.g. wireless) receiver for receiving control signals for controlling the motor for the mechanism. The receiver for controlling the motor for the mechanism may be the same device as the receiver for controlling the tracked portion. The tracked carrier may comprise a power source for powering the motor for the mechanism. The power source may comprise one or more (e.g. rechargeable) batteries. The power source may also or instead comprise an engine, such as an internal combustion engine or hybrid power source. The power source for powering the motor for the mechanism may be the same device as the power source for powering the tracked portion.
According to another aspect of the present invention there is provided a method of carrying a load using a tracked carrier as described herein in any aspect or embodiment, the method comprising supporting a load on the load carrying portion, remotely driving the tracked portion, and remotely rotating the load carrying portion relative to the tracked portion.
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:
Figure 1 is a perspective view of a tracked carrier according to an embodiment of the present invention;
Figure 2 is a perspective view of the tracked carrier of Figure 1 with the load carrying portion rotated relative to the tracked portion;
Figure 3 is a perspective view of the tracked carrier of Figure 1 with the cover of the load carrying portion removed;
Figure 4 is a perspective view of the tracked carrier of Figure 1 with the load carrying portion removed; and
Figure 5 is a top view of the tracked carrier of Figure 1 with the load carrying portion removed.
Figures 1 and 2 show a tracked carrier 10 according to an embodiment of the present invention. The tracked carrier 10 comprises a remotely driven tracked portion 12 for conveying the tracked carrier 10 along the ground. The tracked portion 12 comprises two independently driven continuous tracks 14, 16. The tracked carrier 10 also comprises a load carrying portion 18 in the form of a rectangular bed having a planar upper surface for supporting a load. In this embodiment, the load carrying portion 18 has a length of approximately 1680mm and a width of approximately 1325mm, although other dimensions could be used. As can be seen from Figure 1 to Figure 2, the load carrying portion 18 is rotatable relative to the tracked portion 12 about an axis which is perpendicular to the plane of the load carrying portion 18. Although only a small rotation is shown from Figure 1 to Figure 2, the load carrying portion 18 is continuously and indefinitely rotatable in both the clockwise direction and the anticlockwise direction through any angle relative to the tracked portion 12. As is shown in Figures 1 and 2, the load carrying portion 18 also comprises a removable cover 20 that allows components of the tracked carrier 10 to be serviced and repaired.
Figure 3 shows the tracked carrier 10 with the cover 20 removed. As is shown in Figure 3, the tracked carrier 10 comprises a mechanism 22 that can rotate the load carrying portion 18 relative to the tracked portion 12. The tracked carrier 10 also comprises a remotely controllable motor 24 operably coupled to the mechanism 22. The motor 24 operates the mechanism 22 so as to cause the load carrying portion 18 to rotate relative to the tracked portion 12.
Figures 4 and 5 show the tracked carrier 10 with the load carrying portion 18 removed. As is shown in Figures 4 and 5, in this embodiment, the mechanism 22 is a hypocycloid gear mechanism comprising a radially inner cogwheel gear 26 which is rotatably but otherwise fixedly attached to the tracked portion 12 and a radially outer ring gear 28 which is irrotational ly fixedly attached to the underside of the load carrying portion 18. The motor 24 drives the cogwheel gear 26 so as to bear against the ring gear 28, and so in turn to rotate the load carrying portion 18 relative to the tracked portion 12. As is also shown in Figures 4 and 5, the tracked carrier 10 comprises two remotely controllable track motors 30, 32 for independently driving the tracks 14, 16 of the tracked portion 12. In order to move the tracked portion 12 in straight lines, the tracks 14, 16 are drivable at substantially the same velocity as one another. In order to steer the tracked portion 12, the tracks 14, 16 are driveable at different velocities relative to one another. In order to rotate the tracked portion 12 on the spot, the tracks 14, 16 are driveable at opposite velocities. A wireless receiver (not shown) for receiving control signals from a remote control (also not shown) is located in a housing 34. The control signals control the driving and rotating functions of the tracked carrier 10. A power source in the form of rechargeable batteries (also not shown) for powering the various functions of the tracked carrier 10 are also located in the housing 34.

Claims

1 . A tracked carrier for carrying a load, the tracked carrier comprising: a remotely driven tracked portion having tracks for conveying the tracked carrier along the ground; a load carrying portion for supporting a load thereon, the load carrying portion being rotatably mounted on the tracked portion; a mechanism configured to rotate the load carrying portion relative to the tracked portion; and a remotely controllable motor operably coupled to the mechanism, wherein the motor is configured to operate the mechanism so as to cause the load carrying portion to rotate relative to the tracked portion.
2. A tracked carrier as claimed in claim 1 , wherein the tracked portion has two independently driven continuous tracks.
3. A tracked carrier as claimed in claim 1 or 2, wherein the tracked portion comprises track motors for independently driving the tracks.
4. A tracked carrier as claimed in claim 1 , 2 or 3, wherein the load carrying portion comprises a load carrying bed for supporting a load thereon.
5. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion has a substantially planar surface for supporting the load thereon.
6. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion is substantially rectangular.
7. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion has a length in the range 750mm-2500mm and/or has a width in the range 500-2000mm.
8. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion comprises a cover which is removable to access the mechanism and/or motor for the mechanism thereunder.
9. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion is rotatable relative to the tracked portion whilst the tracked portion remains substantially stationary on the ground.
10. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion is rotatable relative to the tracked portion whilst the tracked portion is conveyed along the ground.
11. A tracked carrier as claimed in any one of the preceding claims, wherein the tracked portion is rotatable relative to the ground substantially without translation of the tracked portion over the ground.
12. A tracked carrier as claimed in any one of the preceding claims, wherein the tracked portion is rotatable relative to the ground and simultaneously rotatable relative to the load carrying portion.
13. A tracked carrier as claimed in any one of the preceding claims, wherein the rotation of the load carrying portion relative to the tracked portion is about an axis which is substantially perpendicular to the plane of the load carrying portion and/or to the plane along which the tracked portion is conveyed.
14. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion is rotatable through at least 90° relative to the tracked portion.
15. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion is rotatable through at least 180° relative to the tracked portion.
16. A tracked carrier as claimed in any one of the preceding claims, wherein the load carrying portion is rotatable through at least 360° relative to the tracked portion.
17. A tracked carrier as claimed in any one of the preceding claims, wherein the mechanism comprises a gear mechanism.
18. A tracked carrier as claimed in any one of the preceding claims, wherein the mechanism comprises a first gear rotatably attached to the tracked portion and a second gear irrotationally attached to the load carrying portion.
19. A tracked carrier as claimed in any one of the preceding claims, wherein the mechanism comprises a hypocycloid gear mechanism or an epicyclic gear mechanism.
20. A tracked carrier as claimed in any one of the preceding claims, wherein the mechanism comprises a radially inner gear and a radially outer gear.
21. A tracked carrier as claimed in claim 20, wherein: the radially inner gear is located within the radially outer gear; or the radially outer gear is located outside of the radially inner gear.
22. A tracked carrier as claimed in claim 20 or 21 , wherein: the radially inner gear comprises a cogwheel and the radially outer gear comprises a ring gear; or the radially outer gear comprises a wormgear and the radially inner gear comprises a ring gear.
23. A tracked carrier as claimed in claim 20, 21 or 22, wherein: the radially inner gear is rotatably attached to the tracked portion and the radially outer gear is irrotationally attached to the load carrying portion; or the radially outer gear is rotatably attached to the tracked portion and the radially inner gear is irrotationally attached to the load carrying portion.
24. A tracked carrier as claimed in any one of the preceding claims, wherein the tracked carrier comprises a receiver for receiving control signals for controlling the tracked portion and/or for controlling the motor for the mechanism.
25. A method of carrying a load using a tracked carrier as claimed in any one of the preceding claims, the method comprising supporting a load on the load carrying portion, remotely driving the tracked portion, and remotely rotating the load carrying portion relative to the tracked portion.
PCT/GB2023/051140 2022-04-28 2023-04-28 Tracked carrier WO2023209393A1 (en)

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GB2206244.2A GB2618134A (en) 2022-04-28 2022-04-28 Remote controlled dolly
GB2206244.2 2022-04-28

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EP0734940A1 (en) * 1995-03-29 1996-10-02 Shin Caterpillar Mitsubishi Ltd. Carrier vehicle equipped with a swing table
US20200346699A1 (en) * 2019-05-01 2020-11-05 Foster-Miller, Inc. Method of traversing difficult terrain

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CN204897298U (en) * 2015-09-01 2015-12-23 北京中物智联科技有限公司 AGV is with lifting rotary composite set
CN106002917A (en) * 2016-06-13 2016-10-12 刘哲 Electric pole type automatic warehousing robot
CN110481673B (en) * 2019-08-15 2020-07-03 燕山大学 Active and passive differential series-parallel supporting leg and six-degree-of-freedom posture adjusting platform
US20220041416A1 (en) * 2020-08-06 2022-02-10 Robert J. Viola Robotic under-surface loader

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FR2266645A1 (en) * 1974-04-05 1975-10-31 Krupp Gmbh
EP0734940A1 (en) * 1995-03-29 1996-10-02 Shin Caterpillar Mitsubishi Ltd. Carrier vehicle equipped with a swing table
US20200346699A1 (en) * 2019-05-01 2020-11-05 Foster-Miller, Inc. Method of traversing difficult terrain

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GB2618134A (en) 2023-11-01

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