# US 10,246,946 B2 · Method and apparatus for transporting and steering a heavy load > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,946 B2 - Document ID: US10246946B2 - Status: Granted - Kind: B2 - Application number: 15/074,582 - Filed: 2016-03-18 - Published: 2016-09-29 - Granted: 2019-04-02 - Earliest claimed: 2015-03-25 - Assignees: Columbia Trailer Co., Inc. - Applicants: Columbia Trailer Co., Inc. - Inventors: Ira James Crisp; Steven Andrew Csergei - Web page: https://patentgrep.com/patent/US10246946B2 ## CPC - E21B 15/003: {adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells} - B62D 5/28: for pivoted bogies - B65G 7/00: Devices for assisting manual moving or tilting heavy loads (roller-ways B65G13/00; for tilting and emptying barrels or casks B65G65/24) - B65G 7/02: Devices adapted to be interposed between loads and the ground or floor, e.g. crowbars with means for assisting conveyance of loads - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract A method and apparatus for transporting heavy machinery, equipment or other heavy load from one location to another, whereby the apparatus is constructed to steer the load in order to move the load in a desired path to a set position, one embodiment directed to a walking machine including a plurality of lifting assemblies operative to lift the load above the supporting surface and then move or rotate the load relative to the supporting surface by transporting the load via rollers or tracks in the walking machines, the lifting assembly including a steering mechanism using an actuator operative for rotating, via a multi-linkage assembly, whereby the lifting assembly lower structure is rotated relative to the lifting assembly structure to set the walking machine at a desired angle so that lifting assemblies may be driven in a desired walking direction. ## Claims ### Claim 1 A load transportation system configured to move a load over a surface in one or more incremental steps via a plurality of lift/transport assemblies, each lift/transport assembly comprising a lift mechanism operative to lift a load-bearing frame supporting the load; a rolling assembly, including a foot pad for contacting the surface, the rolling assembly coupled to the lift mechanism; a steering assembly coupled between the lift mechanism and the rolling assembly and operative to rotate the rolling assembly, the steering assembly comprising a steering ring connected to the rolling assembly and operative when rotated to rotate with the rolling assembly, a linear actuator, first linkage comprising a first linkage first end and a first linkage second end, wherein the first linkage first end is rotationally connected to the linear actuator, a second linkage comprising a second linkage first end and a second linkage second end, wherein the second linkage first end is rotationally connected to the first linkage second end and at the second linkage second end is rotationally connected to the steering ring, wherein the first and second linkages are operative to continuously rotate the steering ring over an angle of at least about 179° upon motion of the linear actuator. ### Claim 2 (depends on 1) A system according to claim 1 wherein the linear actuator comprises a hydraulic cylinder drive system. ### Claim 3 (depends on 1) A system according to claim 1 wherein the linear actuator is selected from the group consisting of: a hydraulic linear drive system, a screw drive, a rack and pinion drive. ### Claim 4 (depends on 1) A system according to claim 1 wherein the linear actuator is powered hydraulically, pneumatically or electrically. ### Claim 5 (depends on 1) A system according to claim 1 wherein the first linkage comprises a first curved body section, and the second linkage comprises a second curved body section. ### Claim 6 (depends on 1) A system according to claim 1 wherein the linear actuator is controlled via a closed loop feedback system comprising a central processor that monitors the displaced position of the linear actuator and adjusts displaced position of the linear actuator operative for engaging the first and second linkages for rotating the steering ring over a given angle thereby adjusting rotational orientation of the rolling assembly. ### Claim 7 (depends on 6) A system according to claim 6 wherein the linear actuator comprises a linear transducer operative for providing a signal to the central processor of a displaced position of the linear actuator. ### Claim 8 (depends on 6) A system according to claim 6 further comprising a remote controller operative for providing control input to the central processor and a wireless connection between the remote controller and the central processor. ### Claim 9 (depends on 1) A load transportation system according to claim 1 wherein the first and second linkages are operative to continuously rotate the steering ring over an angle of at least about 179° while maintaining connections between the first linkage and the second linkages, between the linear actuator and the first linkage, and between the second linkage and the steering ring. ### Claim 10 (depends on 1) A load transportation system according to claim 1 wherein the steering ring is rotated over an angle of at least about 179° upon motion of a single stroke of the linear actuator. ### Claim 11 (depends on 1) A load transportation system according to claim 1 wherein the first and second linkages are operative to continuously rotate the steering ring over an angle of at least about 179° without disconnection of any components of the steering assembly. ### Claim 12 A method for steering a load transportation system configured to move a load over a surface in one or more incremental steps via a plurality of lift/transport assemblies, each lift/transport assembly comprising a lift mechanism operative to lift a load-bearing frame supporting the load, a rolling assembly, including a foot pad for contacting the surface, the rolling assembly rotatably coupled to the lift mechanism; rotating the rolling assembly relative to the lift mechanism via a steering assembly coupled between the lift mechanism and the rolling assembly, the steering assembly comprising a steering ring connected to the rolling assembly and operative when rotated to rotate with the rolling assembly, a linear actuator, a first linkage comprising a first linkage first end and a first linkage second end, wherein the first linkage first end is rotationally connected to the linear actuator, a second linkage comprising a second linkage first end and a second linkage second end, wherein the second linkage first end is rotationally connected to the first linkage second end and the second linkage second end is rotationally connected to the steering ring, operating the linear actuator wherein the first and second linkages are operative to rotate the steering ring over an angle of at least about 179° upon motion of the linear actuator. ### Claim 13 (depends on 12) A method according to claim 12 wherein the first linkage comprises a first curved body section, and the second linkage comprises a second curved body section. ### Claim 14 (depends on 12) A method according to claim 12 further comprising maintaining connections between the first linkage and the second linkages, between the linear actuator and the first linkage, and between the second linkage and the steering ring while continuously rotating the steering ring over an angle of at least about 179°. ### Claim 15 (depends on 12) A method according to claim 12 wherein the steering ring is rotated over an angle of at least about 179° upon motion of a single stroke of the linear actuator. ### Claim 16 (depends on 12) A method according to claim 12 wherein the first and second linkages are operative to continuously rotate the steering ring over an angle of at least about 179° without disconnecting any components of the steering assembly. ### Claim 17 A load transportation system configured to move a load over a surface in one or more incremental steps via a plurality of lift/transport assemblies, each lift/transport assembly comprising a lift mechanism operative to lift a load-bearing frame supporting the load; a rolling assembly, including a foot pad for contacting the surface, the rolling assembly coupled to the lift mechanism; a steering assembly coupled between the lift mechanism and the rolling assembly and operative to rotate the rolling assembly, the steering assembly comprising a steering ring connected to the rolling assembly and operative when rotated to rotate with the rolling assembly, a linear actuator, a multi-linkage connector having a first end and a second end, wherein the first end is rotationally connected to the linear actuator and the second end is rotationally connected to the steering ring, wherein the multi-linkage connector is operative to continuously rotate the steering ring over an angle of at least about 179° upon motion of the linear actuator while maintaining connections of the multi-linkage connector to the linear actuator and the steering ring. ### Claim 18 (depends on 17) A load transportation system according to claim 17 wherein the multi-linkage connector is operative to continuously rotate the steering ring over an angle of at least about 179° without disconnection of any components of the steering assembly. ### Claim 19 (depends on 17) A load transportation system according to claim 17 wherein the multi-linkage connector is operative to continuously rotate the steering ring over an angle of at least about 179° while maintaining connections between linkages of the multi-linkage connector, between the multi-linkage connector and the linear actuator, and between the multi-linkage connector and the steering ring. ### Claim 20 (depends on 17) A load transportation system according to claim 17 wherein the steering ring is rotated over an angle of at least about 179° upon motion of a single stroke of the linear actuator. ### Claim 21 A load transportation system configured to move a load over a surface in one or more incremental steps via a plurality of lift/transport assemblies, each lift/transport assembly comprising a lift mechanism operative to lift a load-bearing frame supporting the load; a rolling assembly, including a foot pad for contacting the surface, the rolling assembly coupled to the lift mechanism; a steering assembly coupled between the lift mechanism and the rolling assembly and operative to rotate the rolling assembly, the steering assembly comprising a steering ring connected to the rolling assembly and operative when rotated to rotate with the rolling assembly, a linear actuator, first linkage comprising a first linkage first end and a first linkage second end, wherein the first linkage first end is connected to the linear actuator, a second linkage comprising a second linkage first end and a second linkage second end, wherein the second linkage first end is connected to the first linkage second end and the second linkage second end is connected to the steering ring, wherein the first and second linkages are operative upon displacement of the linear actuator to continuously rotate the steering ring over an angle of at least about 179° without requiring disconnection of a linkage and without requiring reconfiguration of the steering assembly. ### Claim 22 (depends on 21) A load transportation system according to claim 21 wherein the steering ring is rotated over an angle of at least about 179° upon motion of a single stroke of the linear actuator. ### Claim 23 A load transportation system configured to move a load over a surface in one or more incremental steps via a plurality of lift/transport assemblies, each lift/transport assembly comprising a lift mechanism operative to lift a load-bearing frame supporting the load; a rolling assembly, including a foot pad for contacting the surface, the rolling assembly coupled to the lift mechanism; a steering assembly coupled between the lift mechanism and the rolling assembly and operative to rotate the rolling assembly, the steering assembly comprising a steering ring connected to the rolling assembly and operative when rotated to rotate with the rolling assembly, a linear actuator, first linkage connected to the linear actuator, a second linkage comprising a second linkage first end and a second linkage second end, wherein the second linkage first end is connected to the first linkage second end and the second linkage second end is connected to the steering ring, wherein the first and second linkages are operative, upon displacement of the linear actuator, to continuously rotate the steering ring over an angle of at least about 179° while maintaining connections between the first linkage and the second linkages, between the linear actuator and the first linkage, and between the second linkage and the steering ring. ### Claim 24 (depends on 23) A load transportation system according to claim 23 wherein the steering ring is rotated over an angle of at least about 179° upon motion of a single stroke of the linear actuator.