U.S. patent number RE46,723 [Application Number 15/141,587] was granted by the patent office on 2018-02-20 for alignment restoration device for load transporting apparatus.
This patent grant is currently assigned to ENTRO INDUSTRIES, INC.. The grantee listed for this patent is Entro Industries, Inc.. Invention is credited to Harlan B. Smith, Shawn R. Smith.
United States Patent |
RE46,723 |
Smith , et al. |
February 20, 2018 |
**Please see images for:
( Certificate of Correction ) ** |
Alignment restoration device for load transporting apparatus
Abstract
Embodiments of the present invention are directed to a load
transporting apparatus that automatically aligns a support foot of
the apparatus with a load-bearing frame connected to the load
transporting apparatus during a recovery phase of an incremental
walking movement. In particular, the load transporting apparatus
includes a linking device attached to a support foot of the
apparatus and a biasing device connected to the linking device that
is deflected during non-linear load transporting movements, where
the biasing device acts to automatically return the support foot to
an aligned position relative to the load-bearing frame after a
non-linear movement has been completed and the support foot is
raised above a ground surface.
Inventors: |
Smith; Shawn R. (Hillsboro,
OR), Smith; Harlan B. (Beaverton, OR) |
Applicant: |
Name |
City |
State |
Country |
Type |
Entro Industries, Inc. |
Hillsboro |
OR |
US |
|
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Assignee: |
ENTRO INDUSTRIES, INC.
(Hillsboro, OR)
|
Family
ID: |
1000002927211 |
Appl.
No.: |
15/141,587 |
Filed: |
April 28, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
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13711269 |
Oct 22, 2013 |
8561733 |
|
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61576657 |
Dec 16, 2011 |
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Reissue of: |
14028150 |
Sep 16, 2013 |
9004203 |
Apr 14, 2015 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B62D
57/032 (20130101); B62D 57/02 (20130101); B62D
57/02 (20130101); E21B 15/003 (20130101); B62D
57/032 (20130101); E21B 15/003 (20130101) |
Current International
Class: |
B62D
51/06 (20060101); E21B 15/00 (20060101); B62D
57/02 (20060101); B62D 57/032 (20060101) |
Field of
Search: |
;180/8.1,8.5,8.6 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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Jan 1962 |
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1515477 |
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Jul 2003 |
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CN |
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2418411 |
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Oct 1975 |
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DE |
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4107314 |
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Sep 1992 |
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DE |
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469182 |
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Oct 1990 |
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EP |
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469182 |
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Feb 1992 |
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EP |
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2315464 |
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Feb 1998 |
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GB |
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2004103807 |
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Dec 2004 |
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WO |
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2006100166 |
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Sep 2006 |
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2010136713 |
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WO |
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Other References
Notice of Pending Litigation Under 37 CFR 1.56 Pursuant to Granted
Request for Prioritized Examination Under 37 CFR 1.102(1), Jun. 28,
2016. cited by applicant .
Defendants' Second Amended Answer, Affirmative Defenses, and
Counterclaims to Plaintiff's Complaint for Patent Infringement,
Jul. 12, 2016, p. 9, Sections 15-18. cited by applicant .
Defendants' First Amended Answer, Affirmative Defenses, and
Counterclaims to Plaintiff's Complaint for Patent Infringement,
Jun. 27, 2016, p. 9, Section 16. cited by applicant .
Defendants' Answer, Affirmative Defenses and Counterclaims to
Plaintiff's Complaint for Patent Infringement, Jun. 6, 2016, p. 6,
Section 2. cited by applicant .
Entro Industries, Inc. brochure "The Future of Rig Walkers", Jun.
2012; 4 pages. cited by applicant .
Columbia Industries, LLC brochure "Kodiak Cub Rig Walking System",
2009; 4 pages. cited by applicant .
Schwabe Williamson & Wyatt, PC "Listing of Related Cases",
dated Jun. 28, 2016; 1 page. cited by applicant .
Defendant Hydraulic Systems, Inc.'s Preliminary Invalidity
Contentions, Nov. 18, 2016, pp. 1-6. cited by applicant .
Defendant Hydraulic Systems, Inc.'s Supplemental Preliminary
Invalidity Contentions, May 26, 2017, pp. 1-6. cited by applicant
.
Colby, Col. Joseph M., "Torsion-Bar Suspension", SAE Quarterly
Transactions, vol. 2, No. 2, pp. 195-200, Apr. 1948. cited by
applicant .
Airstream Inc., "Airstream's New Dura-Torque Axle" Pamphlet. cited
by applicant .
Stolowitz Ford Cowger L.L.P, "Listing of Related Cases", Sep. 16,
2013, 1 page. cited by applicant.
|
Primary Examiner: Doerrler; William
Attorney, Agent or Firm: Schwabe Williamson & Wyatt
Parent Case Text
RELATED APPLICATIONS
This application is a continuation of U.S. patent application Ser.
No. 13/711,269, filed Dec. 11, 2012, now U.S. Pat. No. 8,561,733,
issued Oct. 22, 2013, entitled ALIGNMENT RESTORATION DEVICE FOR
LOAD TRANSPORTING APPARATUS, which claims priority to U.S.
Provisional Application No. 61/576,657, filed Dec. 16, 2011,
entitled METHOD AND APPARATUS FOR TRANSPORTING A LOAD, the contents
of which are hereby incorporated by reference. This application is
related to U.S. patent application Ser. No. 13/711,193, filed Dec.
11, 2012, now U.S. Pat. No. 8,573,334, issued Nov. 5, 2013,
entitled ROTATION DEVICE FOR LOAD TRANSPORTING APPARATUS, the
contents of which are hereby incorporated by reference. This
application is also related to U.S. patent application Ser. No.
13,711,315, filed Dec. 11, 2012, now U.S. Pat. No. 8,490,724,
issued Jul. 23, 2013, entitled CENTERING DEVICE FOR LOAD
TRANSPORTING APPARATUS, the contents of which are hereby
incorporated by reference.
Claims
The invention claimed is:
1. A load transporting apparatus comprising: a support foot
comprising a longitudinal centerline; a roller assembly operably
coupled to the support foot and configured to move relative to the
support foot; a lift mechanism operably coupled to the roller
assembly and configured to lift .[.the.]. .Iadd.a .Iaddend.load
.[.transporting apparatus.]. .Iadd.bearing frame .Iaddend.from a
transport surface; a travel mechanism operably coupled to the
roller assembly and configured to non-linearly displace the support
foot such that the longitudinal centerline of the support foot
moves relative to a longitudinal centerline of the load
.[.transporting apparatus.]. .Iadd.bearing frame.Iaddend.; and one
or more biasing devices configured to elastically and materially
deform in response to the non-linear displacement of the support
foot, wherein an elastic deformation of the one or more biasing
devices provides a biasing force that operates to realign the
support foot with the load .[.transporting apparatus.].
.Iadd.bearing frame .Iaddend.such that the longitudinal centerline
of the support foot becomes parallel with the longitudinal
centerline of the load .[.transporting apparatus.]. .Iadd.bearing
frame .Iaddend.after the load .[.transporting apparatus.].
.Iadd.bearing frame .Iaddend.is lowered to the transport
surface.
2. The apparatus of claim 1, further comprising one or more linking
devices operably coupling the support foot to the one or more
biasing devices.
3. The apparatus of claim 2, wherein the biasing devices are
further operably coupled to a load-bearing frame.
4. The apparatus of claim 2, wherein the one or more linking
devices includes a first linking device attached at a first end of
the support foot, and a second linking device connected to a second
end of the support foot opposite of the first end of the support
foot.
5. The apparatus of claim 4, wherein the one or more biasing
devices include a torsion bar coupled between the first linking
device and the second linking device.
6. The apparatus of claim 5, wherein the torsion bar is configured
to undergo a torqueing force in response to the non-linearly
displacement of the longitudinal centerline of the support foot
relative to the longitudinal centerline of the load .[.transporting
apparatus.]. .Iadd.bearing frame.Iaddend..
7. .[.An apparatus having a.]. .Iadd.A .Iaddend.load transporting
.[.device, a roller assembly, and a support foot, the.]. apparatus
comprising: .Iadd.a roller assembly; a support foot;.Iaddend. means
for raising .[.the load transporting device.]. .Iadd.a load bearing
frame .Iaddend.from a transport surface; means for moving the
roller assembly relative to the support foot .[.of the load
transporting device.]., wherein the roller assembly is operably
coupled to the means for raising, and wherein the load .[.transport
device.]. .Iadd.bearing frame .Iaddend.moves in response to moving
the roller assembly; means for biasing; and means for deflecting
the means for biasing in response to moving the roller assembly,
wherein the movement of the roller assembly results in a non-linear
displacement between a centerline of the support foot and a
centerline of the load .[.transporting device.]. .Iadd.bearing
frame.Iaddend., wherein the means for biasing is configured to
elastically and materially deform in response to being deflected,
and wherein an elastic deformation of the means for biasing devices
provides a biasing force that operates to realign the centerline of
the support foot relative to the centerline of the load
.[.transporting device.]. .Iadd.bearing frame .Iaddend.following
the movement of the roller assembly.
8. The apparatus of claim 7, wherein the means for raising
comprises means for raising the support foot from the transport
surface, and wherein in response to raising the support foot, the
means for biasing is configured to move the support foot relative
to the load .[.transporting device.]. .Iadd.bearing frame
.Iaddend.such that the centerline of the support foot is realigned
relative to the centerline of the load .[.transporting device.].
.Iadd.bearing frame.Iaddend..
9. The apparatus of claim 7, wherein the means for biasing is
operably coupled to .[.a.]. .Iadd.the .Iaddend.load-bearing
frame.
10. The apparatus of claim 7, further comprising means for
preventing activation of the means for biasing when the support
foot is moved such that the centerline of the support foot is
linearly displaced by the means for deflecting relative to the
centerline of the load .[.transporting device.]. .Iadd.bearing
frame.Iaddend..
11. The apparatus of claim 7, wherein the means for deflecting
comprises means for linking the support foot to the means for
biasing, and wherein the means for linking comprises: first means
for linking operably coupled at a first end of the support foot;
and second means for linking operably coupled to a second end of
the support foot.
12. The apparatus of claim 11, wherein the means for biasing
comprises a torsion bar coupled between the first means for linking
and the second means for linking.
13. The apparatus of claim 12, wherein the torsion bar is
configured to undergo a torqueing force in response to the
non-linearly displacement of the longitudinal centerline of the
support foot relative to the longitudinal centerline of the load
.[.transporting apparatus.]. .Iadd.bearing frame.Iaddend..
14. A method comprising: raising, with a lift mechanism, a load
.[.transporting device.]. .Iadd.bearing frame .Iaddend.from a
transport surface; moving a roller assembly relative to a support
foot .[.of the load transporting device.]., wherein the roller
assembly is operably coupled to the lift mechanism, and wherein the
load .[.transport device.]. .Iadd.bearing frame .Iaddend.moves in
response to moving the roller assembly; angularly displacing a
centerline of the support foot and a centerline of the load
.[.transporting device.]. .Iadd.bearing frame.Iaddend.; deflecting
one or more biasing devices in response to moving the roller
assembly, wherein the one or more biasing devices are configured to
elastically and materially deform in response to being deflected;
and realigning the centerline of the support foot relative to the
centerline of the load .[.transporting device.]. .Iadd.bearing
frame .Iaddend.in response to a biasing force provided by an
elastic deformation of the one or more deflected biasing
devices.
15. The method of claim 14, further comprising lowering the support
foot to the transport surface prior to raising the load
.[.transporting device.]. .Iadd.bearing frame.Iaddend..
16. The method of claim 15, further comprising raising the support
foot from the transport surface after moving the roller assembly
relative to the support foot, wherein the centerline of the support
foot is realigned relative to the centerline of the load
.[.transporting device.]. .Iadd.bearing frame .Iaddend.in response
to raising the support foot.
17. The method of claim 14, wherein the one or more biasing devices
comprise a torsion bar, and wherein deflecting the one or more
biasing devices comprises applying a torque force to the torsion
bar.
18. The method of claim 17, wherein realigning the centerline of
the support foot comprises applying the torque force to the support
foot via one or more linking devices operably coupling the support
foot to the one or more biasing devices.
19. The method of claim 18, wherein the torsion bar is operably
coupled between a first linking device and a second linking device
of the one or more linking devices.
20. The method of claim 19, wherein the first linking device is
operably coupled at a first end of the support foot, and wherein
the second linking device is operably coupled to a second end of
the support foot opposite of the first end.
.Iadd.21. A load transporting apparatus comprising: a support foot;
a roller assembly operably coupled to the support foot; a lift
mechanism operably coupled to the roller assembly and configured to
lift a load bearing frame from a transport surface; a travel
mechanism configured to displace the support foot relative to the
lift mechanism, wherein an activation of the travel mechanism
operates to non-linearly displace the support foot relative to an
orientation of the load bearing frame; and one or more biasing
devices configured to elastically and materially deform in response
to the non-linear displacement of the support foot, wherein an
elastic deformation of the one or more biasing devices provides a
biasing force that operates to realign the support foot with the
orientation of the load bearing frame..Iaddend.
.Iadd.22. The load transporting apparatus of claim 21, wherein the
one or more biasing devices comprise a torsion bar substantially
aligned with the orientation of the load bearing
frame..Iaddend.
.Iadd.23. The load transporting apparatus of claim 21, further
comprising one or more linking devices operably coupled to both the
support foot and the one or more biasing devices..Iaddend.
.Iadd.24. The load transporting apparatus of claim 23, wherein the
one or more linking devices comprise a first linking device
operably coupled to a first end of the support foot, and a second
linking device operably coupled to a second end of the support foot
opposite the first end of the support foot..Iaddend.
.Iadd.25. The load transporting apparatus of claim 24, wherein the
one or more biasing devices comprise a torsion bar operably coupled
to both the first linking device and the second linking
device..Iaddend.
.Iadd.26. The load transporting apparatus of claim 25, wherein the
torsion bar is configured to undergo a torqueing force in response
to the non-linearly displacement of the support foot relative to
the orientation of the load bearing frame..Iaddend.
.Iadd.27. The load transporting apparatus of claim 21, wherein the
one or more biasing devices are configured to elastically and
materially deform when the support foot is in a lowered position on
the transport surface, and wherein the biasing force operates to
realign a centerline of the support foot with the orientation of
the load bearing frame when the support foot is raised from the
transport surface..Iaddend.
.Iadd.28. The load transporting apparatus of claim 27, wherein the
one or more biasing devices are configured to elastically and
materially deform with the load bearing frame raised above the
transport surface, and wherein the biasing force operates to
realign the centerline of the support foot with the orientation of
the load bearing frame after the load bearing frame is lowered to
the transport surface..Iaddend.
Description
FIELD OF THE INVENTION
This disclosure relates generally to apparatuses for transporting a
load, and more particularly to apparatuses for moving heavy loads
over small distances with the ability to fine tune the resultant
position of the heavy load.
BACKGROUND
Moving extremely heavy loads has generally been a complicated task
because the large forces involved in lifting and transporting the
heavy loads. When possible, large loads are often transported by
disassembling or breaking up the load into multiple smaller loads.
However, this break-down and subsequent reassembly process can be
very time consuming, especially when a heavy load is only to be
moved a small distance, or needs to be repositioned.
For heavy loads that need periodic movement or adjustment, devices
commonly referred to as "walking machines" or "walkers" were
developed. These machines typically move the heavy loads over small
distances in incremental stages. Walking machines are particularly
useful for moving large structures, such as oil rigs, which often
times need to be moved in order to properly position them over
pre-drilled pipes in oil fields, or moved to a new location that is
undergoing oil exploration.
Instead of using wheels driven by rotational forces to move heavy
loads, walking machines typically use hydraulic lift cylinders to
lift the load above a supporting surface, and then move or rotate
the load relative to the supporting surface by transporting the
load via rollers or tracks in the walking machines. U.S. Pat. No.
5,921,336 to Reed and U.S. Pat. No. 6,581,525 to Smith show two
methods of using walking machines to move heavy loads, such as oil
rig structures. The '525 patent shows elongated beams under several
rollers and lift cylinders, which allows the load from the lift
cylinders and rollers to be spread over a large area. However, this
disclosed system in the '525 patent does not allow for movement of
heavy load in a direction perpendicular to the long axis of the
support beams. This is, movement of the heavy load is restricted in
the walking device disclosed in the '525 patent to only particular
directions, which can make fine tuning of the position of the heavy
load difficult.
SUMMARY
Embodiments of the present invention are directed to a load
transporting apparatus that automatically aligns a support foot of
the apparatus with a load-bearing frame connected to the load
transporting apparatus during a recovery phase of an incremental
walking movement. In particular, the load transporting apparatus
includes a linking device attached to a support foot of the
apparatus and a biasing device connected to the linking device that
is deflected during non-linear load transporting movements, where
the biasing device acts to automatically return the support foot to
an aligned position relative to the load-bearing frame after a
non-linear movement has been completed and the support foot is
raised above a ground surface.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGS. 1A and 1B are diagrams of walking apparatuses attached to
various loads according to embodiments of the invention.
FIGS. 2A, 2B, 2C, 2D, 2E, and 2F are detail diagrams showing an
example operational progression of walking apparatuses to move a
load according to embodiments of the invention.
FIGS. 3A and 3B are diagrams illustrating example connection
arrangements used to connect a walking apparatus to a load
according to embodiments of the invention.
FIG. 4 is a schematic diagram illustrating movement of a load along
a substantially linear path according to embodiments of the
invention.
FIG. 5 is a schematic diagram illustrating movement of a load along
a curved path according to embodiments of the invention.
FIG. 6 is a schematic diagram of a top view of a walking apparatus
according to embodiments of the invention.
FIG. 7A is a side view of an example walking apparatus in a
recovery position according to embodiments of the invention.
FIG. 7B is a side view of the example walking apparatus shown in
FIG. 7A in a load-movement position according to embodiments of the
invention.
FIGS. 8A, 8B, 8C, and 8D are side and top views of walking
apparatuses that illustrate an example operation progression of a
load transporting system according to embodiments of the
invention.
FIG. 9A is a top view of a walking apparatus in a perpendicular
orientation according to embodiments of the invention.
FIG. 9B is a side view of the walking apparatus shown in FIG. 9A in
a load-movement position according to embodiments of the
invention.
FIG. 9C is a side view of the walking apparatus shown in FIG. 9A in
a recovery position according to embodiments of the invention.
FIG. 10 is a top view of a walking apparatus after a load-movement
phase of a walking cycle completed in a parallel direction
according to embodiments of the invention.
FIG. 11 is a top view of a load movement system according to
embodiments of the invention.
FIGS. 12A, 12B, 12C, 12D, and 12E are diagrams of walking
apparatuses with various alignment restoration devices according to
embodiments of the invention.
FIG. 13 is a flow diagram illustrating method of operating a load
transporting apparatus according to embodiments of the
invention.
DETAILED DESCRIPTION
As described above, walkers, or walking machines, are vehicles that
are used for transporting very heavy loads, such as entire oil well
drilling rigs. Such loads may be as great as several thousand tons
and may be required to be sequentially positioned very precisely
over spaced-apart well bores, for example. Embodiments of the
present concept are directed to load transporting apparatuses, such
as walking machines, for moving heavy loads over small distances
with the ability to fine tune the resultant position of the heavy
load. For ease of understanding, the terms, "walkers," "walking
machines," "walking devices," and "walking apparatuses" are used
interchangeably below. Load transporting apparatuses or systems may
include one or more walking machines. Additionally, a walking
machine's subassembly of components that facilitate movement of the
walking machine are referred herein as a "walking mechanism."
Walking machines may incorporate one or more walking mechanisms,
depending on the specific configuration of a walking machine.
For example, with reference FIGS. 1A and 1B, a load transporting
system includes multiple walking machines that support a load being
carried by the load transporting system. FIGS. 1A and 1B show
examples of walking apparatuses attached to various loads according
to embodiments of the invention. Referring to FIG. 1A, multiple
walking apparatuses 115 are positioned under or adjacent to an oil
rig 100. Typically, walking machines 115 are positioned at least
near edge portions of a load 100 to balance the weight of the load
over the various walking machines. However, specific situations may
dictate that walking machines 115 are positioned in various other
locations relative to the load 100.
Referring to FIG. 1B, multiple walking apparatuses 116 are
positioned under or adjacent to a silo 101. Although an oil rig
load 100 and a silo 101 are respectively illustrated in FIGS. 1A
and 1B, walking machines may be used to move any type of relatively
large load, such as bridge sections, ship sections, structures,
etc. Additionally, although two walking machines are shown in FIGS.
1A and 1B, more or fewer walking machines may be used to move loads
100, 101.
FIGS. 2A-2F provide an overview of an example operation of walking
apparatuses to move a load according to embodiments of the
invention. Referring to FIG. 2A, walking apparatuses 215 are
positioned on a base surface 205 below or adjacent to a load 200.
Referring to FIG. 2B, the walking apparatuses 215 are attached to
the load 200, and are positioned above a base surface 205. As
described below, there are many possible connection variations that
can be used to connect the walking apparatuses to a load 200.
Referring to FIG. 2C, the walking apparatuses 215 are operated so
that a foot portion of the walking apparatus contacts the base
surface 205. The walking apparatuses 215 may be operated
substantially simultaneously, or may be operated in intervals
depending on the conditions of the base surface 205 and the load
200 that is to be moved.
Referring to FIG. 2D, the walking apparatuses 215 are operated to
lift the load 200 above the base surface 205. The walking
apparatuses 215 may again be operated substantially simultaneously
to lift the load 200, or may be operated in intervals depending on
the conditions associated with the desired move.
Referring to FIG. 2E, the walking apparatuses 215 are operated to
move the load 200 to the right. Although FIG. 2E shows the load 200
being moved to the right, the walking apparatuses can be operated
to move the load in a variety of directions depending on the
desired final location of the load. Referring to FIG. 2F, the
walking apparatuses 215 are operated to lower the load 200 to the
base surface 205 and to raise the foot portions of the walking
apparatuses above the base surface. That is, after the load 200 is
positioned on the base surface 205, the walking apparatuses 215 are
further operated so that they are raised above the base surface.
Here, the connection between the walking apparatuses 215 and the
load 200 support the walking apparatuses 215 when they are raised
above the base surface 205. After the walking apparatuses 215 are
raised above the base surface 205, they are further operated to be
repositioned for another movement walking step, such as by moving
the foot portions of the walking apparatuses to the right so that
they are in a position as shown in FIG. 2B. That is, the base
surface touching part of the walking apparatuses 215 (e.g., the
support foot and related structures) is moved to the right while
the walking apparatuses 215 are raised above the base surface 205.
After the walking apparatuses 215 have been repositioned, they are
operated to be lowered to the base surface 205 as shown in FIG. 2C.
This completes a single walking cycle, and further walking cycles
or steps can be performed by repeating the steps described above
with respect to FIGS. 2D to 2F.
As mentioned above, walking apparatuses can be connected to loads
in a variety of ways depending on the specific conditions
surrounding the load. FIGS. 3A and 3B illustrate two such
connection schemes. Although two connection schemes are illustrated
in FIGS. 3A and 3B, embodiments of the invention are not limited to
such connection schemes, as many different connection variations
exist and are included in the scope of this concept.
Referring to FIG. 3A, a walking apparatus 315 includes a support
foot 340 to interface with a base surface 305 and a lift mechanism
320 to raise and lower a load 300. In the embodiment shown in FIG.
3A, the lift mechanism 320 of the walking apparatus 315 is attached
to a connection frame 318, which in turn is bolted to framework 310
supporting the load 300 with bolts 312 or other connection
mechanisms. In some embodiments, the connection frame 318 may be
part of the walking apparatus 315 and in some instances, may be
permanently welded, bolted, or otherwise connected to the lift
mechanism 320 of the walking apparatus. In other embodiments, the
connection frame 318 may be separate from the walking apparatus
315, and may only be temporarily used with the walking apparatus in
certain situations. In these embodiments, for example, multiple
different connection frames 318 may be built or used with specific
load conditions or specifications.
FIG. 3B shows different embodiments where the portions of a lift
mechanism 320 of a walking apparatus 315 are directly connected to
a support frame 310 structured to support a load 300 with bolts 312
or other connection mechanisms. The support frame 310 may be
considered part of the load 300 in some instances where it is a
permanent part of the load structure. For example, in instances
where the load is a silo, such as shown in FIG. 1B, the metal frame
of the silo may be considered the support frame 310 of the load
300, while also being part of the silo, and hence part of the load.
In other cases, the support framework 310 may be an ancillary
structure that is only used to stabilize and support the load 300
during movement of the load.
FIG. 4 is a schematic diagram illustrating movement of a load along
a substantially linear path according to embodiments of the
invention. Referring to FIG. 4, a load 400 is connected to multiple
walking apparatuses 415, which are used to move the load from an
initial position X.sub.1 to a final position X.sub.2 along a
substantially linear path. Here, that path is a horizontal path
moving from left to right. This type of basis linear movement can
be accomplished by a variety of walking systems.
FIG. 5 is a schematic diagram illustrating movement of a load along
a curved path according to embodiments of the invention. Referring
to FIG. 5, a load 500 is connected to multiple walking apparatuses
515, which are used to move the load from an initial position
X.sub.3 to a final position X.sub.4 along a non-linear path. Here,
a reference center-point 502 of the load 500 at the initial
position X.sub.3 is moved to a reference center-point 592 of the
load 500 at the final position X.sub.4. Unlike the linear movement
shown in FIG. 4, this curved path of travel shown in FIG. 5
requires that the walking apparatuses be steered, which can be
accomplished using embodiments of the inventive walking apparatuses
described below.
FIG. 6 is a schematic diagram of a top view of a walking apparatus
according to embodiments of the invention. Referring to FIG. 6, a
load transporting apparatus 615 is configured to move a load (e.g.,
element 100 FIG. 1) over a base surface 605 in one or more
incremental steps each including a load-movement phase and a
recovery phase. The load transporting apparatus 615 includes a lift
mechanism 620 structured to lift a load-bearing frame 610
supporting the load and a support foot 640 connected to the lift
mechanism, the support foot structured to interface with the base
surface 605. A roller assembly 630 is also coupled to the lift
mechanism 620. A travel mechanism 660 is coupled to the roller
assembly 630 and is structured to displace the roller assembly
relative to the support foot 640. The load transporting apparatus
also includes one or more linking devices 670 coupled to the
support foot 640, and one or more biasing devices 680 coupled to
the linking devices. The biasing devices 680 are structured to
become activated during a load-movement phase when the roller
assembly 630 is non-linearly displaced by the travel mechanism 660
relative to the support foot 640, and structured to return the
support foot to an aligned position relative to the load-bearing
frame 610 during a recovery phase. Here, the support foot 640 may
be aligned with the load-bearing frame 610 when a longitudinal
centerline of the support foot is parallel with a main beam of the
load-bearing frame.
In these embodiments, the linking devices 670 are coupled to the
biasing device 680 so that when the roller assembly 630 moves the
load in a direction different than the orientation of the support
foot 640, a deflection force is generated and/or stored as
potential energy in the biasing device 680. This deflection force
may be stored by deforming the biasing device 680 within the
elastic region of a stress-strain curve associated with a material
of the biasing device. For example, in embodiments where the
biasing device 680 is a torsional bar, the deflection force
transmitted to the biasing device during the non-linear
displacement or movement may cause the torsional bar to twist.
The contact between the support foot 640 and the base or ground
surface 605 creates substantial frictional forces that prevent the
support foot from rotating or moving during the non-linear
displacement. During the recovery phase of the walking cycle, the
support foot 640 is raised above the base surface 605, which
eliminates the frictional forces between the foot and the base
surface. Once the support foot 640 begins to lose contact with the
base surface 605, the potential energy stored in the biasing device
680 is used to return the support foot to an aligned position
relative to the load-bearing frame 610. The alignment of the
load-bearing frame 610 is dictated by the movement of the roller
assembly 630 by the travel mechanism 660. Hence, when the roller
assembly 630 is non-linearly displaced (e.g., moved such as shown
in FIG. 5), the orientation of the load-bearing frame 610 becomes
skewed from the orientation of the support foot 640. In the above
example, where the biasing device 680 is a torsional bar, the
support foot 640 is returned to a positioned aligned relative to
the load-bearing frame 610 when the support foot loses contact with
the base surface 605 and the torsion bar is allowed to "untwist,"
thereby re-orienting the support foot. In other words, the torsion
bar is activated when an angular displacement occurs between the
support foot 640 and the load-bearing frame 610, where the
activation of the torsion bar including a torquing force being
applied to the torsion bar.
Although a torsion bar is discussed as the biasing device 680, may
different types of biasing devices may be used in other
embodiments, such as leaf springs, coil springs, chains, hydraulic
cylinders, motors, or any other type of device that can be
deflected and/or store potential energy to apply a realignment
force to the support foot 640.
FIG. 6 is presented in a schematic style view as many possible
variations in the appearance and mechanical structure of the load
transporting apparatus 615 exist. FIGS. 7A and 7B provide a more
detailed view of one embodiment of a load transporting apparatus.
FIG. 7A is a side view of an example walking apparatus in a
recovery position according to embodiments of the invention. FIG.
7B is a side view of the example walking apparatus shown in FIG. 7A
in a load-movement position according to embodiments of the
invention. Referring to FIGS. 7A and 7B, a load transporting or
walking apparatus 715 includes a lift mechanism 720, a roller
assembly 730, a roller track 750, and a support foot 740. The lift
mechanism 720 may include a hydraulic jack suspended from a
horizontal beam of the load-bearing frame 710. Additional details
regarding the structure of the load transporting apparatus 715 can
be found in co-pending application Ser. No. 13/711,193, entitled
ROTATION DEVICE FOR LOAD TRANSPORTING APPARATUS, the contents of
which are herein incorporated by reference in their entirety.
The roller track 750 of the walking apparatus 715 may be coupled to
the support foot 740 with a connection mechanism that allows the
support foot to rotate relative to the roller track. Various
connection mechanisms may be used to facilitate this relative
rotation, such as a rotation pin described below in FIG. 9 and in
the above mentioned application Ser. No. 13/711,193. In addition,
the lift mechanism 720 may be structured to allow the roller
assembly 730 to rotate about a substantially vertical axis in the
center of a cylinder rod of the lift mechanism. That is, the roller
assembly 730 may also be free to rotate around the cylinder rod of
the lift mechanism 720.
The walking apparatus 715 may also include a travel mechanism 760
that is connected to the roller track 750 and coupled to the roller
assembly 730 such that when the travel mechanism is activated, the
roller assembly moves relative to the roller track. In the
embodiment shown in FIGS. 7A and 7B, the travel mechanism 760
includes two travel cylinders mounted on the roller track 750 on
opposite sides of the roller track. Here, the travel cylinders of
the travel mechanism 760 may balance the load being moved by the
roller assembly 730 over the roller track 750. In other
embodiments, one travel cylinder, or three or more travel cylinders
may be used to move the roller assembly 730 relative to the roller
track 750. In other embodiments, the travel mechanism 760 may
include different movement structures, such as pulleys, levers,
winches, tracks, etc.
In the embodiments shown in FIGS. 7A and 7B, the roller assembly
730 may include a plurality of rollers or roller chain that rotate
as well as roll on the roller track 750. That is, in some
embodiments, the roller assembly 730 may include a WBOT series
roller assembly from Hilman Rollers. Due to the configuration of
the roller chain 730 of the roller assembly 730 and the tolerance
between the roller assembly and the roller track 750 of the walking
machine 715, the rollers of the roller chain will typically be
engaged with the roller track during operation and use of the
walking machine.
The roller assembly 730 may be secured to the lower end of the lift
mechanism 720, with the roller assembly being captured within a
U-shaped roller track 750. The roller assembly 730 may be
configured to roll along the bottom inside surface of the roller
track 750 as well as along the underside of the two upper flanges
of the roller track. The one or more travel cylinders 760 may be
coupled between the lift mechanism 720 and the roller track 750.
Accordingly, as will be understood from the more detailed
discussion below, these travel cylinders 760 permit for the
translation of the roller track 750 relative to the lift mechanism
720 and vice versa. As discussed above, the roller track 750 may be
secured to the elongate ground-engaging foot 740 (support foot) via
a rotational pin (not shown in FIG. 7, but similar to element 955
of FIG. 9), which enables the roller track to be rotationally
positioned relative to the foot for steering of the walking machine
715.
As shown in FIGS. 7A and 7B, a linking mechanism 770 is coupled to
the support foot 740 and a biasing device 780 (shown more clearly
as element 880) in FIG. 8A). In some embodiments, the linking
mechanism 770 may include a first linking device attached at a
first end of the support foot 740, where a second linking device
connected to a second end of the support foot opposite of the first
end of the first support foot (such as shown in FIGS. 6 and 8A).
The biasing device 780 may be coupled between the first and second
linking devices of the linking mechanism 770.
In the embodiments shown in FIGS. 7A and 7B, the linking mechanism
770 includes a first linking rod 772 connected to the support foot
740 with a first pivot joint 771. In some embodiments, the first
pivot joint 771 may be a spherical rod end bearing configured to
allow movement in three degrees of freedom. In other embodiments,
the first pivot joint 771 may be another type of joint, such as a
hinge joint, that restricts movement to one or two degrees of
freedom.
The linking mechanism 770 may also include a second linking rod 774
connected to the first linking rod 772 with a second pivot joint
773. As with the first pivot joint 771, the second pivot joint 773
may be a spherical rod end bearing, or any other type of joint. The
second linking rod 774 may further be connected to the load-bearing
frame 710. In other embodiments, the one or more biasing devices
780 are also coupled to the load-bearing frame 710.
As shown in FIGS. 7A and 7B, the first and second pivot joints 771,
773 allow linking mechanism 770 to move vertically with the support
foot 740 without deflecting or otherwise activating the biasing
device 780.
As shown in co-pending application Ser. No. 13/711,315, entitled
CENTERING DEVICE FOR LOAD TRANSPORTING APPARATUS, the contents of
which is herein incorporated by reference in its entirety, a
walking apparatus 715 may also include one or more guide devices
positioned adjacent to the roller assembly 730, and one or more
biasing devices coupled to the guide devices. Here, the biasing
devices may be structured to become deflected during a
load-movement phase when the movement of the roller assembly 730
deviates from a set direction of travel, and structured to return
the support foot to a centered position relative to the support
foot 740 during a recovery phase.
FIGS. 8A, 8B, 8C, and 8D are side and top views of walking
apparatuses that illustrate an example operation progression of a
load transporting system according to embodiments of the invention.
Here, FIGS. 8A-8C may show a load-movement phase of a walking
cycle, while FIG. 8D may show a recovery phase of a walking cycle,
where the walking apparatus is in a spin steering mode.
Referring to FIG. 8A, a walking apparatus includes a support foot
840 positioned on a base surface 805 and connected to roller track
850. The roller track 850 is structured to allow a roller assembly
830 to move relative to the roller track when activated by a travel
mechanism 860. A lift mechanism 820, such as hydraulic jack, is
connected between the roller assembly 830 and load-bearing frame
810. A linking device 870 includes a first linking member 872 that
is connected to the support foot, and a second linking member 874
that connects the first linking member to the load-bearing frame
810. A biasing device 880 is also connected to the linking device
870, and structured to become deflected or activated during a
non-linear movement of the roller assembly 830 relative to the
support foot 840. As shown in FIG. 8A, the walking apparatus 815 is
in an initial position of a walking cycle in a spin steering mode.
The roller tracks 850 of each walking apparatus 815 are oriented in
a desired direction of travel. Here, in this first step of making a
spin movement, the lift mechanisms 820 are activated to lift the
load-bearing frame 810 (and load) above the base surface.
Referring to FIG. 8B, a step in a walking motion of the walking
machine is illustrated. Specifically, as indicated by the arrows
showing rotation of the load-bearing frame 810, the travel
mechanism 860 is activated to displace the roller assembly 830
relative to the roller track 850 as shown. In this second step the
walking system is moved in a circular or spin direction. Here, the
travel cylinders of the travel mechanism 860 are actuated and the
load-bearing frame 810 moves to a new angle. The support feet 840
are on the support surface and an angle of displacement occurs
between the load-bearing frame 810 and the support feet. This
non-linear movement or angular displacement causes an angular
change in the biasing device 880. In embodiments where the biasing
device 880 is a torsion bar, the resulting torque on the torsion
bar causes the part of the linking device 870 to be in compression
and causes another part of the linking device to be in tension.
Referring to FIG. 8C, the travel mechanism 860 has finished moving
the roller assembly 830 and load-bearing frame 810. Additionally,
the lift mechanism 820 has been activated to lower the load and
load-bearing frame 810. Here, the load-bearing frame 810 has just
contacted the ground surface. However, the support foot 840 is
still positioned on the ground surface as well. Hence, the biasing
devices 880 are still in a deflected, activated, or biased
state.
Referring to FIG. 8D, the lift mechanism 820 is continued to be
operated such that the support foot 840 loses contact with the
ground surface. As soon as this connection between the support foot
840 and the ground surface disappears, the biasing device 880
causes the support foot to "snap" back into alignment with the
load-bearing frame 810 as shown.
FIGS. 9A-9C illustrate another embodiment of a walking apparatus.
Here, FIG. 9A is a top view of a walking apparatus in a
perpendicular orientation according to embodiments of the
invention. FIG. 9B is a side view of the walking apparatus shown in
FIG. 9A in a load-movement position where the linking devices have
been removed for clarity sake. FIG. 9C is a side view of the
walking apparatus shown in FIG. 9A in a recovery position with the
linking devices added back in for reference purposes.
Referring to FIGS. 9A-9C, a walking apparatus 915 includes a lift
mechanism 920 coupled to a load-bearing frame 910 that supports a
load to be moved. The lift mechanism 920 is connected to a roller
assembly 930 that is positioned on a roller track 950. The roller
assembly 930 is moved relative to the roller track 950 with one or
more travel mechanisms 960. The roller track 950 is coupled to a
support foot 940 with a rotation pin 955, such as a king pin or
other connection means that allows rotation of the roller track
relative to the support foot as described in the rotation device
application (Ser. No. 13/711,193) cited above. A linking device 970
is coupled between the support foot 940 and the load-bearing frame
910. A biasing device 980 is connected to the linking device 970.
As described above, the biasing device 980 becomes deflected or
activated when the roller assembly 930 moves in a non-linear
direction relative to the support foot 940. For example, the roller
track 950 is oriented perpendicular to the orientation of the
support foot 940 in FIG. 9A. As the roller assembly 930 moves in
the direction of the orientation of the roller track 950, the
roller assembly and the load-bearing frame will also move
substantially perpendicularly to the orientation of the support
foot 940.
Here, the movement of the roller assembly 930 in this orientation
does not activate or deflect the biasing device 980 because the
linking devices 970 include joints that allow for the free movement
of the roller assembly. The linking devices 970 may be structured
in this manner because the orientation of the support foot 940
relative to the load-bearing frame 910 does not change.
This can also be seen when the roller assembly is moved parallel to
the orientation direction of the support foot, as shown in FIG. 10.
Referring to FIG. 10, a walking apparatus 1015 has just completed a
load-movement phase of a walking cycle where a roller track 1050 is
oriented in the same direction as a support foot 1040. Here, the
roller assembly 1030 was moved to the right, along with the
load-bearing frame 1010, as shown. The joints of the linking device
1070, however, allow the linking device to be angled from the
linear movement without deflecting or otherwise activating the
biasing device 1080. During a recovery phase, the load-bearing
frame 1010 is lowered and the support foot 1040 is raised above a
base surface. The support foot 1040 can then be repositioned
relative to the roller assembly 1030 by activation of the transport
mechanism 960 (FIG. 9B).
Some of the embodiments discussed above rely on the load-bearing
frame as a reference point to realign the support feet during
non-linear movements of the load. However, in other embodiments,
other linking and biasing devices can be utilized to maintain
alignment of the support feet. Some of these techniques are
discussed below with respect to FIGS. 11 and 12A-12E.
FIG. 11 is a top view of a load movement system according to
embodiments of the invention. Referring to FIG. 11, multiple load
transporting apparatuses 1115, 1116, 1117, 1118 are used to move a
load supported by a load-bearing frame 1110. Each of these load
transporting apparatuses 1115, 1116, 1117, 1118 include a roller
track 1150, a roller assembly 1130 that moves relative to the
roller track, and a support foot 1140. Here, load transporting
apparatuses that are in orientation-rows are connected with one or
more biasing devices 1182, 1184. In particular, the support foot
1140 of a first load transporting apparatus 1115 is connected to
the support foot of a second load transporting apparatus 1116 with
two biasing devices 1182A and 1182B. These biasing devices 1182A,
1182B ensure that the first and second load transporting
apparatuses 1115, 1116 are maintained in alignment with one another
and the load-bearing frame 1110.
Here, the linking devices include a first linking device 1182A
coupled between a first side of a first end of the first support
foot 1140 and a first side of a first end of the second support
foot 1140, and a second linking device 1182B coupled between a
second side of the first end of the first support foot and a second
side of the first end of the second support foot. The placement of
the first and second linking devices 1182A, 1182B may ensure that
the support feet 1140 are aligned together during a non-linear
movement.
Similarly, the support foot 1140 of a third load transporting
apparatus 1117 is connected to the support foot of a fourth load
transporting apparatus 1118 with two biasing devices 1184A and
1184B. These biasing devices 1184A, 1184B ensure that the third and
fourth load transporting apparatuses 1117, 1118 are maintained in
alignment with one another and the load-bearing frame 1110.
Although FIG. 11 illustrates one example embodiment of biasing
device connections that can maintain alignment of a support foot
relative to a load-bearing frame, many different configuration
variations exist. FIGS. 12A, 12B, 12C, 12D, and 12E are diagrams of
walking apparatuses with various alignment restoration devices that
illustrate some of these variations according to embodiments of the
invention.
Referring to FIG. 12A, a linking device 1271 is connected between a
first support foot 1240 of a first load transporting apparatus 1215
and a second support foot 1241 of a second load transporting
apparatus 1216. The linking device 1271 may be attached to the
first support foot 1240 with a first joint 1291, and may be
attached to the second support foot 1241 with a second joint 1292.
In some embodiments, the first and second joints 1291, 1292 may be
ball joints that allow rotational movement. The linking device 1271
may be rigid rod, or may include a section of chain.
Referring to FIG. 12B, a linking device 1272 is connected between a
first support foot 1240 of a first load transporting apparatus 1215
and a second support foot 1241 of a second load transporting
apparatus 1216. The linking device 1272 may be rigidly attached to
the first support foot 1240, but may be attached to the second
support foot 1241 with a first biasing device 1281 and a second
biasing device 1282. The first and second biasing devices 1281,
1282 may be placed on opposite sides of the linking device 1272 to
provide a balanced system to return the support feet 1240, 1241 to
uniform alignment after a non-linear movement.
Referring to FIG. 12C, a first biasing device 1283 and a second
biasing device 1284 are connected between a first support foot 1240
of a first load transporting apparatus 1215 and a second support
foot 1241 of a second load transporting apparatus 1216. This
embodiment may be similar to the shown in FIG. 11, except that the
first and second biasing devices 1283, 1284 are specified as spring
devices.
Referring to FIG. 12D, the support foot 1240 of a load transporting
apparatus 1215 is connected to a load-bearing frame 1210 via a
first linking cylinder 1273 and a second linking cylinder 1274. The
first and second linking cylinders 1273, 1274 may be hydraulic
cylinders that are activated during a recovery phase of a walking
cycle to return the support foot 1240 to alignment with the
load-bearing frame 1210. Alternatively, the first and second
linking cylinders 1273, 1274 may be spring cylinders that
automatically return the support foot 1240 to alignment with the
load-bearing frame 1210 during a recovery phase of a walking cycle
without additional operator input.
Referring to FIG. 12E, a support foot 1240 of a load transporting
apparatus 1215 is connected at each corner to a biasing device
1285, 1286, 1287, 1288. These biasing devices 1285, 1286, 1287,
1288 may ensure that the support foot 1240 is maintained in
alignment with a load-bearing frame during the recovery phase of a
walking cycle by releasing potential energy stored during
compression and/or elongation during non-linear movements.
FIG. 13 is a flow diagram illustrating method of operating a load
transporting apparatus according to embodiments of the invention.
In particular, the flow diagram of FIG. 13 illustrates a method of
aligning a support foot of a load transporting device relative to a
load-bearing frame during a load-transporting movement. The load
transporting device includes a roller assembly coupled to a lift
mechanism, a travel mechanism structured to displace the roller
assembly relative to the support foot, one or more linking devices
coupled to the support foot, and one or more biasing devices
coupled to the linking devices.
Referring to FIG. 13, a flow begins at process 1305 where the lift
mechanism is activated to lower the support foot to a ground
surface and raising a load supported by the load-bearing frame. In
process 1310, the travel mechanism is activated to displace the
roller assembly connected to the lift mechanism relative to the
support foot and ground surface, thereby moving a position of the
load. Depending on the movement of the travel mechanism relative to
the support foot, the position of the support foot may be aligned
with the load-bearing frame or may not be aligned with the
load-bearing frame. As discussed above, when the load is moved in a
direction perpendicular to the orientation of the support foot, or
moved parallel to the orientation of the support foot, the support
foot typically remains aligned with the load-bearing-frame. If the
load is moved in a different direction relative to the support
foot, such as when the load is being steered in a non-linear path,
the support foot can become misaligned with the load-bearing frame.
In process 1315, it is observed whether the resulting position of
the support foot is aligned with the load-bearing frame.
When the support foot remains aligned with the load-bearing frame,
the flow proceeds to process 1320 where the lift mechanism is
activated to lower the load and raise the support foot. However,
when the support foot is not aligned with load-bearing frame, the
biasing device is deflected via the linking device as the load is
displaced as shown in step 1325. That is, the biasing devices are
deflected when movement of the roller assembly results in an
angular displacement between a centerline of the support foot and
an orientation of the load-bearing frame. In process 1330, the lift
mechanism is activated to lower the load and raise the support foot
from the ground surface. As the support foot loses contact with the
ground surface, the deflected biasing device acts on the support
foot to align the support foot with the load-bearing frame, as
shown in step 1335. That is, the centerline of the support foot is
automatically aligned relative to the orientation of the
load-bearing frame. After step 1335 or process 1320, the flow may
include optional process 1340 where the lift mechanism is
repositioned with respect to the support foot. If further walking
steps are needed to move the load to a final position, the flow may
return to process 1305 to initiate another walking cycle.
As described above, some embodiments of this invention are directed
to a load transporting apparatus configured to move a load over a
ground surface in one or more incremental steps each including a
load-movement phase and a recovery phase. To move the load, the
load transporting apparatus is coupled to a load-bearing frame
configured to support the load. The load transporting apparatus
includes a first support foot structured to interface with the
ground surface, the first support foot having a length, width, and
longitudinal centerline bisecting the width of the first support
foot. The load transporting apparatus also includes a second
support foot structured to interface with the ground surface, the
second support foot also having a length, width, and longitudinal
centerline bisecting the width of the second support foot.
First and second roller tracks are respectively coupled to the
first support foot and second support foot via a first king pin
connector and a second king pin connector. Additionally, first and
second roller assemblies are respectively positioned on the first
and second roller tracks. Each roller assembly includes a roller
frame and one or more rollers set in the roller frame. First and
second lift mechanisms are respectively coupled to the first and
second roller assemblies. Each of the first and second lift
mechanisms includes a lift cylinder connected to the load-bearing
frame, and a cylinder rod, where each of the first and second lift
mechanisms are structured to lift the load-bearing frame at the
start of the load-movement phase.
The load transporting apparatus also includes first and second
travel mechanisms respectively coupled to the first and second
roller assemblies. Each of the travel mechanisms are structured to
move the respective roller assembly relative to the respective
support foot during the load-movement phase. A first linking device
coupled to the first support foot, and a second linking device
coupled to the second foot. A first biasing device is connected to
the first linking device, where the first biasing device is
structured to become activated during a load-movement phase when
the first roller assembly is non-linearly displaced by the first
travel mechanism relative to the first support foot, and structured
to return the first support foot to an aligned position relative to
the load-bearing frame during a recovery phase. A second biasing
device is connected to the second linking device, where the second
biasing device is structured to become activated during a
load-movement phase when the second roller assembly is non-linearly
displaced by the second travel mechanism relative to the second
support foot, and structured to return the second support foot to
an aligned position relative to the load-bearing frame during a
recovery phase.
In some embodiments, the first linking device is coupled between
the first support foot and the second support foot. In these
embodiments, the second linking device is also coupled between the
first support foot and the second support foot, as shown in FIG.
11, for example. In other embodiments, the first and second biasing
devices are respectively coupled to the load-bearing frame, such as
in FIG. 7A, for example.
Some embodiments of the invention have been described above, and in
addition, some specific details are shown for purposes of
illustrating the inventive principles. However, numerous other
arrangements may be devised in accordance with the inventive
principles of this patent disclosure. Further, well known processes
have not been described in detail in order not to obscure the
invention. Thus, while the invention is described in conjunction
with the specific embodiments illustrated in the drawings, it is
not limited to these embodiments or drawings. Rather, the invention
is intended to cover alternatives, modifications, and equivalents
that come within the scope and spirit of the inventive principles
set out herein.
* * * * *