US2492548A - Machine walking device - Google Patents

Description

Dec. 27, 1949 Filed July 24, 1947 M. ARMSTRONG MACHINE WALKING DEVICE 3 Sheets-Sheet 2 SQ 0 re f'zz enZ or 'ffr'zuibz (29-7715 7*0 Dec, 2?, 1949 M. ARMSTRONG MACHINE WALKING DEVI CE 5 Sheets-Sheet 3 Filed July 24,. 1947 7275071 irwy g Patented Deo- 2 19 9 UNITED STATES PATENT OFFICE 2,492,548 MACHINE WALKING DEVICE Mei-win Armstrong, Hinsdale, Ill. Application July 24, 1947, Serial No. 763,229

Claims.

The present invention relates to a traction mechanism of the stepping or walking type for propelling heavy machines, such as excavators which require relatively large bearing areas for support and where for service it is desirable to have few moving parts in contact with the ground.

It is an object of the present invention to provide a traction mechanism that gives improved walking motion. This is accomplished while at the same time the construction is simplified and is well adapted for use on large and heavy machines.

The foregoing constitute some of the principal objects and advantages of the present invention, others of which will become apparent from the following description and the drawings, in which Fig. 1 is a side elevational view of a machine, such as a drag-line excavator embodying the present invention, the shoes and legs being disposed in the raised or carrying position;

Fig. 2 is a fragmentary view corresponding to Fig. 1 but illustrating the shoes and legs advanced and lowered to the ground at the beginning of the step just before the body is lifted;

Fig. 3 is a view corresponding to Fig. 2 but illustrating the shoe in engagement with the ground and the machine body lifted ready for advancement during the next 90 rotation of the crank shaft;

Fig. 4 is a plan view of the machine illustrated in Fig. 1;

Fig. 5 is an end view of the machine;

Fig. 6 is an enlarged sectional view of a detail taken on line 6-6 of Fig. 1; and

2 tracks l4 and I5. As best shown in Fig. 4 the body 12 includes a pair of outwardly projecting housing portions I! that are on opposite sides of the body i2.

Extending entirely across the body l2 and journalled in the housing portion I1 is a horizontally disposed shaft IS, the bearings for the shaft being illustrated at l9. Disposed parallel to the shaft !8 and mounted in the machine body I2 is a second shaft 20 journalled at its opposite ends as indicated at 21. Mounted adjacent to one end of this shaft 20 is a drive gear 22. A motor or engine 23 is housed in the machine body l2 and is provided with a pinion 24 that meshes with the drive gear 22. A pinion 25 is mounted on the opposite end of the shaft 20 and is adapted to mesh with a gear 26 that is mounted on the shaft I8. Thus the motor 23 is adapted to drive the shaft 18 through the pinion and gear 24, 22, shaft 20 and pinion-gear set 25 and 26.

Disposed on the opposite sides of the machine body l2 are feet or shoes 21 (see Figs. 1, 4 and 5).

. Each foot 21 is provided with upstanding ear Fig. 7 is a sectional view taken on line 1-1 of Fig. 6.

The present invention may be used in practice in various ways. For purposes of illustration one embodiment only is shown and this embodiment is illustrated as applied to a drag-line excavator. Obviously many modifications may be made in the embodiment shown without departing from the intended scope of the invention. 7

Referring now to the drawings the invention. is illustrated as applied to a drag-line excavator generally indicated at [0 (in Fig. 1)- that includes a body portion 12 that is mounted on a main base i3. A track member I4 is supported on the base 13 and a complementary track. member :5 is supported on the underneath facev of the body l2. Wheels orv rollers l3 are disposed between the track members l4 and I5 so that the body I2 is adapted to rotate about the base l3 by virtue of the rollers lfi operating between the portions 28 (see Fig. 1) to which are pivotally connected the lower end of a leg 29 by pin 30. Mounted on each end of the shaft I8 is an eccentric or crank 3i that is provided with a crank arm 32, the end of which arm is journalled in the upperor free end of the leg as at 33.

Referring now to Fig. 4 a shaft 34 is journalled on its opposite ends as at 35 in each of the housing portions ll of the machine body l2 and each of these shafts extends parallel to the main shaft l8. For purposes of this description the direction of movement of the machine body I2 is from right to left as indicated by the arrow A. in Fig. 1 so that with respect to the direction of movement of the machine the left hand edge of the body l2 will be referred to as the forward edge and is identified by the reference character 36. Thus 4 the shaft 34 is rearwardly spaced with respect to the shaft I8. Mountedon the outer end of each of the shafts 34 is a crank 31 having a crank arm 38. Journalled to the free'end of the crank arm 38 is a connecting rod or link 39 that is pivotally connected to an ear 4| (see Fig. 4) on the leg 29 intermediate the upper and lower ends of the leg.

Again referring to Fig. 4 a suitable drive such as a sprocket chain drive generally indicated at 42 is provided between the shafts l8 and 34 so that each of the shafts 34 receives its rotated power from the shaft l8 and is driven at the same speed as the shaft I8.

There is thus described a traction mechanism 3 that is simple and yet effective for moving large and heavy machinery. As shown in Fig. 1 the shaft l8 normally operates in a counterclockwise direction and as shown the crank 3| is rotated to the first 90 from a substantially horizontal position to a vertical upright position where each foot 21 is raised oi the ground to its uppermost position, each foot advancing somewhat in a horizontal direction during this first 90. "During, the

next 90 rotation of the crank 3| the shoes or feet 27 are advanced and placed on the ground as indicated in Fig. 2. The cranks are then rotatedjz 1. to an additional 90, during which timepne. edg

of the base I3 is raised off the ground as indioperation of the cranks the machine is moved 4 the leg 21. The lower face of the bearing member 5! is seated on a bearing block 51, there being provided cooperating arcuate engaging faces. The bearing block 51 is slidably supported on a plate 58 that in turn rests on a pair of I-beams 59. The plate 58 is channeled at 60 to hold the bearing block 5'! in sliding relationship. The block 57 is apertured at El to receive rod 62 that projects beyond each ear 28. Compression springs 53 are mounted on the ends of each rod- 62 and a spring seat 6t is threaded onto each end of the rod 62. Each spring 63 is held between one of the seats .54 and the adjacent ear 28. These springs cated in Fig. 3 and then during the. next-90 forward dragging the right hand end -(Fig;-' 3-) of the base along the ground. As the crankrotates from the position shown in solid lines in Fig. 3 the forward edge ofthemaohine base! 3 is.lo.w.ered until it finally engages the ground. wherethe entire machine has .advanceda:prcdetermineddistance depending upon the relati'onship...between the ,yarious .arms and cranks. The. operation. can then be repeated so as to continue'the advance: mentof. the machine.

During. this operation of. the main...crank..3l the auxiliary shaft .Stiscaused to. operate at the. same speed as the..main.shaf.t. I8 so as to turn. the cranks 31.. These .cranks- 31 throughtheir respective links 39 serve to guide the legs 29 and to impart to the legs a substantially horizontal posi: tion. Thusthe: cranks 3i provide vertical lift to the shoesor feet; 27 and the cranks-31' impart horizontal motion:

Mounted .on topof-eachof the-housing portions 11 of the; machine body-L2 is an equalizer generally indicated at 43. that includes a pair of, spaced cables 44 fixedat, theirsldwer endslas at 40. to one of the feetor shoesv 21 at positions, equidistant from the ends of the shoes. Each-of. these cables 44 passes over av pulley 45 (Fig. 5) that isdisposed substantiallyvertically. above the shoe 2 and-then passesover a second pulley 4B. --;A weight. 41 is fixed to the free-end-rof eachcable 44. 'This weight is adapted to slide :up and down on an inclined surface 48 that is formed on a frame member; 39. Oneend; of this frame.member..-4.9 is pivotally secured to a bracket; 5.0 that is mounted on top of thehousingsi'l. As best shownin Figs. 1 and "5 the forwardendv of each of the frame members .419 is provided .with' an .I-beam 65 that rests on top of a roller; 66 that is journalled in angle members 6'l. -.+These-angle meme hers 5? are mountedion top of: each: of the. legs 29 so that-the forward end :of' each-of the :frame membersce is actually supported on theadjacent leg 29. The weights 4! on the cables 44 are of equal weightso that as the foot or. shoe 2:! is raised:

'above the ground, these'weightsll through their.

respectivecables: 44 arenfreeto slide. on the sure face as and; if the shoe tilts: due to an accumu+- lation of mud or theilike; theweightron thecorresponding side ,comesto rest on 'aistcrxizt so that the otherweightrcan:act to returntthe; foot .or. shoe 2'! to the horizontalpositionti;

Each of the legs 29 is provided at its lower end; withabearing member 51, shown-in Figs". (5 and.7,

that; comprisesza pair .of: plates .52. and .53 fastened:

together as at 54. This;bearinamembcrti has: a spherical socket; 55 in which is .rotatably2 mounted a rotatablamember. 56 having spherical surfaces adapted to cooperate withthe faces55.-

The. rotatable member 55-: isapertured to receive the pin 30. This pin 30 is held in the ears 28 on 63 normally center the bearing block 5? between the ears .28 but permit sliding movement of the block to take place along the rods 62.

Throughout this description the members 3| and 3-1 have been referred to as cranks. It is recognized, of course, that conventional eccentrics, other than. true cranks maybe employed, it beingimportantonly that ,eccentricityibe pro.- vided.tofurnishalever or crank arm.

With, the arrangement thus .describedthe legs 29 are, disposed in asubstantially vertical posi-, tion throughout the lifting portionof the-cycle ofcrank 3! but is moved to a sloping or leaning position in the direction of movement of the machine body it during the last portion of the cycleof the crankv 3! While themachine. body is being lowered. This leaning conditionof the legs 29 isv brought aboutby virtue of. thefact that the crank arm for crank 31 is longer thanthe. crank arm for crank 31. Thus .the legs serveas direct columns duringlifting of the -ma chine body, but serve to easethe weight to the, ground rather than to allow the. weight to dropfreely from the mechanism height.

I claim:

1. The combination of aframe, substantially vertically disposed legs at each side of: the frame, a foot pivotally secured to the lower end of each leg, crank means includinga crank arm disposed adjacentto the upper end .of each leg, means on the frame mounting each- ,crank for rotation about a horizontal axis, each leg being mounted adjacent-to its upp r end on a crank-warm and of sufficient length to bear the feet on the..ground,- second crank means includinga crank armv spaced longitudinally of the frame with'respect. to each of the first mentionedwcranks, means mounting each of the second cranks for :ltotationi about a horizontal axis,power=means. mounted on the frame connected in driving relationship with the cranks, and alink; connecting the. crank armor each of the second cranks and the adjacent leg intermediate the upper and lowerends. of the leg.

2. The combination of a frame-substantially. vertically disposed legs at eachside-ofthe frame, aw-foot pivotally secured tothe'lower end of each. leg, crank means including a crank arm disposedadjacentxto the upner-end'of eachleg,v means on the frame mounting: eachgcrank, for rotation about va horizontal axis, eachleg being; mounted adjacent-to its upperencl on a crankarm and .of sufficient length to bear the feet on the; ground, second'crank means including a crank, arm spaced longitudinally of the frame withrespect to each. of the firstrnentioned cranks: and dis posed substantially parallel therewith; means mounting each of thesecond cranks for rotation about a horizontal axis, power means mounted on the frame: connected. in driving, relationship with the cranks,..and a. link. connecting= thecrank arm of each of the second cranks and the adjaof the leg.

3. The combination of a frame adapted to move in one direction andhavinga leading edge with respect to the direction of travel, substantially vertically disposed legs at each side of the frame spaced rearwardly from the leading edge, a foot pivotallysecured tothe lower end of each, leg, crank means spaced rearwardly from the leading edge including a crank arm disposed adjacent to the upper end of each leg, means on the frame mounting each crank for rotation about a horizontal axis, each leg being mounted adjacent to its upper end on a crank arm, second crank means including a crank arm spaced further away from the leading edge than the first crank means, means mounting each of the second cranks for rotation about a horizontal axis, power means mounted on the frame connected in driving relationship with the cranks, and a link connecting the crank arm of each of the second cranks and the adjacent leg intermediate the upper and lower ends of the leg.

4. The combination of a frame, substantially vertically disposed legs a foot pivotally secured to the lower end of each leg, crank means including a crank arm disposed adjacent to the upper end of each leg, means on the frame mounting each crank for rotation about a horizontal axis, each leg being mounted adjacent to its upper end on a crank arm and of sufilcient length to bear the feet on the ground, second crank means including a crank arm spaced longitudinally of the frame with respect to each of the first mentioned cranks, means mounting each of the second cranks for rotation about a horizontal axis, power means mounted on the frame connected in driving relationship with the cranks, and a link connecting the crank arm of each of the second cranks and the adjacent leg intermediate the upper and lower ends of the leg, and means on the frame and operatively connected to each foot for maintaining the foot horizontal.

5. The combination of a frame, substantially vertically disposed legs at each side of the frame, a foot pivotally disposed to the lower end of each leg, crank means including a crank arm disposed adjacent to the upper end of each leg, means on the frame mounting each crank for rotation about a horizontal axis, each leg being mounted adjacent to its upper end on a crank, second crank means including a crank arm spaced longitudinally of the frame with respect to each of the first mentioned cranks, means mounting each of the second cranks for rotation about a horizontal axis, power means mounted on the frame connected in driving relationship with the cranks, a link connecting the crank arm of each of the second cranks and the adjacent leg intermediate the upper and lower ends of the leg, means providing linear movement of the foot on the leg, and means on the frame and operatively connected to each foot for maintaining the foot horizontal.

6. The combination of a frame, substantially vertically disposed legs at each side of the frame, a foot pivotally disposed to the lower end of each leg, crank means including a crank arm disposed adjacent to the upper end of each leg, means on the frame mounting each crank for rotation about a horizontal axis, each leg being mounted adjacent to its upper end on a crank, secondcrank means including a crank arm spaced longitudinally of the frame with respect to each of at each side of the frame, a

, the first mentioned cranks, means mounting, each zontal axis, power means connected. in driving relationship withthe cranks, a linkconnectingthe crank, arm of each of the second cranks for-rotation about a horimounted on the frame of the second cranks and the adjacent leg inter- ,mediate the .upper and lower ends of the leg,

means providing linear movement, of thefoot on the leg, and means .onthe frame and operatively connected to each foot for maintaining the foot horizontal, said last named means including an equalizer arm, means pivoting one end of said equalizer arm on the frame, and means mounting the other end of the equalizer arm for sliding movement on the top of the leg.

7. The combination of a frame, substantially vertically disposed legs at each side of the frame, a foot pivotally secured to the lower end' of each leg, crank means including a crank arm disposed adjacent to the upper end of each leg, means on the frame mounting each crank for rotation about a horizontal axis, each leg being mounted adjacent to its upper end on a crank arm aforesaid and of sufficient length to bear the feet on the ground, second crank means including a crank arm spaced longitudinally of the frame with respect to each of the first mentioned cranks, means mounting each of the second cranks for rotation about a horizontal axis, power means mounted on the frame connected in driving relationship with the cranks, and a link connecting the crank arm of each of the second cranks and the adjacent leg intermediate the upper and lower ends of the leg, and means on the frame and operatively connected to each foot for maintaining the foot horizontal comprising an arm pivotally mounted on the frame and adapted to move up and down with each foot and weighing means operatively connected to the foot and actuated by the pivoted arm to maintain the foot in the horizontal position.

8. The combination of a body mounted on a ground bearing base and adapted to rotate about a vertical axis with respect to the base, a pair of parallel eccentric driving elements mounted on each side of the body and spaced longitudinally of each other with respect to the body, a leg on each side of the body trunnioned at its upper end to one of the eccentric elements and at its lower end to an auxiliary ground bearing foot, a link connecting said leg to the other eccentric element of said pair, and power means on the body rotating each eccentric element about a horizontal axis.

9. The combination of a body mounted on a ground bearing base and adapted to rotate about a vertical axis with respect to the base, a pair of parallel eccentric driving elements mounted on each side of the body and spaced longitudinally of each other with respect to the body, a leg on each side of the body trunnioned at its upper end to one of the eccentric elements and at its lower end to an auxiliary ground bearing foot, a link connecting each of the second eccentric elements and the adjacent leg intermediate the upper and lower ends of the leg, and power means on the body for rotating the eccentric elements in the same direction and at the same rotative speed.

10. The combination of a body mounted on a ground bearing base and adapted to rotate about a vertical axis with respect to the base, a pair of parallel eccentric driving elements mounted on each side of the body and spaced longitudinally of each other with respect to the body, a leg on each side of the body trunnioned at its The following references are of recorg'jimthe

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