CA1134882A - Self-propelled, off-road vehicle for loading and transporting trees - Google Patents
Self-propelled, off-road vehicle for loading and transporting treesInfo
- Publication number
- CA1134882A CA1134882A CA000339839A CA339839A CA1134882A CA 1134882 A CA1134882 A CA 1134882A CA 000339839 A CA000339839 A CA 000339839A CA 339839 A CA339839 A CA 339839A CA 1134882 A CA1134882 A CA 1134882A
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- frame element
- power
- platform
- wheel
- tree
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Abstract
ABSTRACT OF THE INVENTION
The invention relates to a unique self-propelled vehicle capable of loading and transporting whole trees from their growing site to a processing station. The invention pro-vides a vehicle having an elongated rigid frame element suppor-ted by two spaced sets of quad wheel assemblies, with each assembly permitting movement of individual wheels about both a roll axis parallel to the longitudinal frame element and a pitch axis transverse to the frame element. An operator's platform is adjustably mounted on the forward portion of the rigid frame structure for vertical movements and carries with it a boom having means on its free end for severing and engaging whole trees to deposit same in cradles mounted on the rigid frame element.
Power actuated means are provided for rotating each wheel, steering each wheel, moving the operator's platform vertically to any desired position, actuating the tree engaging boom, and tilting of the longitudinal frame element to maintain the horizontal plane of the operator's platform, or to unload a stack of trees carried by the cradlel. Power for all such operations is supplied from a power source adjustably mounted on the rear end of the elongated rigid frame element for vertical movements relative thereto.
The invention relates to a unique self-propelled vehicle capable of loading and transporting whole trees from their growing site to a processing station. The invention pro-vides a vehicle having an elongated rigid frame element suppor-ted by two spaced sets of quad wheel assemblies, with each assembly permitting movement of individual wheels about both a roll axis parallel to the longitudinal frame element and a pitch axis transverse to the frame element. An operator's platform is adjustably mounted on the forward portion of the rigid frame structure for vertical movements and carries with it a boom having means on its free end for severing and engaging whole trees to deposit same in cradles mounted on the rigid frame element.
Power actuated means are provided for rotating each wheel, steering each wheel, moving the operator's platform vertically to any desired position, actuating the tree engaging boom, and tilting of the longitudinal frame element to maintain the horizontal plane of the operator's platform, or to unload a stack of trees carried by the cradlel. Power for all such operations is supplied from a power source adjustably mounted on the rear end of the elongated rigid frame element for vertical movements relative thereto.
Description
~13~88~ ' CROSS REFERENCE TO RELATED APPLICATIONS
This application is related to the subject matter in United States Patent 4,153,265 and Canadian Patents 1,108,998; 1,102,843; and 1,102,371. Certain of the structure disclosed in this application is disclosed and claimed in my Canadian Patent 1,109,098.
BACKGROUND OF THE INVENTION
) The inventions described in the afore-mentioned related applications relate to self-propelled vehicles used primarily to transport long loads, such a.s whole trees or tree trunks across roadless terrain. More specifically, such prior applications relates, as does this application, to rubber tired ; vehicles that have wheel suspension mechanisms which provide balanced weight between its wheels and additionally permits adjustment of the steady state position of the main bed frame of the vehicle relative to a longitudinal roll axis to permit compensation for the vehicle position when operating continuously on the side of a hill, and also to facilitate unloading of the vehicle by a side dumping action in either direction.
In summary, such vehicle comprises an elongated bed frame that forms the backbone of the vehicle. This frame is balanced on the central portion of modular front and rear wheel i assemblies, preferably each having four quadrilaterally spaced wheels. The quad wheel suspension system is designed to provide a freedom of movement of each wheel about mutually perpendicular roll and pitch axes that are vertically spaced one above the other. The quad wheel assemblies are pivotally mounted on the bed so as to be movable about a roll axis which is parallel to and ~ I
_~_ j beneath the longitudinal axis of the main frame element. On the lower or pitch axis of each quad wheel assembly, two walking beam members, each carrying a pair of steerable wheels, are rockably mounted in a balanced relationship. Thus, the walking beams may rock about the pitch axis of the quad wheel assembly while the quad wheel assembly itself may pivot about the roll axis. A mechanical interconnection of the quad wheel assemblies comprises a pair of tubular torque transmission members that extend from one quad wheel assembly toward the other an~ are interconnected by a novel linkage system which continuously adjusts the position of the longitudinal bed frame about the roll axis to lie intermediate the positions of the quad wheel assemblies. Additionally, the linkage incorporates two power extensible links by which the steady state position of the longitudinal bed frame member relative to the roll axis may be selectively determined by the operator.
In accordance with the invention specifically dis-closed in my aforementioned Canadian Patent no. 1,109,098, a unique mounting of each wheel with respect to the walking beam member permits a driving motor and brake to be incorporated in the wheel mounting mechanism for imparting required rota-tional movements to the wheel and, additionally, an electrical or hydraulic actuator is also incorporated in the mounting to impart individually controlled steering movements to the particular wheel. As described in my aforementioned Canadian Patent No. 1,109,098, sensors are provided which generate signals respectively proportional to the rotational velocity of the wheel and to the angle of turn of the particular wheel.
These sensor signals are inputs to a microprocessor and are compared with the turning pocition and ~ 8~ OI 14964 rotational velocity of the wheel required to effect a particular attitude and movement of the vehicle, and compensating signals are then fed to the driving motor for the wheel and the turning actuator to cause the wheel velocity and wheel position to correspond to that required to effect a desired attitude of the vehicle.
A vehicle equipped with this combination of fea-tures has numerous advantages over prior art off-road vehicles.
The individual control of the velocity and the turning angle of each wheel permits the vehicle to be manipulated through any selected one of a plurality of unusual movements or attitudes, most of which are completely incapable of accomplishment by any vehicle equipped with conventional driving and steering mechanisms.
Any vehicle as heretofore described requires an operator's cab which is preferably in an elevated position relative to the terrain being traversed, and a power source such as a gasoline or diesel engine driving a hydraulic pump, and, if electric propul-sion and steering control is to be employed, an electrical generator of sufficiant capacity to provide the required trac-tion and steering power. Hence, the operator's cab and the .
power unit are relatively massive in size and become a factor in the overall design of the vehicle in order to keep such units from interfering with the load carrying capability of the vehicle and at the same time, to prevent the operator's cab por-tion or the power unit portion of the vehicle from engaging pxo-jections on the ground or overhead and interfering with the mobility of the vehicle.
When the vehicle of the type heretofore described is to be employed for harvesting trees, it is quite efficient to provide a tree severing and handling means on the vehicle t ( ( OI 14964 88~
so that when the vehicle is driven to the vicinity of the tree to be harvested, the tree can be engaged by a suitable clamping mechanism carried on the end of a beam, severed by a suitable cut-off means, and then the whole tree moved by the clamping mechanism and beam to a position lying within the cradles pro-vided on the elongated frame element of the vehicle. Such tree handling elements must, however, be disposed on the vehicle in such fashion as to not interfere with either the load carrying ability or the mobility over the rough terrain where such vehicles are to be employed.
Lastly, it is desirable that the operator's cab be capable of adjustment about a horizontal axis so that the operator is in a substantially upright position, particularly when severing and loading trees.
~ large number of vehicles have heretofore been proposed to be employed in the direct harvesting of trees. If a whole tree, ranging in height up to eighty feet, or the whole trunk thereof is to be bodily removed from a forest, the vehicle to transport such whole trees or trunks necessarily has to have considerable length. Prior art vehicles employed for such purpose have generally resorted to an articulated vehicle used as a skidding tractor or employed as a prime mover with one or more trailers pivotally connected to the prime mover. Such load carrying vehicles could obviously only be loaded with ~ whole treb when all of the trailed units were in substantial longitudinal alignment and severe binding, resulting in actual breakage of the tree, would occur when-ever the vehicle was steered through any reasonable degree of turn in travelling from the harvesting site to a processing station.
The long rigid load represented by a bundle of whole trees superimposed on the structure effectively prevented any relative horizontal pivotal movement of the articulated trailer units 113~8~ ~
and, as a result, the vehicle either became hung-up on obstruc-tions around which the vehicle could not be steered or, portions of the tree load were broken by the forced turning movements of the articulated trailer unit. Backing of the vehicle was also very difficult.
Additionally, such prior art units suffered from the fact that the operator's control cab was generally in a fixed vertical position with respect to the vehicle. If this position were high, then the operator had to be continuously on *he alert to steer around trees which were to be left standing or over-hanging rock formations. If the operator's cab were left in a lowered position, it would tend to hang-up on obstructions on the ground as the vehicle traversed the uneven rugged terrain that is associated with three harvesting operations. Similar problems were encountered with the power unit for such vehicles which necessarily is relatively massive in size and has to be located on the vehicle so that it does not interfere with the load carrying capacity of the vehicle nor permit the power unit to be impacted by upstanding ridges or rocks on the terrain over which the vehicle is traversed.
Lastly, if the vehicle was cross-wise on a slope, the operator's cab would be tilted, to the discomfort and incon-venience of the operator.
OBJECTS OF THE INVENTION
Accordingly, it is an object of this invention to provide a vehicle having a single elongated frame element suspended on a pair of quad wheel assemblies of massive rubber tires, with each wheel being individually provided with traction power and steering power and adjustably mounted relative to the frame so as to permit the vehicle to traverse roadless terrain, 8~
and providing on the forward end of such vehicle a platform which is selectively adjustable in height relative to the frame, hence, relative to the ground, and which platfoxm carries an operator's cab and, additionally, if desired, a tree engaging boom, permitting the vehicle to engage a whole tree, sever it .
and place the tree between load carrying cradles mounted on the elongated frame element.
A particular object of this invention is to provide a tree harvesting vehicle having individual power means for driving and steering each wheel of two quad wheel assemblies which support a single el'ongated frame element of the vehicle and each'wheel is mounted for movement about both a roll axis parallel to the eIongated frame and a pitch axis perpendicular to the longitudinal frame to permit the vehicle to traverse natural terrain, and including means for adjusting the angular position of the longitudinal frame element relative to the roll axis of the vehicle so that the operator's platform, carried on one end of the elongated frame, may at any time be positioned in a relatively horizontal plane regardless of the slope of the terrain on which the vehicle wheels may be .operating.
A further object of this invention is to provide a self contained, self propeIled off-road vehicle having a plurality of power means on the vehi'cle for individually driving and steering each of a multiplicity of wheels, plus power means for adjusting the vertical position of an operator's cab, plus power means for operating a tree engaging boom and lastly, power means for adjusting the vertical position of a power producing unit which is shiftably mounted on the rear end of the vehicle.
OI 1496~
~13~382 Other objects and advantages of the invention will become apparent to those skilled in the art from the following detailed description, taken in conjunction with the annexed sheets of drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a side elevational schematic view of a tree harvesting and transport vehicle embodying this invention.
Figure 2 is a plan view of Figure l.
Figure 3 is a perspective view of the major compo-nents of the wheel suspension, driving and steering mechanismfor the vehicle of Figure 1.
Figure 4 is a perspective view of the roll control mechanism interconnecting the front and rear wheel assemblies.
DESCRIPTION OF PREFERRED EMBODIMENT
The vehicle illustrated in the drawings is a trans-portation vehicle for forwarding a load of whole trees from a harvesting area in a forest to a processing area adjacent to a road. Additionally, the illustrated vehicle is provided with a tree severing and loading boom so that the entire harvesting operation can be accomplished by a single vehicle.
Referring to the drawings, it will be seen that the vehicle 1 comprises an elongated rigid tubular main frame 20, including a plurality of load carrying cradle assemblies 22 spaced along its length and adapted to carry a plurality of long objects, such as whole trees or tree trunks. Each cradle 22 comprises a transverse beam 23 having uprights 22a pivotally secured to each end and latched in a vertical position by a convention mechanism (not shown).
Front and rear quad wheel assemblies 24, 26 are respectively attached to the elongated bed frame 20 by journals .
( ( 14964 BZ
so as to be pivotally movable about a longitudinal roll axis disposed parallel to and beneath the elongated bed frame.
A ro]l control linkage means 28 interconnects the quad whee] assemblies with each other and with the elongated main frame 20 so as to control their rélative positions about the roll axis during operation over rough terrain.
At the front end of the vehicle 1, an operator's platform 10 is provided and is secured to the front end of bed frame 20 by a pair of parallel links 11 and 12 which are pivoted on appropriate horizontal axis pivot pins lla and 12a, which are in turn supported by spaced, depending flanges 10a on platform 10. The other ends of links 11 and 12 are pivotally secured to a U-shaped casting 20a secured to the front end o~ the elongated main frame 20. The vertical position of platform 10 is controlled by a hydraulic cylinder 14 which is mounted in a trunion bearing 20b secured to the elongated frame 20 and pivotally connected by piston rod 14b to an upstanding bracket llb riyidly secured to the upper platform supporting link 11. In this manner, the vertical height of the platform 10 relative to the ground may be selectively adjusted by actuation of the cylinder 14. Incidentally, when ever this description refers to a hydraulic cylinder, it should be understood that an electrically powered linear actuator may be substituted therefor.
On the top surface of platform 10, a conventional turn-table 13 is journalled for rotation about a vertical axis.
An operator's cab 15 is mounted on top of turntable 13 within which all of the controls for the vehicle 1 are provided, as well as an operator's seat (not shown). A lateral projection 13a of the turntable 13 provides a horizontal axis pivotal mounting bracket 16a for a conventional articulated tree handling bo~m 16. A plurality of hydraulic cylinders '6~ and 16^ opcrat~ bctween the various articulated g ( OI 14964 ~1~3fl88;~
elements of boom 16 so as to permit the end of the boom to be moved by the operator ~rom a position closely adjacent the ground to a loading position passing over the top of the cab 15 to deposit harvested trees in the load carrying cradles 22.
A conventional tree severing and engaging mechanism 17 is provided on the end of thearticulated boom 16 and its position about a transverse horizontal axis is controlled by a cylinder 17a and links 17b and 17c. The tree severing and engaging mechanism 17 includes a suitable power actuated cut-off means ~not shown). The construction of the tree engaging and severing mechanism 17 forms no part of this invéntion and hence will not be described in further detail. Suffice it to say, such mechanism has the capability of engaging a tree to be harvested, severing the tree near the ground and then, while still engaged with the tree, the articulated boom 16 can be operated by the various cylinders 16a, 16b and 17a to lift the severed tree over the platform 10 and the operator's cab 15 and deposit the severed tree in the load carrying cradles 22 provided on the elongated frame 20.
Suitable operator controlled motor means (not shown) are provided for turning turntable 13 about its vertical axis.
Hence, the tree engaging mechanism 17 can be swung horizontally into engagement with a tree and the operator's cab is concurrently moved, so that the operator's view is always aligned with the tree to be harvested.
At the rear end of the elongated bed frame 20, a power unit platform 80 is adjustably mounted for movement in , : .
( ( OI 14964 113~2 a vertical plane by a pair of parallel links 81 and 82, which are secured to appropriate pivots 83 provided in an end casting 20d secured to the end of the main frame 20. A
hydraulic cylinder 84 suitably mounted in a trunion bearing 20e secured to the top of the rear end of the bed frame 20, controls the vertical position of the power unit platform 80 by having its piston rod 84a pivotally connected to an up- ¦
standing bracket 81a secured to one of the parallel links 81.
In this manner, the vertical position of the power unit plat-form 80 may be selectively adjusted to an elevated position in order to clear obstacles on the terrain during either the forward or rearward movement of the vehicle, or to a lowered position adjacent the ground to permit convenient servicing of the power unit 85 mounted thereon.
All of the power required for the operation of the vehicle is provided by the power unit 85 mounted on platform 80 and such unit will normally comprise either a gasoline or diesel engine driving both a large hydraulic pump to pro-vide pressured fluid for the operation of all hydraulic cy-linders involved in the vehicle and an electrical generator for providing electrical power for the control circuits and for providing traction and steering power to the wheels, if electric motors are employed to operate same.
In the drawings, it will be noted that the front and rear quad wheel assemblies 24 and 26 are substantially identical to one another, so for the sake of brevity, the similar portions will be described with respect to one of them only. ~ccordingly, attention is directed to Figure 3 of the drawings wherein the details of the front quad wheel assembly 24 are illustrated.
( OI 14964 1i3~
~ he suspension system for the ~ront quaù uheel assembly includes a main pivot block 46 which is pivotally suspended beneath the tubular main frame 20 between a pair of depending blocks 20g, thus providing pivotal movement about a longitudinal horizontal roll axis which is parallel to and slightly below the axis of the tubular main frame 20.
Such pivotal mounting is not shown but is entirely convention-al. A torque transmission tube 94 extends rearwardly from the main pivot block 46 and is co-movable therewith about the vehicle roll axis. A similar tube 95 extends forwardly from the rear quad wheel assembly and the adjacent ends of tubes 94 and 95 are respectively interconnected by a roll control linkage mechanism 28 to be hereinafter described.
The bottom portion of main pivot block 46 is provi-ded with a pair of laterally projecting horizontal pivot pins 46a which respectively provide pivotal mounting for a pair of walking beams 48 which are of identical configuration except that they are mounted in reversed positions on the pivot pins 46a. Each walking beam 48 is of a generally truncated W-shaped configuration in plan view including a central trun-cated inverted V-shaped portion 48a defining the bearing for the pivotal mounting on pin 46a, and identical angularly dis-posed tubular end elements 48b which provide mountings for steerable wheel units 60 of the quad wheel assemblies. The horizontal angle of elements 48b determines the maximum wheel turning angle.
A wheel mounting assembly 60 is secured to each free end of walking beam 48, and, as described in detail in my Canadian Patent No. 1,109,098, each wheel mounting assembly 60 includes a main hollow housing 62 and a (' ( . I
~3'~`8~ 1 radially extending axle housing portion 64 connected to housing 62 by a conventional anti-friction swing bearing unit (not shown) to provide steering movements. On one side of housing 62 an integral collar 65 is formed to permit the ; convenient rigid mounting of the housing 62 to the respective tubular end 48b of the walking beam 48.
On the free end of axle housing portion 64 there is mounted a wheel hub member 70 and the hub member 70 not only provides for conventional mounting of a large, rubber 0 tired, ground engaging wheel 72 on its periphery, but also with-in such hub mounts a conventional planetary trans~ission for driving such wheel at reduced speed from a drive shaft which is axially disposed within the hub 70 and the axle housing 64 and driven by an electric or hydraulic motor 74 co-axially mounted on main housing 64.
A hydraulic or electric steering motor 80 is suitably mounted on the top of the main housing 62, and effects steering movements of axle housing 64 through a speed reduc-tion mechanism (not shown).
The details of the controls for the rotation, braking and turning of each wheel 72 are described in my Canadian Patent No. 1,109,098.
From the description thus ~ar, it is also apparent that each quad wheel assembly 24, 26 is suspended relative to the main frame 20 in such fashion that the frame 20 may pivot relative to the quad wheel assemblies about a roll axis which is parallel to and slightly beneath the main frame 20. Con-currently, the wheels on each side of the quad wheel assembly may freely move in a vertical plane about a transverse hori-zontal pivot axis defined by the walking beam pivot pin 46a.
,~ .
( ( OI 14964 11.348~ `
Moreover, due to the "W" shape of each walking beam 48, steering movements of each of the wheels up to a thirty degree angle may be accomplished in either direction without inter-ference with the suspension, the main frame or the load carrying cradles of the vehicie.
The relative angular movement of the quad wheel assemblies 24, 26 with respect to each other and to the elongated bed frame assembly 21 is regulated by a roll control linkage 28, centrally located on the vehicle, that causes equal loading to be imposed on each quad wheel assembly, and also causes tke bed frame assembly to be rotated proportion-ately, preferably one half the total angular displacement between the front and rear quad wheel assemblies, as exists at any one time. Angular displacement between the quad wheel assemblies relative to the roll axis obviously occurs during operation on uneven terrain or over boulders. The ground under the front quad wheel assembly may be laterally and possibly oppositely inclined to the ground under the rear quad wheel assembly, such as might occur while the vehicle is traversing a ditch at an angle.
Referring now to Figure 4, the roll control linkage 28 will be described in greater detail. The rearward end of torque tube 94 and the forward end of torque tube~95 are suitably journalled in a depending frame block 20m and are `~ 25 disposed in co-axially aligned relationship approximately in the center of the elongated main frame 20. Immediately above the ends of the torque tubes 94, 95, the frame 20 is provided with a pair of upstanding pivot ears 20n which support a pivot pin 33a which traverses the center portion of a transverse frame titlt lever 33. On each end of frame tilt lever 33 a 1~348~
longitudinal connecting lever 35 is centrally mounted for pivotal movement about a horizontal axis. Additionally, on each end portion of torque tubes 94 and 95, there are respectively rigidly secured primary transverse actuating levers 96 and 97 and the ends of these levers are in general vertical alignment respectively with the ends of the connecting levers 35. A plurality of links 37 are provided respectively having their ends connected by a universal joint connection to the aligned ends of primary levers 96 and 97 and the connecting levers 35. Thus, any pivotal movement of one of the quad wheel assemblies 24, 26 relative to the other will result in a pivoting movement of the associated primary lever 96, 97, which in turn effects a tilting movement of the main tilt control lever 33 to shift the position of the main frame 32 approximately one-half the amount of pivotal displacement of the quad wheel assembly relative to the roll axis. Thus, a very effective control of the movements of the main frame about the roll axis in response to much larger movements of the quad wheel assemblies is achieved and, in effect, the roll control mechanism 28 provides for balancing the effects of terrain induced rotations of the two quad wheel assemblies in opposite directions about the roll axis.
Concurrently, the roll control linkage effects a transfer of forces between the two quad wheel assemblies to equalize the loading thereon during movements about the roll axis.
While the modification of this invention heretofore described is particularly useful in the hauling of long, stiff objects, such as tree lengths, or pipes having a length on the order of 60 feet, in some woodland operations, particularly as ~13~38Z`
practiced in Canada, it is more desirable to employ an off-road vehicle for bringing out loads of fresh cut whole trees. A
load of this type does permit some angular shifting of the load supporting cradles as the transporting vehicle navigates diffi- ¦
cult terrain areas.
While the load supporting cradles 22 may be rigidly secured to main frame 20, I prefer to utilize the illustrated construction (Fig. 3) wherein the transverse beam 23 of the cradle is pivotally mounted to the top surface of the main frame 20. Such pivotal mounting is provided by a pair of upstanding ears 20h and a pivot pin 23a which traverses the cross-beam 23.
Each cross-beam 23 is effectively secured for co-movement with the main pivot block 46 of the quad wheel assembly by a pair of parallel links 40, each of which has a bifurcated end 40a pivotally connected by a transverse pin 4Ob to the cross-beam !: 23, and the other end 40c pivotally connected between a pair of bifurcated ears 46b provided on the main pivot block 46 and traversed by a pivot pin 46c.
It may be desirable to form the load supporting beams 23 with the outer ends inclined upwardly as shown at 23a in Figure 3, in order to provide additional clearance for the quad wheel assembly. The important thing is that as each quad wheel assembly moves about the roll axis to traverse the terrain, a corresponding pivotal movement of the load support-ing cradles is imparted by virtue of the parallelogram linkageconnection of the cross-beams 23 to the main pivot block 46.
At the same time, the roll control linkage 28 is still opera-tive to effectively balance out oppositely directed inclinations of the front and rear quad wheel assemblies and thus reduce to a minimum the pivotal movements of the tubular bed frame 20 113~382 ~bout the roll axis.
The advantage of this construction is a significant reduction in the height of the load carrying cradles relative to the main frame, hence lowering the center of gravity of the load.
A further feature of this invention is the addition to the roll control lever assemblage 28 of a pair of power actuated stabilizing links which permit the operator to adjust the static position of the tubular main frame 20, hence the operator's platform 10, relative to the roll axis. Referring to Figure 4, such links may comprise power actuated exten-sible elements 43 which are respectively connected between the extreme ends of the tilt control lever 33 and the bifur-cated ends of lateral projections 20k formed on a depending block 2~m provided on the underside of the tubular bed frame i~ 20. As the one stabilizing link 43 is extended by the appli-cation of either hydraulic or electric power thereto, the other link 43 is retracted so that the net effect is that the frame 20 is rotated and the load supporting cradles or cross-beams 23 are shifted laterally and angularly with respect to the roll axis. Thus, the load may be maintained in a sub-stantially horizontal position, even though the vehicle is being operated continuously on a hillside. This capability for adjusting the static angular position of the load carrying cradles relative to the roll axis provides additional sta-bility to the vehicle and hence permits larger loads to be safely carried along a relatively steep hillside, Of equal importance is the fact that the adjustment of the position of the main frame 20 with respect to the roll axis by the selective actuation of the extensible links 43 is . ~
01 14g64 11~32~8~3~
of great value in permitting the operator's platform to be maintained in a substantially horizontal position irrespective of t~e slope of the terrain on which the vehicle may be located.
Thus, even though the vehicle is operating along the side of a relatively steep slope, the operator's platform 10 may be maintained in a substantially horizontal position, resulting in the tree-engaging element 17 on the end of boom 16 being generally vertically disposed, hence, more readily engagable with trees growing on the slope which normally grow vertically, irrespective of the slope. On the other hand, if the harvest-ing vehicle approaches a tree which is growing at an angle, the selective adjustment of the stabilizing links 43 by the operator will permit the main frame 20 and the platform 10 to be tilted relative to the supporting wheels so that the tree engaging mechanism 17 is more accurately aligned with the slope of the tree to be harvested.
It will also be apparent that an extreme extension of either of the stabilizing links 43 can advantageously effect the dumping of the load on a selected side of the vehicle. The vertical rails 22a of each cradle are pivotally mounted on the ends of the transverse beam and only latched in the upright position so that they may be readily dropped for unloading. It should be recognized that when dumping is accomplished in this manner, the operator's cab is tilted to the same degree. The dumping of the load is then accomplished by tilting of the load carrying cradles 22 with respect to the main frame 20. This can be conveniently accomplished by utilizing power actuated extensible elements as the links 40 which interconnect the transverse beams 23 of the load carrying cradles 22 with the vehicle suspension. The extension of one link 40 while the other link 113~88~`
is retracted will permit the selective dumping of the load on either side of the vehicle~ During all other operations, the extensible elements 40 are maintained in a fixed length position.
It will be very apparent to those skilled in the art that the flexibility, hence efficiency, of the described tree harvesting vehicle is outstanding. Not only will the vehicle traverse rough roadless terrain, but major components of the vehicle, namely the operator's platform, the tree en-gaging mechanism and the power supply can all be vertically raised to clear upstanding obstructions or lowered to clear overhanging obstructions. Under all operating conditions, the operator's cab may be maintained by the operator in a substan-tially vertical normal position, regardless of the contour of the terrain over which the vehicle is traversing or on which i it is stationary, thus insuring not only maximum comfort to the operator, but minimum interference with his operation of the vehicle. At any time that a particular tree is to be harvested, the tree engaging ~echanism 17 can be swung horizontally by virtue of the turntable 13 to engage the tree ~; without requiring the movement of the entire vehicle and the operator's cab moves concurrently with the tree engaging elements of the machine, thus affording the operator unimpeded vision of the harvesting operation.
Modifications of the invention herein descri~ed and illustrated will be apparent to those skilled in the art ` and it is intended that the scope of the invention be deter-mined solely by the appended claims.
~ -19-
This application is related to the subject matter in United States Patent 4,153,265 and Canadian Patents 1,108,998; 1,102,843; and 1,102,371. Certain of the structure disclosed in this application is disclosed and claimed in my Canadian Patent 1,109,098.
BACKGROUND OF THE INVENTION
) The inventions described in the afore-mentioned related applications relate to self-propelled vehicles used primarily to transport long loads, such a.s whole trees or tree trunks across roadless terrain. More specifically, such prior applications relates, as does this application, to rubber tired ; vehicles that have wheel suspension mechanisms which provide balanced weight between its wheels and additionally permits adjustment of the steady state position of the main bed frame of the vehicle relative to a longitudinal roll axis to permit compensation for the vehicle position when operating continuously on the side of a hill, and also to facilitate unloading of the vehicle by a side dumping action in either direction.
In summary, such vehicle comprises an elongated bed frame that forms the backbone of the vehicle. This frame is balanced on the central portion of modular front and rear wheel i assemblies, preferably each having four quadrilaterally spaced wheels. The quad wheel suspension system is designed to provide a freedom of movement of each wheel about mutually perpendicular roll and pitch axes that are vertically spaced one above the other. The quad wheel assemblies are pivotally mounted on the bed so as to be movable about a roll axis which is parallel to and ~ I
_~_ j beneath the longitudinal axis of the main frame element. On the lower or pitch axis of each quad wheel assembly, two walking beam members, each carrying a pair of steerable wheels, are rockably mounted in a balanced relationship. Thus, the walking beams may rock about the pitch axis of the quad wheel assembly while the quad wheel assembly itself may pivot about the roll axis. A mechanical interconnection of the quad wheel assemblies comprises a pair of tubular torque transmission members that extend from one quad wheel assembly toward the other an~ are interconnected by a novel linkage system which continuously adjusts the position of the longitudinal bed frame about the roll axis to lie intermediate the positions of the quad wheel assemblies. Additionally, the linkage incorporates two power extensible links by which the steady state position of the longitudinal bed frame member relative to the roll axis may be selectively determined by the operator.
In accordance with the invention specifically dis-closed in my aforementioned Canadian Patent no. 1,109,098, a unique mounting of each wheel with respect to the walking beam member permits a driving motor and brake to be incorporated in the wheel mounting mechanism for imparting required rota-tional movements to the wheel and, additionally, an electrical or hydraulic actuator is also incorporated in the mounting to impart individually controlled steering movements to the particular wheel. As described in my aforementioned Canadian Patent No. 1,109,098, sensors are provided which generate signals respectively proportional to the rotational velocity of the wheel and to the angle of turn of the particular wheel.
These sensor signals are inputs to a microprocessor and are compared with the turning pocition and ~ 8~ OI 14964 rotational velocity of the wheel required to effect a particular attitude and movement of the vehicle, and compensating signals are then fed to the driving motor for the wheel and the turning actuator to cause the wheel velocity and wheel position to correspond to that required to effect a desired attitude of the vehicle.
A vehicle equipped with this combination of fea-tures has numerous advantages over prior art off-road vehicles.
The individual control of the velocity and the turning angle of each wheel permits the vehicle to be manipulated through any selected one of a plurality of unusual movements or attitudes, most of which are completely incapable of accomplishment by any vehicle equipped with conventional driving and steering mechanisms.
Any vehicle as heretofore described requires an operator's cab which is preferably in an elevated position relative to the terrain being traversed, and a power source such as a gasoline or diesel engine driving a hydraulic pump, and, if electric propul-sion and steering control is to be employed, an electrical generator of sufficiant capacity to provide the required trac-tion and steering power. Hence, the operator's cab and the .
power unit are relatively massive in size and become a factor in the overall design of the vehicle in order to keep such units from interfering with the load carrying capability of the vehicle and at the same time, to prevent the operator's cab por-tion or the power unit portion of the vehicle from engaging pxo-jections on the ground or overhead and interfering with the mobility of the vehicle.
When the vehicle of the type heretofore described is to be employed for harvesting trees, it is quite efficient to provide a tree severing and handling means on the vehicle t ( ( OI 14964 88~
so that when the vehicle is driven to the vicinity of the tree to be harvested, the tree can be engaged by a suitable clamping mechanism carried on the end of a beam, severed by a suitable cut-off means, and then the whole tree moved by the clamping mechanism and beam to a position lying within the cradles pro-vided on the elongated frame element of the vehicle. Such tree handling elements must, however, be disposed on the vehicle in such fashion as to not interfere with either the load carrying ability or the mobility over the rough terrain where such vehicles are to be employed.
Lastly, it is desirable that the operator's cab be capable of adjustment about a horizontal axis so that the operator is in a substantially upright position, particularly when severing and loading trees.
~ large number of vehicles have heretofore been proposed to be employed in the direct harvesting of trees. If a whole tree, ranging in height up to eighty feet, or the whole trunk thereof is to be bodily removed from a forest, the vehicle to transport such whole trees or trunks necessarily has to have considerable length. Prior art vehicles employed for such purpose have generally resorted to an articulated vehicle used as a skidding tractor or employed as a prime mover with one or more trailers pivotally connected to the prime mover. Such load carrying vehicles could obviously only be loaded with ~ whole treb when all of the trailed units were in substantial longitudinal alignment and severe binding, resulting in actual breakage of the tree, would occur when-ever the vehicle was steered through any reasonable degree of turn in travelling from the harvesting site to a processing station.
The long rigid load represented by a bundle of whole trees superimposed on the structure effectively prevented any relative horizontal pivotal movement of the articulated trailer units 113~8~ ~
and, as a result, the vehicle either became hung-up on obstruc-tions around which the vehicle could not be steered or, portions of the tree load were broken by the forced turning movements of the articulated trailer unit. Backing of the vehicle was also very difficult.
Additionally, such prior art units suffered from the fact that the operator's control cab was generally in a fixed vertical position with respect to the vehicle. If this position were high, then the operator had to be continuously on *he alert to steer around trees which were to be left standing or over-hanging rock formations. If the operator's cab were left in a lowered position, it would tend to hang-up on obstructions on the ground as the vehicle traversed the uneven rugged terrain that is associated with three harvesting operations. Similar problems were encountered with the power unit for such vehicles which necessarily is relatively massive in size and has to be located on the vehicle so that it does not interfere with the load carrying capacity of the vehicle nor permit the power unit to be impacted by upstanding ridges or rocks on the terrain over which the vehicle is traversed.
Lastly, if the vehicle was cross-wise on a slope, the operator's cab would be tilted, to the discomfort and incon-venience of the operator.
OBJECTS OF THE INVENTION
Accordingly, it is an object of this invention to provide a vehicle having a single elongated frame element suspended on a pair of quad wheel assemblies of massive rubber tires, with each wheel being individually provided with traction power and steering power and adjustably mounted relative to the frame so as to permit the vehicle to traverse roadless terrain, 8~
and providing on the forward end of such vehicle a platform which is selectively adjustable in height relative to the frame, hence, relative to the ground, and which platfoxm carries an operator's cab and, additionally, if desired, a tree engaging boom, permitting the vehicle to engage a whole tree, sever it .
and place the tree between load carrying cradles mounted on the elongated frame element.
A particular object of this invention is to provide a tree harvesting vehicle having individual power means for driving and steering each wheel of two quad wheel assemblies which support a single el'ongated frame element of the vehicle and each'wheel is mounted for movement about both a roll axis parallel to the eIongated frame and a pitch axis perpendicular to the longitudinal frame to permit the vehicle to traverse natural terrain, and including means for adjusting the angular position of the longitudinal frame element relative to the roll axis of the vehicle so that the operator's platform, carried on one end of the elongated frame, may at any time be positioned in a relatively horizontal plane regardless of the slope of the terrain on which the vehicle wheels may be .operating.
A further object of this invention is to provide a self contained, self propeIled off-road vehicle having a plurality of power means on the vehi'cle for individually driving and steering each of a multiplicity of wheels, plus power means for adjusting the vertical position of an operator's cab, plus power means for operating a tree engaging boom and lastly, power means for adjusting the vertical position of a power producing unit which is shiftably mounted on the rear end of the vehicle.
OI 1496~
~13~382 Other objects and advantages of the invention will become apparent to those skilled in the art from the following detailed description, taken in conjunction with the annexed sheets of drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a side elevational schematic view of a tree harvesting and transport vehicle embodying this invention.
Figure 2 is a plan view of Figure l.
Figure 3 is a perspective view of the major compo-nents of the wheel suspension, driving and steering mechanismfor the vehicle of Figure 1.
Figure 4 is a perspective view of the roll control mechanism interconnecting the front and rear wheel assemblies.
DESCRIPTION OF PREFERRED EMBODIMENT
The vehicle illustrated in the drawings is a trans-portation vehicle for forwarding a load of whole trees from a harvesting area in a forest to a processing area adjacent to a road. Additionally, the illustrated vehicle is provided with a tree severing and loading boom so that the entire harvesting operation can be accomplished by a single vehicle.
Referring to the drawings, it will be seen that the vehicle 1 comprises an elongated rigid tubular main frame 20, including a plurality of load carrying cradle assemblies 22 spaced along its length and adapted to carry a plurality of long objects, such as whole trees or tree trunks. Each cradle 22 comprises a transverse beam 23 having uprights 22a pivotally secured to each end and latched in a vertical position by a convention mechanism (not shown).
Front and rear quad wheel assemblies 24, 26 are respectively attached to the elongated bed frame 20 by journals .
( ( 14964 BZ
so as to be pivotally movable about a longitudinal roll axis disposed parallel to and beneath the elongated bed frame.
A ro]l control linkage means 28 interconnects the quad whee] assemblies with each other and with the elongated main frame 20 so as to control their rélative positions about the roll axis during operation over rough terrain.
At the front end of the vehicle 1, an operator's platform 10 is provided and is secured to the front end of bed frame 20 by a pair of parallel links 11 and 12 which are pivoted on appropriate horizontal axis pivot pins lla and 12a, which are in turn supported by spaced, depending flanges 10a on platform 10. The other ends of links 11 and 12 are pivotally secured to a U-shaped casting 20a secured to the front end o~ the elongated main frame 20. The vertical position of platform 10 is controlled by a hydraulic cylinder 14 which is mounted in a trunion bearing 20b secured to the elongated frame 20 and pivotally connected by piston rod 14b to an upstanding bracket llb riyidly secured to the upper platform supporting link 11. In this manner, the vertical height of the platform 10 relative to the ground may be selectively adjusted by actuation of the cylinder 14. Incidentally, when ever this description refers to a hydraulic cylinder, it should be understood that an electrically powered linear actuator may be substituted therefor.
On the top surface of platform 10, a conventional turn-table 13 is journalled for rotation about a vertical axis.
An operator's cab 15 is mounted on top of turntable 13 within which all of the controls for the vehicle 1 are provided, as well as an operator's seat (not shown). A lateral projection 13a of the turntable 13 provides a horizontal axis pivotal mounting bracket 16a for a conventional articulated tree handling bo~m 16. A plurality of hydraulic cylinders '6~ and 16^ opcrat~ bctween the various articulated g ( OI 14964 ~1~3fl88;~
elements of boom 16 so as to permit the end of the boom to be moved by the operator ~rom a position closely adjacent the ground to a loading position passing over the top of the cab 15 to deposit harvested trees in the load carrying cradles 22.
A conventional tree severing and engaging mechanism 17 is provided on the end of thearticulated boom 16 and its position about a transverse horizontal axis is controlled by a cylinder 17a and links 17b and 17c. The tree severing and engaging mechanism 17 includes a suitable power actuated cut-off means ~not shown). The construction of the tree engaging and severing mechanism 17 forms no part of this invéntion and hence will not be described in further detail. Suffice it to say, such mechanism has the capability of engaging a tree to be harvested, severing the tree near the ground and then, while still engaged with the tree, the articulated boom 16 can be operated by the various cylinders 16a, 16b and 17a to lift the severed tree over the platform 10 and the operator's cab 15 and deposit the severed tree in the load carrying cradles 22 provided on the elongated frame 20.
Suitable operator controlled motor means (not shown) are provided for turning turntable 13 about its vertical axis.
Hence, the tree engaging mechanism 17 can be swung horizontally into engagement with a tree and the operator's cab is concurrently moved, so that the operator's view is always aligned with the tree to be harvested.
At the rear end of the elongated bed frame 20, a power unit platform 80 is adjustably mounted for movement in , : .
( ( OI 14964 113~2 a vertical plane by a pair of parallel links 81 and 82, which are secured to appropriate pivots 83 provided in an end casting 20d secured to the end of the main frame 20. A
hydraulic cylinder 84 suitably mounted in a trunion bearing 20e secured to the top of the rear end of the bed frame 20, controls the vertical position of the power unit platform 80 by having its piston rod 84a pivotally connected to an up- ¦
standing bracket 81a secured to one of the parallel links 81.
In this manner, the vertical position of the power unit plat-form 80 may be selectively adjusted to an elevated position in order to clear obstacles on the terrain during either the forward or rearward movement of the vehicle, or to a lowered position adjacent the ground to permit convenient servicing of the power unit 85 mounted thereon.
All of the power required for the operation of the vehicle is provided by the power unit 85 mounted on platform 80 and such unit will normally comprise either a gasoline or diesel engine driving both a large hydraulic pump to pro-vide pressured fluid for the operation of all hydraulic cy-linders involved in the vehicle and an electrical generator for providing electrical power for the control circuits and for providing traction and steering power to the wheels, if electric motors are employed to operate same.
In the drawings, it will be noted that the front and rear quad wheel assemblies 24 and 26 are substantially identical to one another, so for the sake of brevity, the similar portions will be described with respect to one of them only. ~ccordingly, attention is directed to Figure 3 of the drawings wherein the details of the front quad wheel assembly 24 are illustrated.
( OI 14964 1i3~
~ he suspension system for the ~ront quaù uheel assembly includes a main pivot block 46 which is pivotally suspended beneath the tubular main frame 20 between a pair of depending blocks 20g, thus providing pivotal movement about a longitudinal horizontal roll axis which is parallel to and slightly below the axis of the tubular main frame 20.
Such pivotal mounting is not shown but is entirely convention-al. A torque transmission tube 94 extends rearwardly from the main pivot block 46 and is co-movable therewith about the vehicle roll axis. A similar tube 95 extends forwardly from the rear quad wheel assembly and the adjacent ends of tubes 94 and 95 are respectively interconnected by a roll control linkage mechanism 28 to be hereinafter described.
The bottom portion of main pivot block 46 is provi-ded with a pair of laterally projecting horizontal pivot pins 46a which respectively provide pivotal mounting for a pair of walking beams 48 which are of identical configuration except that they are mounted in reversed positions on the pivot pins 46a. Each walking beam 48 is of a generally truncated W-shaped configuration in plan view including a central trun-cated inverted V-shaped portion 48a defining the bearing for the pivotal mounting on pin 46a, and identical angularly dis-posed tubular end elements 48b which provide mountings for steerable wheel units 60 of the quad wheel assemblies. The horizontal angle of elements 48b determines the maximum wheel turning angle.
A wheel mounting assembly 60 is secured to each free end of walking beam 48, and, as described in detail in my Canadian Patent No. 1,109,098, each wheel mounting assembly 60 includes a main hollow housing 62 and a (' ( . I
~3'~`8~ 1 radially extending axle housing portion 64 connected to housing 62 by a conventional anti-friction swing bearing unit (not shown) to provide steering movements. On one side of housing 62 an integral collar 65 is formed to permit the ; convenient rigid mounting of the housing 62 to the respective tubular end 48b of the walking beam 48.
On the free end of axle housing portion 64 there is mounted a wheel hub member 70 and the hub member 70 not only provides for conventional mounting of a large, rubber 0 tired, ground engaging wheel 72 on its periphery, but also with-in such hub mounts a conventional planetary trans~ission for driving such wheel at reduced speed from a drive shaft which is axially disposed within the hub 70 and the axle housing 64 and driven by an electric or hydraulic motor 74 co-axially mounted on main housing 64.
A hydraulic or electric steering motor 80 is suitably mounted on the top of the main housing 62, and effects steering movements of axle housing 64 through a speed reduc-tion mechanism (not shown).
The details of the controls for the rotation, braking and turning of each wheel 72 are described in my Canadian Patent No. 1,109,098.
From the description thus ~ar, it is also apparent that each quad wheel assembly 24, 26 is suspended relative to the main frame 20 in such fashion that the frame 20 may pivot relative to the quad wheel assemblies about a roll axis which is parallel to and slightly beneath the main frame 20. Con-currently, the wheels on each side of the quad wheel assembly may freely move in a vertical plane about a transverse hori-zontal pivot axis defined by the walking beam pivot pin 46a.
,~ .
( ( OI 14964 11.348~ `
Moreover, due to the "W" shape of each walking beam 48, steering movements of each of the wheels up to a thirty degree angle may be accomplished in either direction without inter-ference with the suspension, the main frame or the load carrying cradles of the vehicie.
The relative angular movement of the quad wheel assemblies 24, 26 with respect to each other and to the elongated bed frame assembly 21 is regulated by a roll control linkage 28, centrally located on the vehicle, that causes equal loading to be imposed on each quad wheel assembly, and also causes tke bed frame assembly to be rotated proportion-ately, preferably one half the total angular displacement between the front and rear quad wheel assemblies, as exists at any one time. Angular displacement between the quad wheel assemblies relative to the roll axis obviously occurs during operation on uneven terrain or over boulders. The ground under the front quad wheel assembly may be laterally and possibly oppositely inclined to the ground under the rear quad wheel assembly, such as might occur while the vehicle is traversing a ditch at an angle.
Referring now to Figure 4, the roll control linkage 28 will be described in greater detail. The rearward end of torque tube 94 and the forward end of torque tube~95 are suitably journalled in a depending frame block 20m and are `~ 25 disposed in co-axially aligned relationship approximately in the center of the elongated main frame 20. Immediately above the ends of the torque tubes 94, 95, the frame 20 is provided with a pair of upstanding pivot ears 20n which support a pivot pin 33a which traverses the center portion of a transverse frame titlt lever 33. On each end of frame tilt lever 33 a 1~348~
longitudinal connecting lever 35 is centrally mounted for pivotal movement about a horizontal axis. Additionally, on each end portion of torque tubes 94 and 95, there are respectively rigidly secured primary transverse actuating levers 96 and 97 and the ends of these levers are in general vertical alignment respectively with the ends of the connecting levers 35. A plurality of links 37 are provided respectively having their ends connected by a universal joint connection to the aligned ends of primary levers 96 and 97 and the connecting levers 35. Thus, any pivotal movement of one of the quad wheel assemblies 24, 26 relative to the other will result in a pivoting movement of the associated primary lever 96, 97, which in turn effects a tilting movement of the main tilt control lever 33 to shift the position of the main frame 32 approximately one-half the amount of pivotal displacement of the quad wheel assembly relative to the roll axis. Thus, a very effective control of the movements of the main frame about the roll axis in response to much larger movements of the quad wheel assemblies is achieved and, in effect, the roll control mechanism 28 provides for balancing the effects of terrain induced rotations of the two quad wheel assemblies in opposite directions about the roll axis.
Concurrently, the roll control linkage effects a transfer of forces between the two quad wheel assemblies to equalize the loading thereon during movements about the roll axis.
While the modification of this invention heretofore described is particularly useful in the hauling of long, stiff objects, such as tree lengths, or pipes having a length on the order of 60 feet, in some woodland operations, particularly as ~13~38Z`
practiced in Canada, it is more desirable to employ an off-road vehicle for bringing out loads of fresh cut whole trees. A
load of this type does permit some angular shifting of the load supporting cradles as the transporting vehicle navigates diffi- ¦
cult terrain areas.
While the load supporting cradles 22 may be rigidly secured to main frame 20, I prefer to utilize the illustrated construction (Fig. 3) wherein the transverse beam 23 of the cradle is pivotally mounted to the top surface of the main frame 20. Such pivotal mounting is provided by a pair of upstanding ears 20h and a pivot pin 23a which traverses the cross-beam 23.
Each cross-beam 23 is effectively secured for co-movement with the main pivot block 46 of the quad wheel assembly by a pair of parallel links 40, each of which has a bifurcated end 40a pivotally connected by a transverse pin 4Ob to the cross-beam !: 23, and the other end 40c pivotally connected between a pair of bifurcated ears 46b provided on the main pivot block 46 and traversed by a pivot pin 46c.
It may be desirable to form the load supporting beams 23 with the outer ends inclined upwardly as shown at 23a in Figure 3, in order to provide additional clearance for the quad wheel assembly. The important thing is that as each quad wheel assembly moves about the roll axis to traverse the terrain, a corresponding pivotal movement of the load support-ing cradles is imparted by virtue of the parallelogram linkageconnection of the cross-beams 23 to the main pivot block 46.
At the same time, the roll control linkage 28 is still opera-tive to effectively balance out oppositely directed inclinations of the front and rear quad wheel assemblies and thus reduce to a minimum the pivotal movements of the tubular bed frame 20 113~382 ~bout the roll axis.
The advantage of this construction is a significant reduction in the height of the load carrying cradles relative to the main frame, hence lowering the center of gravity of the load.
A further feature of this invention is the addition to the roll control lever assemblage 28 of a pair of power actuated stabilizing links which permit the operator to adjust the static position of the tubular main frame 20, hence the operator's platform 10, relative to the roll axis. Referring to Figure 4, such links may comprise power actuated exten-sible elements 43 which are respectively connected between the extreme ends of the tilt control lever 33 and the bifur-cated ends of lateral projections 20k formed on a depending block 2~m provided on the underside of the tubular bed frame i~ 20. As the one stabilizing link 43 is extended by the appli-cation of either hydraulic or electric power thereto, the other link 43 is retracted so that the net effect is that the frame 20 is rotated and the load supporting cradles or cross-beams 23 are shifted laterally and angularly with respect to the roll axis. Thus, the load may be maintained in a sub-stantially horizontal position, even though the vehicle is being operated continuously on a hillside. This capability for adjusting the static angular position of the load carrying cradles relative to the roll axis provides additional sta-bility to the vehicle and hence permits larger loads to be safely carried along a relatively steep hillside, Of equal importance is the fact that the adjustment of the position of the main frame 20 with respect to the roll axis by the selective actuation of the extensible links 43 is . ~
01 14g64 11~32~8~3~
of great value in permitting the operator's platform to be maintained in a substantially horizontal position irrespective of t~e slope of the terrain on which the vehicle may be located.
Thus, even though the vehicle is operating along the side of a relatively steep slope, the operator's platform 10 may be maintained in a substantially horizontal position, resulting in the tree-engaging element 17 on the end of boom 16 being generally vertically disposed, hence, more readily engagable with trees growing on the slope which normally grow vertically, irrespective of the slope. On the other hand, if the harvest-ing vehicle approaches a tree which is growing at an angle, the selective adjustment of the stabilizing links 43 by the operator will permit the main frame 20 and the platform 10 to be tilted relative to the supporting wheels so that the tree engaging mechanism 17 is more accurately aligned with the slope of the tree to be harvested.
It will also be apparent that an extreme extension of either of the stabilizing links 43 can advantageously effect the dumping of the load on a selected side of the vehicle. The vertical rails 22a of each cradle are pivotally mounted on the ends of the transverse beam and only latched in the upright position so that they may be readily dropped for unloading. It should be recognized that when dumping is accomplished in this manner, the operator's cab is tilted to the same degree. The dumping of the load is then accomplished by tilting of the load carrying cradles 22 with respect to the main frame 20. This can be conveniently accomplished by utilizing power actuated extensible elements as the links 40 which interconnect the transverse beams 23 of the load carrying cradles 22 with the vehicle suspension. The extension of one link 40 while the other link 113~88~`
is retracted will permit the selective dumping of the load on either side of the vehicle~ During all other operations, the extensible elements 40 are maintained in a fixed length position.
It will be very apparent to those skilled in the art that the flexibility, hence efficiency, of the described tree harvesting vehicle is outstanding. Not only will the vehicle traverse rough roadless terrain, but major components of the vehicle, namely the operator's platform, the tree en-gaging mechanism and the power supply can all be vertically raised to clear upstanding obstructions or lowered to clear overhanging obstructions. Under all operating conditions, the operator's cab may be maintained by the operator in a substan-tially vertical normal position, regardless of the contour of the terrain over which the vehicle is traversing or on which i it is stationary, thus insuring not only maximum comfort to the operator, but minimum interference with his operation of the vehicle. At any time that a particular tree is to be harvested, the tree engaging ~echanism 17 can be swung horizontally by virtue of the turntable 13 to engage the tree ~; without requiring the movement of the entire vehicle and the operator's cab moves concurrently with the tree engaging elements of the machine, thus affording the operator unimpeded vision of the harvesting operation.
Modifications of the invention herein descri~ed and illustrated will be apparent to those skilled in the art ` and it is intended that the scope of the invention be deter-mined solely by the appended claims.
~ -19-
Claims (15)
1. Apparatus for transporting whole trees or the like over natural terrain, comprising, in combination:
(1) an elongated frame element of a length sufficient to support the trees to be trans-ported.
(2) a plurality of tree retaining cradles transversely mounted on said frame element;
(3) a pair of quad wheel assemblies, each assembly including a primary mounting member pivotally attached to said frame element for movement about a roll axis paralle to the longitudinal axis of the elongated frame element, a pair of walking beams pivotally attached to opposite transverse sides of said primary mounting member for movements about a transverse pitch axis and a wheel steerably mounted on the end of each walking beam, where-by said wheels may conform to irregularities in the terrain traversed;
(4) an operator's platform having linkage means pivotally connecting same to one end of said elongated frame element for vertical move-ments relative thereto, including power means for selectively adjusting the vertical position of said platform relative to said elongated frame element; and (5) power operated linkage means for adjust-ing the position of said elongated frame element about said roll axis, thereby adjusting the position of the operator's platform, permitting same to be substantially horizontal when the vehicle wheels are positioned on the side of the slope.
(1) an elongated frame element of a length sufficient to support the trees to be trans-ported.
(2) a plurality of tree retaining cradles transversely mounted on said frame element;
(3) a pair of quad wheel assemblies, each assembly including a primary mounting member pivotally attached to said frame element for movement about a roll axis paralle to the longitudinal axis of the elongated frame element, a pair of walking beams pivotally attached to opposite transverse sides of said primary mounting member for movements about a transverse pitch axis and a wheel steerably mounted on the end of each walking beam, where-by said wheels may conform to irregularities in the terrain traversed;
(4) an operator's platform having linkage means pivotally connecting same to one end of said elongated frame element for vertical move-ments relative thereto, including power means for selectively adjusting the vertical position of said platform relative to said elongated frame element; and (5) power operated linkage means for adjust-ing the position of said elongated frame element about said roll axis, thereby adjusting the position of the operator's platform, permitting same to be substantially horizontal when the vehicle wheels are positioned on the side of the slope.
2. The combination defined in claim 1 plus power means for applying traction power individually to each said wheel, power means for supplying steering torque individually to each said wheel, and a power generating unit mounted on the other end of said elongated frame element to supply power to all power means mounted on the apparatus.
3. The combination defined in claim 1 plus means mounted on said operator's platform for engaging and loading trees in said cradles.
4. The apparatus defined in claim 2 plus power actuated means for selectively positioning said power gener-ating unit in any one of a plurality of vertical positions relative to said elongated frame element.
5. Apparatus for loading and transporting whole trees or the like over natural terrain, comprising, in combination:
(1) an elongated rigid frame element of a length sufficient to support the trees to be transported;
(2) a plurality of tree retaining cradles mounted on said frame element;
(3) an operators platform having linkage means pivotally connecting same to one end of said frame element for vertical movement rela-tive thereto, including power means for select-ively adjusting the vertical position of said platform relative to said frame element;
(4) means on said platform for engaging and loading trees in said cradles;
(5) a pair of quad wheel assemblies, each assembly including a primary mounting member pivotally attached to said elongated frame element for movement about a roll axis parallel to the longitudinal axis of said elongated frame element, a pair of walking beams pivotally attached to opposite transverse sides of said primary mounting member for movements about a transverse pitch axis, and a wheel steerably mounted on each end of each walking beam;
(6) power means for applying traction power to each wheel;
(7) power means for controlling the steering position of each wheel;
(8) a power source for supplying power to all power consuming means on the apparatus mounted on the other end of said elongated frame element, whereby said apparatus may freely traverse rough roadless terrain to transport a plurality of whole trees to a desired location.
(1) an elongated rigid frame element of a length sufficient to support the trees to be transported;
(2) a plurality of tree retaining cradles mounted on said frame element;
(3) an operators platform having linkage means pivotally connecting same to one end of said frame element for vertical movement rela-tive thereto, including power means for select-ively adjusting the vertical position of said platform relative to said frame element;
(4) means on said platform for engaging and loading trees in said cradles;
(5) a pair of quad wheel assemblies, each assembly including a primary mounting member pivotally attached to said elongated frame element for movement about a roll axis parallel to the longitudinal axis of said elongated frame element, a pair of walking beams pivotally attached to opposite transverse sides of said primary mounting member for movements about a transverse pitch axis, and a wheel steerably mounted on each end of each walking beam;
(6) power means for applying traction power to each wheel;
(7) power means for controlling the steering position of each wheel;
(8) a power source for supplying power to all power consuming means on the apparatus mounted on the other end of said elongated frame element, whereby said apparatus may freely traverse rough roadless terrain to transport a plurality of whole trees to a desired location.
6. The apparatus defined in claim 5 wherein the mounting for said power source at the other end of said frame element includes power actuated linkage means for selectively positioning said power source in any one of a plurality of vertical positions relative to said elongated frame element.
7. Apparatus defined inclaim 5 wherein said tree engaging and loading means comprises an articulated boom mounted on said platform, including power means for shifting said boom, and tree engaging means on the free end of said boom.
8. The apparatus defined in claim 7 wherein said tree engaging means includes power actuated tree severing means.
9. The apparatus defined in Claim 1 or 5 wherein said cradles comprise U-shaped elements having the medial portion of their base pivotally secured to said elongated frame member for movement about an axis parallel to the length axis of the longitudinal frame element, and a pair of linkage means respec-tively connecting outer portions of said cradle base member to the outer portions of said primary mounting member, whereby said cradles are tilted in response to tilting motion of said primary mounting members about the roll axis of the apparatus.
10. The apparatus defined in claims 1 or 5 wherein each of said quad wheel assemblies have a longitudinally ex-tending torque tube coincident with the said roll axis, and having one end secured to a primary mounting member and their other ends disposed in justaposition near the center of the elongated frame element and linkage means interconnecting the juxtaposed ends of said torque tubes to effectively transfer weight from one quad wheel assembly to the other as a function of the variations in terrain traversed by the respective quad wheel assemblies.
11. Apparatus for loading and transporting whole trees over natural terrain, comprising, in combination, (1) an elongated rigid frame element of a length sufficient to support the trees to be transported;
(2) a plurality of tree retaining cradles mounted on said frame element;
(3) a platform having linkage means pivotally connecting same to one end of said elongated frame element for vertical movements relative thereto, including power means for selectively adjusting the vertical position of said plat-form relative to said elongated frame element;
(4) a turn table mounted on said platform for rotation about a vertical axis, including power means for selectively adjusting the angular position of said turn table relative to said platform;
(5) an operator's cab on said platform, inclu-ding all control means for said vehicle;
(6) means on said platform for engaging and loading trees in said cradles;
(7) a pair of quad wheel assemblies respectively connected to longitudinally spaced portions of said elongated frame element, each said assembly including mounting means for said wheels permitting movements of the wheels relative to said elongated main frame element about a roll axis parallel to the longitudinal axis of said elongated main frame element, and (8) power operated means for adjusting the angular position of said elongated frame element about said roll axis, thereby adjusting the position of said platform to permit same to be substantially horizontal when the vehicle wheels are positioned on the side of a slope.
(2) a plurality of tree retaining cradles mounted on said frame element;
(3) a platform having linkage means pivotally connecting same to one end of said elongated frame element for vertical movements relative thereto, including power means for selectively adjusting the vertical position of said plat-form relative to said elongated frame element;
(4) a turn table mounted on said platform for rotation about a vertical axis, including power means for selectively adjusting the angular position of said turn table relative to said platform;
(5) an operator's cab on said platform, inclu-ding all control means for said vehicle;
(6) means on said platform for engaging and loading trees in said cradles;
(7) a pair of quad wheel assemblies respectively connected to longitudinally spaced portions of said elongated frame element, each said assembly including mounting means for said wheels permitting movements of the wheels relative to said elongated main frame element about a roll axis parallel to the longitudinal axis of said elongated main frame element, and (8) power operated means for adjusting the angular position of said elongated frame element about said roll axis, thereby adjusting the position of said platform to permit same to be substantially horizontal when the vehicle wheels are positioned on the side of a slope.
12. The apparatus defined in claim 11 wherein each of said quad wheel assemblies include a primary mounting member pivotally attached to elongated frame element for movement about said roll axis, and a pair of walking beams pivotally attached to opposite transfer sides of said primary mounting member for movement about a transverse pitch axis, and a wheel steerably mounted on each end of each walking beam.
13. The apparatus defined in claim 11 or 12 additionally including power means for applying traction power to each wheel, power means for controlling the steering posi-tion of each wheel, a power source for supplying power to all power consuming means on the apparatus mounted on the other end of said elongated frame element, and power actuated linkage means for selectively positioning said power source in any one of a plurality of vertical positions relative to said elongated frame element.
14. Apparatus defined in claim 6 wherein said tree engaging and loading means comprises an articulated boom mounted on said platform, including power means for shifting said boom, and tree engaging means on the free end of said boom.
15. The apparatus defined in Claim 14 wherein said tree engaging means includes power actuated tree severing means.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US1808079A | 1979-03-06 | 1979-03-06 | |
| US018,080 | 1979-03-06 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1134882A true CA1134882A (en) | 1982-11-02 |
Family
ID=21786131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000339839A Expired CA1134882A (en) | 1979-03-06 | 1979-11-14 | Self-propelled, off-road vehicle for loading and transporting trees |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1134882A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| LU101640B1 (en) * | 2020-02-14 | 2021-08-16 | Faymonville Distrib Ag | Freight vehicle with driver's cab |
-
1979
- 1979-11-14 CA CA000339839A patent/CA1134882A/en not_active Expired
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| LU101640B1 (en) * | 2020-02-14 | 2021-08-16 | Faymonville Distrib Ag | Freight vehicle with driver's cab |
| EP3865344A1 (en) * | 2020-02-14 | 2021-08-18 | Faymonville Distribution AG | Freight vehicle with driver's cab |
| US11554816B2 (en) | 2020-02-14 | 2023-01-17 | Faymonville Distribution Ag | Freight vehicle with driver's cab |
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