Method and apparatus for transporting and steering a heavy load
A method and apparatus for transporting heavy machinery, equipment or other heavy loads from one location to another, whereby the apparatus may be constructed as a walking machine including a plurality of lifting assemblies operative to lift the load above the supporting surface and then move the load relative to the supporting surface by transporting the load via rollers or tracks in the walking machines. In one example, the lifting assemblies are provided with separate longitudinal and lateral drive mechanisms independently operative for translating the load in either or both longitudinal and lateral directions.
1. A walking machine system for moving a load relative to a ground surface in one or more incremental steps via a plurality of lift assemblies, each lift assembly comprising:
a lift mechanism operable to lift a load-bearing frame supporting the load;
a foot pad assembly including a foot plate contacting the ground surface;
a centering frame supported by the foot pad assembly, the centering frame including one or more centering members; and
an alignment structure in operable communication with the centering frame, the alignment structure cooperating with the one or more centering members of the centering frame to align the foot pad assembly during transport of the load.
2. The walking machine system of claim 1 , wherein the one or more centering members of the centering frame includes a strike plate having a first contact surface and a second contact surface, the alignment structure further comprising a pivot arm coupled to the lift mechanism and movable therewith, the pivot arm having a contact surface thereon and further including a bearing block coupled thereto, wherein the contact surface of the pivot arm contacts the strike plate along the first contact surface to level the foot pad assembly.
3. The walking machine system of claim 2 , wherein the bearing block contacts the strike plate along the second contact surface to rotationally align the foot pad assembly relative to a central axis of the centering frame.
4. The walking machine system of claim 2 , wherein the strike plate includes a substantially L-shaped structure, wherein the first contact surface and the second contact surface are substantially orthogonal to one another.
5. The walking machine system of claim 2 , wherein the contact surface of the pivot arm is curved.
6. The walking machine system of claim 2 , wherein the pivot arm pivots relative to the lift mechanism as the lift mechanism is moved from a first position to a second position.
7. The walking machine system of claim 6 , wherein during the first position, both the contact surface and the bearing block of the pivot arm contact the respective first and second contact surfaces of the strike plate, and wherein during the second position, the bearing block is free of contact from the strike plate.
8. The walking machine system of claim 1 , further comprising a translation assembly coupled to the lift mechanism and the foot pad assembly, the translation assembly comprising:
a longitudinal drive assembly supporting the lift mechanism and operative for translating the lift mechanism and the load along a longitudinal direction; and
a lateral drive assembly supporting the longitudinal drive assembly and operative for translating, independently of the longitudinal drive assembly, the longitudinal drive assembly, the lift mechanism and the load along a lateral direction.
9. The walking machine system of claim 8 , further comprising:
a first and second slide plate each disposed on a top surface of the foot pad assembly, wherein the longitudinal drive assembly includes a roller assembly;
a track housing for supporting the roller assembly and a longitudinal drive cylinder system for moving the roller assembly longitudinally along the track housing; and
a lateral drive system for moving the track housing laterally in a sliding motion across the first and second slide plates.
10. The walking machine system of claim 9 , wherein the first and second slide plates are laterally offset from one another and each contact a portion of the foot plate, the first and second slide plates each nesting between a plurality of retaining elements connected to the slide plate in a free-floating condition flat against the foot plate.
11. The walking machine system of claim 8 , wherein the lateral drive assembly comprises a hydraulic piston and cylinder drive system.
12. The walking machine system of claim 8 , wherein the lateral drive assembly comprises a drive system selected from the group consisting of: hydraulic piston and cylinder drive, jack screw drive, rack and pinion assembly, chain and sprocket drive, gear drive, electric motor drive.
13. The walking machine of claim 1 , wherein the centering frame further includes a central opening through which the lift assembly mechanism extends.
14. The walking machine system of claim 1 , wherein the alignment structure includes an alignment plate coupled to the lift mechanism, the alignment plate including a first notch formed thereon, the first notch having a slide surface and a seat.
15. The walking machine system of claim 14 , wherein a first one of the one or more centering members cooperates with the slide surface of the first notch, the slide surface guiding the centering member toward the seat of the first notch to align the foot pad assembly during transport of the load.
16. The walking machine system of claim 15 , the alignment plate including a second notch formed thereon, the second notch spaced apart from the first notch and having a slide surface and a seat, and wherein a second one of the one or more centering members cooperates with the slide surface of the second notch, the slide surface guiding the centering member toward the seat of the second notch to align the foot pad assembly during transport of the load.
17. The walking machine system of claim 1 , wherein the one or more centering members of the centering frame includes one or more adjustment posts, each extending outwardly from the centering frame and cooperating with the alignment structure to align the foot pad assembly during transport of the load.
18. The walking machine system of claim 17 , further comprising a removable wear cover coupled to each of the one or more adjustment posts, wherein the removable wear cover contacts the alignment structure during transport of the load.
19. The walking machine system of claim 1 , wherein the alignment structure is coupled to the lift mechanism for movement therewith, the lift mechanism driving movement of the alignment structure relative to the centering frame such that the alignment structure is cyclically moved into and out of engagement with the one or more centering members of the centering frame during transport of the load.
20. The walking machine system of claim 14 , wherein the slide surface of the first notch of the alignment plate is an angled slide surface, and wherein the alignment plate and the one or more centering members of the centering frame cooperate to align the foot pad assembly by up to 5° during transport of the load.