Walking Machine Support Foot Alignment Mechanism
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Solution Overview
Problem
Existing load transporting apparatuses, such as walking machines, face challenges in fine-tuning the position of heavy loads over small distances due to restricted movement directions, particularly when moving loads need to be repositioned or adjusted periodically, as they often require disassembly or use of hydraulic lift cylinders and rollers, which can be time-consuming and limit precise positioning.
Innovation Solution
A load transporting apparatus that includes a linking device and a biasing device to automatically align or center the support foot relative to the load-bearing frame during recovery phases of incremental walking movements, allowing for non-linear movements and precise repositioning by storing and releasing potential energy to return the support foot to its aligned or centered position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If walking machines use hydraulic lift cylinders and rollers to move heavy loads, then the loads can be moved over small distances, but the movement is restricted to particular directions and fine-tuning of position becomes difficult
Solution Approach 1:
The support foot is made dynamically adjustable through a mechanism that allows it to rotate and reorient itself during the walking cycle. The support foot can change its angular orientation relative to the load-bearing frame, enabling movement in multiple directions rather than being restricted to a fixed direction. This dynamic reorientation capability provides versatility in movement direction while maintaining the ability to move heavy loads over small distances.
2Device complexity
If the support foot is fixed relative to the load-bearing frame, then the structure is simple, but the ability to move in non-linear directions and fine-tune position is limited
Solution Approach 1:
A dynamic mechanism is introduced that allows the support foot to rotate and reorient relative to the load-bearing frame during operation. This mechanism includes a pivot or rotation joint that enables the support foot to change its angular orientation, providing precise control over movement direction and positioning accuracy while adding only moderate structural complexity.
Solution Approach 2:
The mechanism incorporates feedback elements that sense the position and orientation of the support foot relative to the load-bearing frame and adjust the angular orientation accordingly. This feedback control enables precise positioning and fine-tuning of the load position in non-linear directions, improving manufacturing precision without requiring overly complex structures.
3Productivity
If the support foot is raised above the ground surface during recovery phase, then the apparatus can reposition, but alignment with the load-bearing frame may be lost
Solution Approach 1:
During the recovery phase, the support foot is dynamically reoriented to maintain alignment with the load-bearing frame even as it is raised above the ground surface. The rotation mechanism allows the support foot to adjust its angular orientation in real-time, ensuring that when the support foot contacts the ground again, it is properly aligned for the next walking step. This dynamic alignment maintains positioning precision while enabling efficient repositioning.
Solution Approach 2:
Before the support foot is raised above the ground surface, the mechanism preliminarily adjusts its angular orientation to the correct alignment position. This preliminary action ensures that when the support foot is raised and then lowered, it automatically lands in the correct position without requiring additional adjustment. This preliminary reorientation maintains alignment precision while allowing the apparatus to reposition efficiently.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and precise movement of heavy loads over small distances with the ability to fine-tune their position, reducing the need for disassembly and enhancing operational efficiency by allowing movement in various directions while maintaining alignment with the load-bearing frame.
Implementation Method 1
a biasing device connected to the linking device that is deflected during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to an aligned position
Data Source
AI summary
Embodiments of the present invention are directed to a load transporting apparatus that automatically aligns a support foot of the apparatus with a load-bearing frame connected to the load transporting apparatus during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes a linking device attached to a support foot of the apparatus and a biasing device connected to the linking device that is deflected during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to an aligned position relative to the load-bearing frame after a non-linear movement has been completed and the support foot is raised above a ground surface.Other embodiments of the present invention are directed to a load transporting apparatus that automatically centers a support foot of the apparatus about a roller assembly during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes guide devices positioned adjacent to a roller assembly that deflect a biasing device during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to a centered position relative to the roller assembly after a non-linear movement has been completed and the support foot is raised above a ground surface.