Alignment restoration device for load transporting apparatus

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.

The invention claimed is: 
     
       1. A load transporting apparatus comprising:
 a support foot comprising a longitudinal centerline; 
 a roller assembly operably coupled to the support foot and configured to move relative to the support foot; 
 a lift mechanism operably coupled to the roller assembly and configured to lift the a load transporting apparatus bearing frame from a transport surface; 
 a travel mechanism operably coupled to the roller assembly and configured to non-linearly displace the support foot such that the longitudinal centerline of the support foot moves relative to a longitudinal centerline of the load transporting apparatus bearing frame; and 
 one or more biasing devices configured to elastically and materially deform in response to the non-linear displacement of the support foot, wherein an elastic deformation of the one or more biasing devices provides a biasing force that operates to realign the support foot with the load transporting apparatus bearing frame such that the longitudinal centerline of the support foot becomes parallel with the longitudinal centerline of the load transporting apparatus bearing frame after the load transporting apparatus bearing frame is lowered to the transport surface. 
 
     
     
       2. The apparatus of  claim 1 , further comprising one or more linking devices operably coupling the support foot to the one or more biasing devices. 
     
     
       3. The apparatus of  claim 2 , wherein the biasing devices are further operably coupled to a load-bearing frame. 
     
     
       4. The apparatus of  claim 2 , wherein the one or more linking devices includes a first linking device attached at a first end of the support foot, and a second linking device connected to a second end of the support foot opposite of the first end of the support foot. 
     
     
       5. The apparatus of  claim 4 , wherein the one or more biasing devices include a torsion bar coupled between the first linking device and the second linking device. 
     
     
       6. The apparatus of  claim 5 , wherein the torsion bar is configured to undergo a torqueing force in response to the non-linearly displacement of the longitudinal centerline of the support foot relative to the longitudinal centerline of the load transporting apparatus bearing frame. 
     
     
       7. An apparatus having a A load transporting device, a roller assembly, and a support foot, the apparatus comprising:
 a roller assembly; 
 a support foot; 
 means for raising the load transporting device a load bearing frame from a transport surface; 
 means for moving the roller assembly relative to the support foot of the load transporting device, wherein the roller assembly is operably coupled to the means for raising, and wherein the load transport device bearing frame moves in response to moving the roller assembly; 
 means for biasing; and 
 means for deflecting the means for biasing in response to moving the roller assembly, wherein the movement of the roller assembly results in a non-linear displacement between a centerline of the support foot and a centerline of the load transporting device bearing frame, wherein the means for biasing is configured to elastically and materially deform in response to being deflected, and wherein an elastic deformation of the means for biasing devices provides a biasing force that operates to realign the centerline of the support foot relative to the centerline of the load transporting device bearing frame following the movement of the roller assembly. 
 
     
     
       8. The apparatus of  claim 7 , wherein the means for raising comprises means for raising the support foot from the transport surface, and wherein in response to raising the support foot, the means for biasing is configured to move the support foot relative to the load transporting device bearing frame such that the centerline of the support foot is realigned relative to the centerline of the load transporting device bearing frame. 
     
     
       9. The apparatus of  claim 7 , wherein the means for biasing is operably coupled to a the load-bearing frame. 
     
     
       10. The apparatus of  claim 7 , further comprising means for preventing activation of the means for biasing when the support foot is moved such that the centerline of the support foot is linearly displaced by the means for deflecting relative to the centerline of the load transporting device bearing frame. 
     
     
       11. The apparatus of  claim 7 , wherein the means for deflecting comprises means for linking the support foot to the means for biasing, and wherein the means for linking comprises:
 first means for linking operably coupled at a first end of the support foot; and 
 second means for linking operably coupled to a second end of the support foot. 
 
     
     
       12. The apparatus of  claim 11 , wherein the means for biasing comprises a torsion bar coupled between the first means for linking and the second means for linking. 
     
     
       13. The apparatus of  claim 12 , wherein the torsion bar is configured to undergo a torqueing force in response to the non-linearly displacement of the longitudinal centerline of the support foot relative to the longitudinal centerline of the load transporting apparatus bearing frame. 
     
     
       14. A method comprising:
 raising, with a lift mechanism, a load transporting device bearing frame from a transport surface; 
 moving a roller assembly relative to a support foot of the load transporting device, wherein the roller assembly is operably coupled to the lift mechanism, and wherein the load transport device bearing frame moves in response to moving the roller assembly; 
 angularly displacing a centerline of the support foot and a centerline of the load transporting device bearing frame; 
 deflecting one or more biasing devices in response to moving the roller assembly, wherein the one or more biasing devices are configured to elastically and materially deform in response to being deflected; and 
 realigning the centerline of the support foot relative to the centerline of the load transporting device bearing frame in response to a biasing force provided by an elastic deformation of the one or more deflected biasing devices. 
 
     
     
       15. The method of  claim 14 , further comprising lowering the support foot to the transport surface prior to raising the load transporting device bearing frame. 
     
     
       16. The method of  claim 15 , further comprising raising the support foot from the transport surface after moving the roller assembly relative to the support foot, wherein the centerline of the support foot is realigned relative to the centerline of the load transporting device bearing frame in response to raising the support foot. 
     
     
       17. The method of  claim 14 , wherein the one or more biasing devices comprise a torsion bar, and wherein deflecting the one or more biasing devices comprises applying a torque force to the torsion bar. 
     
     
       18. The method of  claim 17 , wherein realigning the centerline of the support foot comprises applying the torque force to the support foot via one or more linking devices operably coupling the support foot to the one or more biasing devices. 
     
     
       19. The method of  claim 18 , wherein the torsion bar is operably coupled between a first linking device and a second linking device of the one or more linking devices. 
     
     
       20. The method of  claim 19 , wherein the first linking device is operably coupled at a first end of the support foot, and wherein the second linking device is operably coupled to a second end of the support foot opposite of the first end. 
     
     
       21. A load transporting apparatus comprising:
 a support foot;   a roller assembly operably coupled to the support foot;   a lift mechanism operably coupled to the roller assembly and configured to lift a load bearing frame from a transport surface;   a travel mechanism configured to displace the support foot relative to the lift mechanism, wherein an activation of the travel mechanism operates to non-linearly displace the support foot relative to an orientation of the load bearing frame; and   one or more biasing devices configured to elastically and materially deform in response to the non-linear displacement of the support foot, wherein an elastic deformation of the one or more biasing devices provides a biasing force that operates to realign the support foot with the orientation of the load bearing frame.   
     
     
       22. The load transporting apparatus of claim 21, wherein the one or more biasing devices comprise a torsion bar substantially aligned with the orientation of the load bearing frame. 
     
     
       23. The load transporting apparatus of claim 21, further comprising one or more linking devices operably coupled to both the support foot and the one or more biasing devices. 
     
     
       24. The load transporting apparatus of claim 23, wherein the one or more linking devices comprise a first linking device operably coupled to a first end of the support foot, and a second linking device operably coupled to a second end of the support foot opposite the first end of the support foot. 
     
     
       25. The load transporting apparatus of claim 24, wherein the one or more biasing devices comprise a torsion bar operably coupled to both the first linking device and the second linking device. 
     
     
       26. The load transporting apparatus of claim 25, wherein the torsion bar is configured to undergo a torqueing force in response to the non-linearly displacement of the support foot relative to the orientation of the load bearing frame. 
     
     
       27. The load transporting apparatus of claim 21, wherein the one or more biasing devices are configured to elastically and materially deform when the support foot is in a lowered position on the transport surface, and wherein the biasing force operates to realign a centerline of the support foot with the orientation of the load bearing frame when the support foot is raised from the transport surface. 
     
     
       28. The load transporting apparatus of claim 27, wherein the one or more biasing devices are configured to elastically and materially deform with the load bearing frame raised above the transport surface, and wherein the biasing force operates to realign the centerline of the support foot with the orientation of the load bearing frame after the load bearing frame is lowered to the transport surface.