Radio-controlled vehicle

Abstract

A radio-controlled vehicle having a frame (2) with a longitudinal axis (X) and a transversal axis (Y) parallel to a support plane (XY); the vehicle (1) having a motor unit (M), a control system (6), a kinetic unit (3; 31, 3II), a remote control (7); wherein, the radio-controlled vehicle (1) has a connection system (8), which is configured to couple, in use, with a tool (T), and a drive unit (9),, which is interposed between the frame (2) and the connection system (8); wherein, the drive unit (9) is configured to lift and / or tilt the connection system (8) with respect to the support plane (XY); wherein, the ccoonnttrrooll system (6) is configured to exchange signals and / or data with the remote control (7) to control the motor unit (M) and / or the drive unit (9) and / or the connection system (8).

Description

[0001] "RADIO-CONTROLLED VEHICLE"

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No . 102024000008710 filed on April 17 , 2024 , the entire disclosure of which is incorporated herein by reference .

[0004] Technical Field

[0005] The present patent application relates to an improved radiocontrolled vehicle and to a method for operating said radiocontrolled vehicle .

[0006] In particular, the present invention relates to a radiocontrolled vehicle for carrying out agricultural , green maintenance or land reclamation work .

[0007] Prior Art

[0008] It is known to carry out agricultural and green maintenance work ( for example , mowing grass , shrubs , and bushes ) by using a radio-controlled vehicle as described in EP3606629 Bl and which is configured to operate on terrain with s lopes of up to 60 ° . Typically, this type of radio-controlled vehicle is configured to operate a shredder which is fixed to the frame by means of a fixed front plate .

[0009] The obj ect of the present invention is to provide a versatile radio-controlled vehicle , capable of operating a plurality of di f ferent tools that require complex kinematics .

[0010] The obj ect of the present invention is to provide a radiocontrolled vehicle that allows to perform a plurality of additional movements compared to a radio-controlled vehicle as known from EP3606629 Bl .

[0011] The obj ect of the present invention is to provide a radiocontrolled vehicle that is extremely stable even on steep slopes and when using any type of equipment .

[0012] The obj ect of the present invention is to provide an extremely compact radio-controlled vehicle , so that it can also be transported on board small commercial vehicles , such as vans .

[0013] Summary

[0014] According to the present invention, a radio-controlled vehicle is provided, as cited in the attached claims .

[0015] According to the present invention, a method for operating a radio-controlled vehicle is provided, as cited in the attached claims .

[0016] Brief Description of the Drawings

[0017] For a better understanding of the present invention, some embodiments are now described, purely by way of non-limiting example , with reference to the attached drawings , wherein :

[0018] - Figure 1 is a front perspective view of a radio-controlled vehicle according to the present invention;

[0019] - Figure 2 is a rear perspective view of the radio-controlled vehicle of Figure 1 with some parts removed for clarity;

[0020] - Figure 3 is a longitudinal section of the radio-controlled vehicle according to the present invention with some parts removed for clarity;

[0021] Figure 4 illustrates a detail of the radio-controlled vehicle according to the present invention;

[0022] Figure 5 is a front view of a radio-controlled vehicle according to the present invention with some parts removed for clarity;

[0023] Figures 6 to 9 illustrate the radio-controlled vehicle according to the present invention while operating a fork;

[0024] - Figure 10 illustrates the radio-controlled vehicle according to the present invention while operating a bucket ; and,

[0025] - Figure 11 illustrates the radio-controlled vehicle according to the present invention while operating a shredder . Preferred Embodiment of the Invention

[0026] In the figures , a radio-controlled vehicle according to the present invention is generally denoted with 1 .

[0027] The radio-controlled vehicle 1 has : a longitudinal axis X, also known as roll axis , substantially parallel to a support plane XY of the radiocontrolled vehicle 1 ;

[0028] - a vertical axis Z , also known as yaw axis , substantially perpendicular to the support plane XY and; and a transversal axis Y, also known as pitch axis , substantially perpendicular to both the longitudinal axis X and the vertical axis Z .

[0029] Hereinafter and in the figures this reference system is used for all components of the radio-controlled vehicle 1 .

[0030] The terms such as front , rear, upper, lower, right , left ( or the like ) are used with reference to the normal operation of the radio-controlled vehicle 1 when it moves forward in the travel direction v on the support plane XY (plane parallel to the plane XY) .

[0031] The suf fixes I and I T are used to indicate the components on the left side and on the right side of the radio-controlled vehicle 1 , respectively, according to the forward travel direction v .

[0032] The punctuation marks ' and ' ' are used to indicate the components on the front side and on the rear side of the radio-controlled vehicle 1 , respectively .

[0033] In a similar manner to what is described in EP 3606629 Bl , the teachings of which are to be considered comprised herein without repeating the same for brevity, the radio-controlled vehicle 1 comprises : a frame 2 ( Figure 2 ) , a motor unit M, and a kinetic unit 3. According to the illustrated example, the kinetic unit 3 comprises two tracks 31, 311 (illustrated schematically) . According to an alternative not illustrated, the kinetic unit 3 may comprise wheels or other equivalent rolling bodies instead of the tracks.

[0034] According to the example illustrated in Figure 3, the frame 2 comprises, in a known and schematic manner: a left side member 121 and a right side member 1211, parallel to the longitudinal axis X; a front cross member 13' and a rear cross member 13' ’ , which connect the left side member 121 and the right side member 1211 to one another. Without losing generality, the number and position of both the side members 12 and the cross members 13 may vary. Each side member 12 has a front end si' and a rear end si' ' , respectively.

[0035] Advantageously, the carriageway R (Figure 2) of the radiocontrolled vehicle 1 may vary, as described in EP 3606629 Bl. The carriageway R is considered to be the distance between the centre of the tread of a track 31 or a tire (in the case of wheels on the same axle) and the centre of the tread of a track 311 or a parallel tire. Figures 2 and 5 illustrate, schematically and by way of example, two possible widths R1 and R2 of the carriageway R of the radio-controlled vehicle 1.

[0036] The motor unit M comprises in turn, in a known manner and illustrated schematically, a motor 4 and a hydraulic drive unit 5. The radio-controlled vehicle 1 comprises, furthermore, a control system 6 and a remote control 7, of a known type and illustrated schematically. The control 7 is configured to exchange signals and / or data with the control system 6, so that an operator 0 can remotely control the actuators of the vehicle 1.

[0037] Advantageously, as will be better illustrated in the following, the vehicle 1 is configured to operate tools T that require complex and different drive kinematics. The tool T can be chosen within a group of different tools. By way of example but not limited to, the tool T can be: a bucket (for digging and / or transporting material) ; a shredder; a fork; a pruning tool; or others.

[0038] According to the present invention, the radio-controlled vehicle 1 comprises a connection system 8, which is configured to couple, in use, with a tool T, and a drive unit 9, which is interposed between the frame 2 and the connection system 8. Advantageously, as will be better illustrated in the following, the connection system 8 of the vehicle 1 comprises a quick coupling system 26 (Figures 2 to 11) configured to be operated remotely by an operator 0, in order to couple or detach a tool T.

[0039] As will be better illustrated in the following, the drive unit 9 is configured to move the connection system 8 with respect to the support plane XY. Advantageously, the drive unit 9 is configured to lift the connection system 8 by more than 1 meter from the support plane XY. Advantageously, the drive unit 9 is configured to tilt the connection system 8 with respect to the support plane XY. Figures 6 to 11 illustrate, by way of example and not limited to, different arrangements of the drive unit 9 while the radio-controlled vehicle 1 actuates a tool T.

[0040] The drive unit 9 comprises two mechanisms 10, hereinafter identified as the right mechanism 101 and the left mechanism 1011. Preferably, the mechanisms 10 (101, 1011) are flat; in other words, the members of each mechanism 10 (101; 1011) are constrained to one another so that each of their points can trace trajectories parallel to the plane XZ, which is perpendicular to the support plane XY and coplanar to the longitudinal axis X. The mechanisms 10 (101, 1011) are substantially symmetrical to one another with respect to the plane XZ .

[0041] In the following, for the sake of brevity, a generic mechanism 10 will be described (Figure 3) , the characteristics of which are to be considered valid mutatis mutandis for both the right mechanism 101 and the left mechanism 1011.

[0042] Each mechanism 10 comprises an arm 11 which is connected at a fulcrum fl to the frame 2. At the fulcrum fl, the arm 11 is connected by means of a rotary coupling to the frame 2 and can rotate around an axis Y1 parallel to the transversal axis Y. Advantageously, the fulcrum fl is arranged at an intermediate longitudinal portion of the frame 2. According to the example illustrated, the fulcrum fl is interposed, along the axis X, between the front end si' and the rear end si' ' of a respective side member 12. Preferably, the fulcrum fl is substantially arranged, along the longitudinal axis X, in an intermediate position of the respective side member 12. Each fulcrum fl is arranged, along the longitudinal axis X, between the front cross member 13' and the rear cross member 13' ' . As will be better illustrated in the following, each arm 11 protrudes forward from a respective fulcrum fl .

[0043] Advantageously, as schematized in Figure 3, the motor 4 is arranged between the fulcrum fl and the rear cross member 13' ' . In other words, the motor 4 is arranged so that its weight force Fp falls, on the support plane XY and along the longitudinal axis X, between the fulcrum fl and the rear cross member 13' ’ .

[0044] Each mechanism 10 comprises, furthermore, an actuator 15 interposed between the frame 2 and the arm 11. The actuator 15 is configured to rotate the arm 11 around the fulcrum fl.

[0045] The actuator 15 is linear and is connected to the frame 2 at a fulcrum f2 by means of a rotary coupling. The actuator 15 is rotatable around an axis Y2 parallel to the transversal axis Y. Advantageously, the fulcrum f2 is arranged at the front end si' of the respective side member 12.

[0046] The actuator 15 is connected to the arm 11 at a fulcrum f3. The fulcrum f3 is arranged in an intermediate position of the arm 11. At the fulcrum f3, the actuator 15 is connected to the arm 11 by means of a rotary coupling and is rotatable around an axis Y3 parallel to the transversal axis Y.

[0047] Preferably, the actuator 15 is a double-acting hydraulic cylinder. According to the example illustrated, the actuator 15 is a telescopic cylinder with two extensions (double stroke) ; the number of extensions of the hydraulic cylinder 15 may vary. According to some alternatives not illustrated, the actuator 15 can be chosen within a group of actuators that differ from one another by type, for example the actuator 15 can be: a linear guide, a rack-wheel system, or the like.

[0048] Advantageously, the actuator 15 is configured to work by pushing. In other words, the actuator 15 pushes the arm 11, with a push force Fsl, to lift the arm 11. The actuator 15 applies a pull force Ftl to obtain the lowering of the arm 11.

[0049] As illustrated in Figure 3, the fulcrum f3 is interposed along the longitudinal axis X between the fulcrum fl and the fulcrum f2. The fulcrum f3 is not aligned with the fulcrum fl and the fulcrum f2, in this way the push force Fsl (or the pull force Ftl) generates, in use, a mechanical moment and the arm 11 rotates around the fulcrum fl. When the actuator 15 applies the push force Fsl to the arm 11, the arm 11 rotates around the fulcrum fl in the direction wl backwards (towards the rear end si' ' of the respective side member 12) . When the actuator 15 applies a pull force Ftl to the arm 11, the arm 11 rotates around the fulcrum fl in the direction w2 forwards (opposite to the direction wl backwards) . Each mechanism 10 comprises an end member 16, which is connected at a fulcrum f4 to the arm 11. At the fulcrum f4, the end member 16 is connected by means of a rotary coupling to the arm 11 and is rotatable around an axis Y4 parallel to the transversal axis Y.

[0050] Each mechanism 10 comprises an actuator 18 interposed between the arm 11 and the end member 16 and is configured to rotate the end member 16 around the fulcrum f4. The actuator 18 is linear .

[0051] The actuator 18 is connected to the end member 16 at a fulcrum f5 by means of a rotary coupling and is rotatable around an axis Y5 parallel to the transversal axis Y. The actuator 18 is connected to the arm 11 at a fulcrum f6 by means of a rotary coupling and is rotatable around an axis Y6 parallel to the transversal axis Y. Advantageously, the fulcrum f6 is arranged at an intermediate portion of the arm 11.

[0052] The actuator 18 pushes the end member 16, with a push force Fs2, to obtain the rotation of the end member 16 around the fulcrum f4 in the direction w3 (towards the front end si' ' ) . The actuator 18 pulls the end member 16 with a pull force Ft2, to obtain the rotation of the end member 16 around the fulcrum f4 in the direction w4 (towards the rear end si' ' ) .

[0053] Advantageously, the lateral profile of the end member 16 is curved in shape, in particular crescent-shaped, and has a concavity 19 which is configured to house an actuator 20, as will be better illustrated in the following.

[0054] Advantageously, the fulcrums fl, f2, f3, f4, f5, f6 of the left mechanism 101 are coaxial with the respective fulcrums fl, f2, f3, f4, f5, f6 of the right mechanism 1011. Advantageously, each mechanism 10 is reinforced . In other words , each arm 11 comprises two plates PI and PI T that are equal and parallel to one another . The plates PI and PI T are connected, at least partially, transversally by a cross member P2 . According to the example illustrated, the cross member P2 connects the plates PI and PI T in the section between the fulcrum f l and the fulcrum f3 . The arm 11 has a cross-section between the fulcrum f l and the fulcrum f3 that is substantially of the double T type . Similarly, the end member 16 comprises two plates QI and QI I that are equal and parallel to one another .

[0055] According to the example illustrated, the arm 11 is an elongated body with an S-shaped lateral profile . In particular, the arm 11 has two longitudinal ends hereinafter identi fied as the front end s2 ' and the rear end s2 ' ' . The lateral profile of the arm 11 has two consecutive curved portions , hereinafter identi fied as Cl and C2 . The curved portion Cl is interposed, along the arm 11 , between the rear end s2 ' ' and the curved portion C2 . The curved portion Cl has a concavity 21 facing downwards , in other words towards the support plane XY . The curved portion C2 has a concavity 22 facing upwards .

[0056] The fulcrum f3 of the actuator 15 is at an intermediate , central area of the curved portion Cl . The fulcrum f 6 of the actuator 18 is at an intermediate , central area of the curved portion Cl .

[0057] The fulcrum f3 is made by a pin 23 ( Figure 5 ) coupled at its ends to the plate PI and to the plate PI T , respectively . The pin 23 is substantially parallel to the transverse plate P2 and is accessible from the outside from below . In other words , the pin 23 is parallel to the plate P2 and is arranged, with respect to the plate P2 , on the internal side of the concavity 22 . The fulcrum f 6 is made by a pin 24 ( Figure 4 ) coupled to the plate PI and to the plate PH , respectively . The pin 24 is substantially parallel to the transverse plate P2 and is accessible from the outside from above . In other words , the pin 24 is parallel to the plate P2 and is arranged, with respect to the plate P2 , on the external side of the concavity 22 .

[0058] As illustrated in more detail in Figure 4 , the connection system 8 comprises a plate 25 which is fixed to the drive unit 9. In particular, the plate 25 is fixed ( or is made in one piece ) with the left end member 161 and the right end member 1611 . The plate 25 is transverse , in particular perpendicular to the longitudinal axis X . The plate 25 is rotatable , around the fulcrum f4 , together with the end members 161 and 1611 . The shape and dimensions of the plate 25 may vary . According to the example illustrated, the plate 25 has a rectangular shape with the larger lateral edges parallel to the support plane XY and the smaller lateral edges perpendicular to the support plane XY .

[0059] Advantageously, the connection system 8 comprises a quick coupling system 26 which is coupled with the plate 25 . The quick coupling system 26 may also be , at least in part , of the type described in WO 2023 / 203497 Al whose teachings are to be considered comprised herein without having to repeat the same for brevity . Advantageously, the quick coupling system 26 is coupled by means of a shape coupling with the plate 25 . The quick coupling system 26 and the plate 25 are mutually movable along a given direction .

[0060] Advantageously, the connection system comprises an actuator 20 to reciprocally move the quick coupling system 26 and the plate 25 . In particular, the plate 25 has a support 27 that is configured to support the actuator 20 . According to the example illustrated, the support 27 is a bracket that protrudes rearward from the plate 25 and is arranged, in use , on an external side of an end member 16 . According to the example illustrated, the bracket 27 protrudes to the right of the right member 1611 . The actuator 20 is a double-acting hydraulic cylinder having two ends identi fied hereinafter with 28 and 29 . Without losing generality, the actuator 20 can be any linear actuator .

[0061] The actuator 20 is fixed with one end 28 to the bracket 27 and with the other end 29 to the quick coupling system 26 , as will be illustrated in more detail in the following . The actuator 20 has a transverse longitudinal axis Y7 , in particular perpendicular to the longitudinal axis X . The actuator 20 is inserted inside the concavity 19 of each end member 16 and is substantially parallel to the plate 25 . Advantageously, by operating the actuator 20 it is possible to move the quick coupling system 26 with respect to the plate 25 along the axis Y7 .

[0062] Advantageously, the quick coupling system 26 can be operated remotely .

[0063] In use , an operator 0 operates the radio-controlled vehicle 1 remotely by means of the remote control 7 .

[0064] In particular, the operator 0 can start the radio-controlled vehicle 1 and control the forward movement in the direction v . Depending on the needs , the operator 0 can vary the width of the carriageway R . Furthermore , the operator 0 can activate the operation of the tool T .

[0065] Advantageously, the operator 0 can operate the drive unit 9 , so as to vary the position and inclination of the connection system 8 with respect to the support plane XY . The operation of parallel components such as the actuators 151 and 1511 , or the actuators 181 and 1811 , are synchroni zed, so that they occur simultaneously .

[0066] Hereinafter, for the sake of brevity, reference will be made generically to a generic mechanism 10 and to the respective components thereof ; said teachings are to be considered as valid, equal , and synchronous for the components of both mechanisms 101 and 1011 described above . Without losing generality, it i s possible to operate the mechanisms 101 and 1011 separately from one another ; however, the following disclosure will refer to the synchronous operation .

[0067] The operator 0 can operate the actuator 15 by using the control 7 , so as to exert on the respective arm 11 a push force Fs l ( in the case illustrated in Figures 6 and 7 by extending the hydraulic cylinder 15 until the extensions are fully opened) or a pull force Ftl (by closing the hydraulic cylinder 15 ) . By exerting the push force Fs l , the arm 11 rotates in the direction wl backwards and rises . By exerting the pull force Ftl , the arm 11 rotates in the direction w2 forwards and lowers .

[0068] The operator 0 can operate the actuator 18 by using the control 7 , so as to exert on the end member 16 a push force Fs2 ( in the case illustrated by extending the hydraulic cylinder 18 until it is fully opened) or a pull force Ft2 (by closing the hydraulic cylinder 18 ) . By exerting the push force Fs2 , the end member 16 rotates around the fulcrum f4 in the direction w3 forward . By exerting the pull force Ft2 , the end member 16 rotates around the fulcrum f4 in the direction w4 backward . In particular, by operating the actuator 18 , the operator 0 is able to vary the inclination of the plate 25 around the fulcrum f4 ( and with respect to the support plane XY of the radio-controlled vehicle 1 ) .

[0069] In the following, with reference to Figures 6 to 11 , the operation of the radio-controlled vehicle 1 will be described . Figure 6 is a side view of the radio-controlled vehicle 1 while operating, as tool T , a fork . Figure 6 shows the drive unit 9 in an operating configuration in which both the actuator 15 and the actuator 18 are completely closed . In this configuration, the plate 25 of the connection system 8 is completely lowered ( approximately at the same height as the kinetic unit 3 ) and is substantially perpendicular to the support plane XY .

[0070] Figure 7 illustrates the drive unit 9 in an operating configuration wherein : the actuator 15 is completely open; and the actuator 18 is completely closed . In this configuration, the plate 25 of the connection system 8 is raised from the support plane XY . The height of the plate 25 with respect to the support plane XY depends on the si ze and shape of the arm 11 . For example , the plate 25 can be raised up to more than 1 meter above the support plane XY . Furthermore , in this configuration, the plate 25 is inclined forming an acute angle a with the support plane XY . The si ze of the angle a may vary .

[0071] Figure 8 illustrates the drive unit 9 in an operating configuration wherein : the actuator 15 is fully open; and, the actuator 18 is fully open . In this configuration, the plate 25 of the connection system 8 is raised from the support plane XY . Furthermore , in this configuration, the angle a of inclination of the plate 25 with respect to the support plane XY is obtuse . The magnitude of the angle a may vary .

[0072] Figure 9 is similar to Figure 8 and illustrates the drive unit 9 in an operating configuration wherein : the actuator 15 is fully open; and, the actuator 18 is partially open . In this configuration, the plate 25 of the connection system 8 is raised from the support plane XY . Furthermore , in this configuration, the angle a is approximately 90 ° and the plate 25 is substantially perpendicular to the support plane XY . Figure 10 illustrates the drive unit 9 in an operating configuration wherein : the actuator 15 is completely closed; and, the actuator 18 is completely open . In this configuration, the plate 25 of the connection system 8 is completely lowered and substantially at the level of the support plane XY . Furthermore , in this configuration, the inclination angle a of the plate 25 with respect to the support plane XY is obtuse . In this configuration, it is possible to bring a tool T downward, below the support plane XY . This can be particularly useful for operating below ground level ( for example inside a hole or a ditch) or for carrying out loading operations .

[0073] The fact that the arm 11 has an S-shaped profile allows the front end s2 ' of the arm 11 to extend below the front end s i ' of the side member 12 , when the actuator 15 i s completely closed . In this way, by opening the actuator 18 , the tool T can also work at a level lower than that of the support plane XY .

[0074] Figure 11 is similar to Figure 8 in which a shredder is shown as tool T instead of a fork . In this configuration, the shredder T is raised from the support plane XY ( as previously stated, it can also be raised up to more than 1 meter ) . From Figure 11 it can be seen how, advantageously, a tool T can be completely raised from the support plane XY in order to be able to overcome any obstacles found on the ground .

[0075] Advantageously, the radio-controlled vehicle 1 of the type described above allows to operate on extremely steep terrain that is di f ficult to reach with traditional vehicles .

[0076] Furthermore , thanks to the drive unit 9 , it is able to move the tools T with respect to the support plane XY with extreme versatility . This allows the same to overcome any obstacles , or perform a sequence of di f ferent operations without requiring the operator 0 to approach the vehicle .

[0077] In fact , during use , a radio-controlled vehicle 1 may encounter di f ferences in level , ditches , holes , or obstacles on the ground . Traditional vehicles in these conditions may get stuck and, therefore , not be able to continue operations ; or, in the worst-case scenario , it may be necessary for the operator 0 to physically go near the vehicle or tool T to directly perform unblocking operations . This last hypothesis should be avoided, especially i f the vehicle and the tool are on particularly rough terrain, since this activity is potentially very dangerous and complex to carry out correctly while preserving the safety of the operator 0.

[0078] The drive unit 9 according to the present invention makes it possible to remotely control and modi fy the aspect of the radio-controlled vehicle 1 and the tool T , so as to be able to easily overcome any obstacles . This considerably increases the ease of use and the level of safety for the operator 0.

[0079] Advantageously, the fact of providing a quick coupling system 26 that can be operated remotely allows the tool T to be detached from the radio-controlled vehicle 1 even remotely, increasing the safety for the operator in the event that the tool T should get stuck during operations or should be detached to allow the safe continuation of the operation of the radio-controlled vehicle 1 .

[0080] The versatility of the drive unit 9 allows a plurality of di f ferent tools T to be moved with the same radio-controlled vehicle 1 . In this way, an operator 0, using the same radiocontrolled vehicle 1 , is able to perform a large variety of operations even remotely .

[0081] A method for operating the radio-controlled vehicle 1 according to the present invention is disclosed in the following purely by way of example .

[0082] When mowing a f ield using a shredder T , especially on steep terrain, i f a hole is encountered it may be necessary to fill the hole in order to continue the passage o f the radiocontrolled vehicle 1 and the shredder T . According to the operating method of the present invention, the operator 0, by operating remotely, can control the drive unit 9 and / or the connection system 8 to : move , deposit , and detach the tool T ( according to the example , the shredder T ) ; and couple and move a replacement tool ( for example a bucket T ) . In this way it is possible to use the radio-controlled vehicle 1 to operate the bucket T to dig, move and unload material for closing the hole . Subsequently, it is possible to control the radio-controlled vehicle in order to always replace the tool T remotely and continue operations with the brush cutter .

[0083] Advantageously, the fact that the motor 4 is housed between the fulcrum f l and the rear cross member 13 ' ’ allows for an increase in the stability of the radio-controlled vehicle 1 in any operating condition, even on particularly steep slopes . In fact , in this way the weight force Fp of the motor 4 falls , on the support plane XY and along the longitudinal axis X, between the fulcrum f l and the rear cross member 13 ' ’ and counterbalances any loads applied to the arm 11 and prevents the radio-controlled vehicle 1 from overturning . In this way, it is possible to operate even with high loads applied to the tool T even in conditions in which the arm 11 is completely raised .

[0084] Depending on the type of equipment T installed, the radiocontrolled vehicle 1 of the type described above can be used for example for : loading, transporting, and unloading goods (using, for example , a fork or a bucket as tool T ) . Or, the radio-controlled vehicle 1 can be used for pruning plants , in the case of using an arm with cutting pruning tools as a tool T (not illustrated) .

[0085] In other words , the radio-controlled vehicle 1 of the type described above can operate on extremely steep terrain and substantially be used in a versatile way, depending on the tools T coupled to the drive unit 9 , such as : forkli ft , mechanical shovel , pruning machine .

[0086] Advantageously, the S-shape of the arm 11 of the drive unit 9 allows the centre of gravity of the radio-controlled vehicle 1 to be kept low and, at the same time , the weight to be reduced; in thi s way, the correct operation of the radiocontrolled vehicle 1 is guaranteed even on extremely steep terrain .

[0087] Advantageously, the particular shape of the arm 11 allows the fulcrum f l to be kept at a central position of the radiocontrolled vehicle 1 . This guarantees greater stability of the radio-controlled vehicle 1 , even when the arm 11 is raised and subj ected to loads .

[0088] Advantageously, the fact of providing an actuator 15 formed by a telescopic cylinder allows to guarantee a greater stroke ensuring maximum compactness , to favour the stability of the radio-controlled vehicle 1 on very steep slopes .

[0089] Advantageously, the fact that the actuator 15 operates in pushing condition, in other words that the actuator 15 exerts a push force Fs l to li ft the arm 11 , guarantees a greater structural resistance of the arm 11 and a better resistance to external loads . This solution allows to reduce the weight and the dimensions of the arm 11 maximi zing the resistance to external stresses .

[0090] Advantageously, the particular configuration of the arm 11

[0091] ( substantially with a T-shaped cross-section) and of the end member 16 (with double sided plate ) guarantees a better distribution of the loads and resistance .

Claims

CLAIMS1. A radio-controlled vehicle comprising a frame (2) having a longitudinal axis (X) and a transversal axis (Y) ; the vehicle (1) comprising a motor unit (M) , a control system (6) , a kinetic unit (3; 31, 311) movable on a support plan (XY) , and a remote control (7) ; wherein, the radio-controlled vehicle (1) comprises a connection system (8) , which is configured to couple, in use, with an tool (T) , and a drive unit (9) , which is interposed between the frame (2) and the connection system (8) ; wherein the drive unit (9) is configured to lift and / or tilt the connection system (8) with respect to the support plan (XY) ; wherein, said control system (6) is configured to exchange signals and / or data with said remote control (7) to control the motor unit (M) and / or the drive unit (9) and / or the connection system (8) .

2. A radio-controlled vehicle according to claim 1, wherein the frame (2) comprises: a first side member (121) and a second side member (1211) , parallel to one another ; a front cross member (13' ) and a rear cross member ( 13 ’ ’ ) , that connect the first side member (121) and the second side member (1211) ; wherein, each side member (121; 1211) has a front end (si' ) and a rear end (si' ' ) , respectively; wherein, the drive unit (9) comprises a first mechanism (101) and a second mechanism (1011) which are configured to trace trajectories parallel to a vertical plan (XZ) , which is perpendicular to the support plan (XY) and coplanar to the longitudinal axis (X) ; wherein, the first mechanism (101) and the second mechanism (1011) are symmetrical to one another with respect to the vertical plan (XZ) .

3. A radio-controlled vehicle according to claim 2, wherein each mechanism (10; 101; 1011) comprises:- an arm (11; 111, 1111) , which is connected to the frame (2) at a first fulcrum (fl) by means of a rotary coupling and isrotatable around a first axis (Yl) parallel to the transversal axis (Y) ; and a first actuator (15; 151; 1511) , which is interposed between the frame (2) and the arm (11; 111, 1111) and is configured to rotate the arm (11; 111, 1111) around the first fulcrum ( f 1 ) ; wherein, the first actuator (15; 151; 1511) is configured to exert a first push force (Fsl) or a first pull force (Ftl) to selectively tilt the arm (11; 111, 1111) around the first fulcrum (fl) ; in particular, when the first actuator (15; 151; 1511) exerts the first push force (Fsl) the arm (11; 111, 1111) rises, when the first actuator (15; 151; 1511) exerts the first pull force (Ftl) the arm (11; 111, 1111) lowers.

4. A radio-controlled vehicle according to claim 3, wherein the first actuator (15; 151; 1511) is linear and is connected to the frame (2) at a second fulcrum (f2) by means of a rotary coupling; wherein, the first actuator (15; 151; 1511) is rotatable around a second axis (Y2) parallel to the transversal axis (Y) ; wherein, the first actuator (15; 151; 1511) is connected to the arm (11; 111, 1111) at a third fulcrum (f3) by means of a rotary coupling and is rotatable around a third axis (Y3) parallel to the transversal axis (Y) .

5. A radio-controlled vehicle according to claim 3 or 4, wherein the first fulcrum (fl) is interposed along the longitudinal axis (X) between the front end (si' ) and the rear end (si" ) of a respective side member (12; 121; 1211) ; wherein, the second fulcrum (f2) is arranged at the front end (el' ) of a respective side member (12; 121; 1211) ; wherein, the third fulcrum (f3) is interposed along the longitudinal axis (X) between the first fulcrum (fl) and the second fulcrum (f2) ; wherein, the third fulcrum (f3) is not aligned with the first fulcrum (fl) and the second fulcrum ( f 2 ) .

6. A radio-controlled vehicle according to any claim from 2 to5, wherein each mechanism (10; 101; 1011) comprises:- an end member (16; 161; 1611) , which is connected to the arm (11; 111, 1111) at a fourth fulcrum (f4) by means of a rotary coupling and is rotatable around a fourth axis (Y4) parallel to the transversal axis (Y) ;- a second actuator (18; 181; 1811) interposed between the arm (11; 111, 1111) and the end member (16; 161; 1611) and is configured to rotate the end member (16; 161; 1611) around the fourth fulcrum (f4) ; wherein, the second actuator (18; 181; 1811) is linear and is configured to exert on the end member (16; 161; 1611) a second push force (Fs2) or a second pull force (Ft2) to selectively tilt the end member (16; 161; 1611) around the fourth fulcrum (f4) ; in particular, when the second actuator (18; 181; 1811) exerts the second push force (Fs2) or the second pull force (Ft2) the inclination (a) of the connection system (8) with respect to the support plan (XV) varies.

7. A radio-controlled vehicle according to any claim from 3 to 6, wherein the first actuator (15; 151; 1511) is a doubleacting hydraulic cylinder; in particular, the first actuator (15; 151; 1511) is a telescopic cylinder comprising a plurality of extensions; wherein the second actuator (18; 181; 1811) is a double-acting hydraulic cylinder.

8. A radio-controlled vehicle according to any claim from 3 to 7, wherein the arm (11; 111, 1111) has an S-shaped lateral profile; wherein the end member (16; 161; 1611) has a crescent-shaped lateral profile.

9. A radio-controlled vehicle according to any preceding claim, wherein the connection system (8) comprises: a plate (25) which is fixed to the drive unit (9) , in particular to each end member (16; 161; 1611) ; wherein the connection system (8) comprises: a coupling system (26) which is movable along a givendirection (Y7) with respect to the plate (25) ;- a third actuator (20) which is interposed between the plate (25) and the coupling system (26) and is configured to selectively move the coupling system (26) with respect to the plate (25) .

10. A radio-controlled vehicle according to any claim from 3 to 9, wherein the motor unit (M) comprises a motor (4) which is fixed to the frame (2) , along the longitudinal axis (X) , between the first fulcrum (fl) and the rear cross member(13' ' ) .

11. A method for operating a radio-controlled vehicle comprising a frame (2) having a longitudinal axis (X) and a transversal axis (Y) ; the vehicle (1) comprising a motor unit (M) , a control system (6) , a kinetic unit (3; 31, 311) movable on a support plan (XY) , a remote control (7) ; wherein, the radio-controlled vehicle (1) comprises a connection system(8) , which is configured to couple, in use, with a tool (T) , and a drive unit (9) , which is interposed between the frame (2) and the connection system (8) ; wherein, said control system (6) is configured to exchange signals and / or data with said remote control (7) to control the motor unit (M) and / or the drive unit (9) and / or the connection system (8) ; wherein the method comprises the steps of operating said drive unit(9) to raise and / or lower and / or tilt the connection system (8) with respect to the support plan (XY) .

12. A method according to claim 11, wherein the connection system (8) comprises a coupling system (26) , which can be controlled by means of said remote control (7) and is configured to engage and disengage from a tool (T) ; the method comprising the step of operating said coupling system (26) to engage and / or disengage a tool (T) selected from a group of tools different from one another by type.

13. A method according to claim 12, wherein said connection system (8) comprises a plate (25) fixed to the drive unit (9) and an actuator (20) which can be controlled by means of said remote control (7) ; wherein said actuator (20) is interposed between the plate (25) and the coupling system (26) ; the method comprising the step of reciprocally moving the plate (25) and the coupling system (26) by means of said actuator(20) .

Images