Automatically adjusting swing legs for mounting and aligning and reorienting crawlers

A method for reconfiguring a first swing leg assembly and a second swing leg assembly, relative to a module frame of a vehicle, the vehicle being coupled with a processor operable to receive, generate, and emit electrical signals, wherein each swing leg assembly includes:

• a jacking column having an upright axis;
• a crawler track, mechanically coupled to the jacking column with a power drive unit, configured to make rotational movements relative to the jacking column about the upright axis;
• a pivot shaft, mechanically coupling the jacking column to the module frame, configured to permit pivotal movement of the jacking column relative to the module frame;
• a first angular position transducer associated with the crawler track and the jacking column, configured to emit a first signal which is indicative of an angular orientation of the crawler track relative to the jacking column;
• and
• a second angular position transducer associated with the jacking column and the module frame, configured to emit a second signal which is indicative of an angular orientation of the swing leg assembly relative to the module frame;
• the method comprising:
• receiving a first signal from the first swing leg assembly at the processor;
• receiving a second signal from the first swing leg assembly at the processor;
• receiving a first signal from the second swing leg assembly at the processor;
• receiving a second signal from the second swing leg assembly at the processor;
• generating a control signal at the processor based on the first signal from the first swing leg assembly, the second signal from the first swing leg assembly, the first signal from the second swing leg assembly, and the second signal from the second swing leg assembly at the processor;
• and
• emitting the control signal from the processor to instruct each crawler track to rotate relative to their respective jacking column.

A method for reconfiguring a swing leg assembly and a telescoping leg assembly, relative to a module frame of a vehicle, the vehicle coupled with a processor operable to receive, generate, and emit electrical signals,

• wherein the swing leg assembly includes:
• a jacking column having an upright axis;
• a first crawler track, mechanically coupled to the jacking column with a power drive unit, configured to make rotational movements relative to the jacking column about the upright axis;
• a pivot shaft, mechanically coupling the jacking column to the module frame, configured to permit pivotal movement of the jacking column relative to the module frame;
• a first angular position transducer associated with the first crawler track and the jacking column, configured to emit a first signal which is indicative of an angular orientation of the first crawler track relative to the jacking column of the swing leg assembly;
• and
• a second angular position transducer associated with the jacking column and the module frame, configured to emit a second signal which is indicative of an angular orientation of the swing leg assembly relative to the module frame;
• further wherein the telescoping leg assembly includes:
• a jacking column having an upright axis, configured to extend and retract in a lateral direction relative to the module frame;
• a second crawler track, mechanically coupled to the jacking column with a power drive unit, configured to make rotational movements relative to the jacking column about the upright axis;
• and
• a third angular position transducer associated with the second crawler track and the jacking column, configured to emit a third signal which is indicative of an angular orientation of the second crawler track relative to the jacking column of the telescoping leg assembly;
• the method comprising:
• receiving a first signal from the swing leg assembly at the processor;
• receiving a second signal from the swing leg assembly at the processor;
• receiving a third signal from the telescoping leg assembly at the processor;
• generating a control signal at the processor based on the first signal, the second signal, and the third signal at the processor;
• and
• emitting the control signal from the processor to instruct the first crawler track of the swing leg assembly and the second crawler track of the telescoping leg assembly to each rotate relative to their respective jacking column.