# US 2013/0156539 A1 · Alignment restoration device for load transporting apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0156539 A1 - Document ID: US20130156539A1 - Status: Published application - Kind: A1 - Application number: 13/711,269 - Filed: 2012-12-11 - Published: 2013-06-20 - Earliest claimed: 2011-12-16 - Assignees: Entro Industries, Inc. - Inventors: Shawn R. Smith; Harlan B. Smith - Web page: https://patentgrep.com/patent/US20130156539A1 ## CPC - B62D 57/02: with ground-engaging propulsion means, e.g. walking members - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - E21B 15/003: {adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of 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) - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS ## Abstract 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. ## Claims ### Claim 1 A load transporting apparatus configured to move a load over a ground surface in one or more incremental steps each including a load-movement phase and a recovery phase, the load transporting apparatus coupled to a load-bearing frame configured to support the load, the load transporting apparatus comprising: a first support foot structured to interface with the ground surface, the first support foot having a length, width, and longitudinal centerline bisecting the width of the first support foot; a second support foot structured to interface with the ground surface, the second support foot having a length, width, and longitudinal centerline bisecting the width of the second support foot; first and second roller tracks respectively coupled to the first support foot and second support foot via a first king pin connector and a second king pin connector, respectively; first and second roller assemblies respectively positioned on the first and second roller tracks, each roller assembly including a roller frame and one or more rollers set in the roller frame; first and second lift mechanisms respectively coupled to the first and second roller assemblies; the first and second lift mechanisms each including a lift cylinder connected to the load-bearing frame, and a cylinder rod, where each of the first and second lift mechanisms are structured to lift the load-bearing frame at the start of the load-movement phase; first and second travel mechanisms respectively coupled to the first and second roller assemblies, each of the travel mechanisms structured to move the respective roller assembly relative to the respective support foot during the load-movement phase; a first linking device coupled to the first support foot; a second linking device coupled to the second foot; a first biasing device connected to the first linking device, the first biasing device structured to become activated during a load-movement phase when the first roller assembly is non-linearly displaced by the first travel mechanism relative to the first support foot, and structured to return the first support foot to an aligned position relative to the load-bearing frame during a recovery phase; and a second biasing device connected to the second linking device, the second biasing device structured to become activated during a load-movement phase when the second roller assembly is non-linearly displaced by the second travel mechanism relative to the second support foot, and structured to return the second support foot to an aligned position relative to the load-bearing frame during a recovery phase. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the first linking device is coupled between the first support foot and the second support foot, and wherein the second linking device is coupled between the first support foot and the second support foot. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the first and second biasing devices include a spring mechanism. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the first and second biasing devices are respectively coupled to the load-bearing frame. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the first and second liking devices each include a first linking rod and a second linking rod that are respectively connected with pivot joints. ### Claim 6 A load transporting apparatus configured to move a load over a base surface in one or more incremental steps each including a load-movement phase and a recovery phase, the load transporting apparatus comprising: a lift mechanism structured to lift a load-bearing frame supporting the load; a first support foot connected to the lift mechanism, the first support foot structured to interface with the base surface; a roller assembly coupled to the lift mechanism; a travel mechanism coupled to the roller assembly, the travel mechanism structured to displace the roller assembly relative to the first support foot; one or more linking devices coupled to the first support foot; and one or more biasing devices coupled to the linking devices, the biasing devices structured to become activated during a load-movement phase when the roller assembly is non-linearly displaced by the travel mechanism relative to the first support foot, and structured to return the first support foot to an aligned position relative to the load-bearing frame during a recovery phase. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the one or more biasing devices are also coupled to the load-bearing frame. ### Claim 8 (depends on 6) The apparatus of claim 6, wherein the one or more linking devices includes a first linking device attached at a first end of the first support foot, and a second linking device connected to a second end of the first support foot opposite of the first end of the first support foot. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the one or more biasing devices include a torsion bar coupled between the first and second linking devices. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the torsion bar is activated when an angular displacement occurs between the first support foot and the load-bearing frame, the activation of the torsion bar including a torquing force being applied to the torsion bar. ### Claim 11 (depends on 6) The apparatus of claim 6, wherein the one or more linking devices each includes a first linking rod connected to the first support foot with a first pivot joint. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the first pivot joint is a spherical rod end bearing configured to allow movement in three degrees of freedom. ### Claim 13 (depends on 11) The apparatus of claim 11, wherein the one or more linking devices each includes a second linking rod connected to the first linking rod with a second pivot joint. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the second linking rod is connected to the load-bearing frame. ### Claim 15 (depends on 6) The apparatus of claim 6, wherein the one or more linking devices are configured to prevent activation of the one or more biasing devices when the roller assembly is linearly displaced by the travel mechanism in a vertical direction relative to the first support foot, and configured to prevent activation of the one or more biasing devices when the roller assembly is linearly displaced by the travel mechanism in a horizontal direction relative to the first support foot. ### Claim 16 (depends on 6) The apparatus of claim 6, wherein the first support foot is aligned with the load-bearing frame when a longitudinal centerline of the support foot is parallel with a main beam of the load-bearing frame. ### Claim 17 (depends on 6) The apparatus of claim 6, further comprising a second support foot aligned with the first support foot. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the one or more linking devices are coupled between the first support foot and the second support foot. ### Claim 19 (depends on 18) The apparatus of claim 18, wherein the one or more linking devices include a first linking device coupled between a first side of a first end of the first support foot and a first side of a first end of the second support foot, and a second linking device coupled between a second side of the first end of the first support foot and a second side of the first end of the second support foot. ### Claim 20 (depends on 18) The apparatus of claim 18, wherein the one or more linking devices includes a section of chain. ### Claim 21 (depends on 18) The apparatus of claim 18, wherein the one or more biasing devices are coupled between the first support foot and the second support foot. ### Claim 22 (depends on 6) The apparatus of claim 6, further comprising a roller track disposed between the first support foot and the lift mechanism, the roller track configured to support the roller assembly. ### Claim 23 (depends on 22) The apparatus of claim 22, wherein the roller track is coupled to the support foot with a king pin connector configured to allow the support foot rotate relative to the roller track. ### Claim 24 A method of aligning a support foot of a load transporting device relative to a load-bearing frame during a load-transporting movement, the load transporting device including a roller assembly coupled to the lift mechanism, a travel mechanism structured to displace the roller assembly relative to the support foot, one or more linking devices coupled to the support foot, and one or more biasing devices coupled to the linking devices, the method comprising: activating the lift mechanism to lower the support foot to a ground surface and raising a load supported by a frame; activating the travel mechanism to displace the roller assembly connected to the lift mechanism relative to the support foot and ground surface, thereby moving a position of the load; deflecting the biasing devices when movement of the roller assembly results in an angular displacement between a centerline of the support foot and an orientation of the load-bearing frame; activating the lift mechanism to lower the load on the frame and raising the support foot from the ground surface; and automatically aligning the centerline of the support foot relative to the orientation of the load-bearing frame.