Load support shifting vehicle

• US 6,220,377 B1
• Filed: 03/13/2000
• Issued: 04/24/2001
• Est. Priority Date: 04/17/1998
• Status: Expired due to Fees

• Current Assignee: Lansberry Tractor Company Incorporated
• Original Assignee: Lansberry Tractor Company Incorporated
• Inventors: Lansberry, John B.
• Primary Examiner(s): Dickson, Paul N.
• Assistant Examiner(s): Lerner, Avraham H.
• Application Number:
  US09/524,533
• Time in Patent Office: 407 Days
• Field of Search: 180/6.2, 180/6.48, 180/6.62, 180/6.7, 180/9.1, 180/9.23, 180/9.38, 180/9.36, 180/16, 180/209, 180/9.48, 280/6.153, 280/6.15, 280/6.157, 280/43, 280/43.23, 280/43.17, 280/98, 301/128
• US Class Current: 180/9.36
• CPC Class Codes: B60G 11/02 having leaf springs only B60G11/006 takes precedence
• CPC Class Codes: B60G 15/06 and fluid damper
• CPC Class Codes: B60G 2200/30 Rigid axle suspensions
• CPC Class Codes: B60G 2200/345 with an axle suspended by two pivoted rods in "X"-arrangement
• CPC Class Codes: B60G 2200/422 Driving wheels or live axles
• CPC Class Codes: B60G 2202/112 longitudinally arranged
• CPC Class Codes: B60G 2202/12 Wound spring
• CPC Class Codes: B60G 2202/312 The spring being a wound spring
• CPC Class Codes: B60G 9/00 Resilient suspensions of a rigid axle or axle housing for two or more wheels the axle being a part of a set of tandem axles B60G5/00-B60G5/065; with leaf springs B60G11/02-B60G11/08
• CPC Class Codes: B62D 49/0635 using additional ground engaging means, e.g. endless tracks vehicles with endless tracks and either additional or alternative ground wheels B62D55/02, B62D55/04
• CPC Class Codes: B62D 55/02 with tracks and additional ground wheels for multi-purpose tractors B62D49/0635
• CPC Class Codes: E02F 9/02 Travelling-gear, e.g. associated with slewing gears drives therefor E02F9/20; for motor vehicles B60B, B60G; undercarriages for locomotives or railroad cars B61F; track-laying vehicles B62D; for cranes B66C23/18

Abstract

A vehicle with a driving track assembly and a pair of secondary driving and steering assemblies disposed on opposing lateral sides of the track. Each secondary driving and steering structure includes a ground engaging driving and steering structure that is preferably a ground engaging wheel. The driving track assembly includes an endless ground engaging track that drives the vehicle. The flanking driving and steering structures also engage the ground and are rotated to impart force to the vehicle. A steering device is operatively connected to the secondary driving and steering assemblies. the steering device control operation of the secondary driving and steering assemblies so as to affect a vehicle steering operation wherein the ground engaging driving and steering structures are operated to turn said vehicle with respect to said vehicle driving and steering direction. Preferably, the force imparted to the vehicle by one of said ground engaging driving and steering structures is greater than the force imparted to the vehicle by the other of the ground engaging driving and steering structures, thereby causing the vehicle to turn with respect to the vehicle driving and steering direction. Preferably, the steering device control is operable to transfer a substantial portion of the load support from the central driving track assembly during straight ahead movement onto the secondary driving and steering assemblies during turning movements.

Claims

1. A vehicle comprising:

a main frame;

a driving track assembly mounted in supporting relation to said main frame, said driving track assembly including an endless ground engaging track that extends in a vehicle driving direction and a track operating motor constructed and arranged to move said track in driving relation to the ground;

a pair of secondary driving and steering assemblies mounted on opposing lateral sides of said track assembly in flanking relation, each of said secondary driving and steering assemblies comprising;

(i) a vertically movable mounting structure constructed and arranged to be moved in a generally vertical direction relative to said main frame independently of the mounting structure of the other secondary driving and steering assembly,

(ii) a ground engaging structure movable in driving and steering relation to the ground mounted on said mounting structure such that movement of said mounting structure in the generally vertical direction moves said ground engaging structure generally vertically relative to said main frame,

(iii) a secondary operating motor mounted to said mounting structure for generally vertical movement therewith, said secondary operating motor being constructed and arranged to move said ground engaging structure in driving and steering relation to the ground, and

(iv) a power-operated mounting structure mover constructed and arranged to move said mounting structure in the generally vertical direction so as to move said ground engaging structure thereon generally vertically to vary an amount of ground bearing pressure said ground engaging structure applies to the ground;

an engine assembly being constructed and arranged to supply power to each of (1) the track operating motor of the track assembly, (2) the secondary operating motors of said secondary driving and steering assemblies, and (3 said mounting structure movers of said secondary driving and steering assemblies;

an electronic controller operable to control (1) an amount of power supplied from said engine assembly to said track operating motor, (2) an amount of power supplied from said engine assembly to one of said secondary operating motors, (3) an amount of power supplied from said engine assembly to the other of said secondary operating motors, (4) an amount of power supplied from said engine assembly to one of said mounting structure movers, and (5) an amount of power supplied from said engine assembly to the other of said mounting structure movers;

said controller being operable to receive speed signals indicative of a selected speed at which said vehicle is to be driven and responsively control the amount of power supplied from said engine assembly to said track operating motor of said driving track assembly and said secondary operating motors so as to move said vehicle at said selected speed during said vehicle driving operation;

a steering input device communicated to said electronic controller, said steering input device being operable to transmit a steering signal to said controller indicative of a selected angle at which said vehicle is to be turned;

said controller being operable to process said steering input signal and responsively control (1) the respective amounts of power supplied from said engine assembly to the secondary operating motors so as to affect a vehicle steering operation wherein the movement imparted to said vehicle by one of said ground engaging structures is different than the movement imparted to said vehicle by the other of said ground engaging structures to thereby turn said vehicle at said selected angle, and (2) the respective amounts of power supplied from said engine assembly to said mounting structure movers so as to affect a ground pressure varying operation wherein the ground bearing pressure applied by and the load support carried by said ground engaging structures is increased during the vehicle steering operation to thereby decrease the ground bearing pressure applied by and the load support carried by said track assembly.

2. A vehicle according to claim 1, wherein said ground engaging structures are ground engaging rotatable wheels and wherein said controller is constructed and arranged to affect said vehicle steering operation by controlling said secondary operating motors so as to rotate one of said wheels at a different rotational speed than the other of said wheels.

3. A vehicle according to claim 2, wherein said engine assembly comprises an internal combustion engine and a hydraulic pump system operatively connected to said engine, said engine being constructed and arranged to operate said hydraulic pump system to pressurize a contained supply of hydraulic fluid;

said track operating motor being a hydraulic motor fluidly communicated with said hydraulic pump system, said track operating motor being constructed and arranged to move said track so as to affect said vehicle driving operation using pressurized fluid supplied thereto by said hydraulic pump system;

each of said secondary operating motors being a hydraulic motor fluidly communicated with said hydraulic pump system, said secondary operating motors being constructed and arranged to operate said ground engaging structures so as to affect said vehicle steering operation using pressurized fluid supplied thereto by said hydraulic pump system.

4. A vehicle according to claim 3, wherein said hydraulic pump system comprises a positive displacement hydraulic pump and two variable displacement pumps, said positive displacement pumps being fluidly communicated to said track operating motor, a first of said variable displacement pumps being fluidly communicated to a first of said secondary operating motors, and a second of said variable displacement pumps being fluidly communicated to a second of said secondary operating motors,

said controller being operable to control said positive displacement hydraulic pump to control the amount of power supplied from said positive displacement hydraulic pump to said operating motor of said driving track assembly so as to move said vehicle at said selected speed during said vehicle driving operation,

said controller being operable during said vehicle steering operation to individually control said first and second variable displacement hydraulic pumps to control the respective amounts of power supplied from said engine to said secondary operating motors so as to affect said vehicle steering operation by differential speeds imparted to said secondary operating motors.

5. A vehicle according to claim 4, wherein each of said mounting structures comprises an arm having a frame connecting portion pivotally mounted to said frame for pivotal movement about a horizontal transverse axis and a mounting portion on which the ground engaging structure and the secondary operating motor associated therewith is mounted.

6. A vehicle according to claim 5, wherein each of said mounting structure movers comprises a hydraulic piston and cylinder unit connected between an associated arm and said frame constructed and arranged to pivot said arm about the frame connecting portion with said arm maintaining a bottom surface of each wheel in generally parallel relation with respect to the ground.

7. A vehicle according to claim 6, wherein said arm of each mounting structure extends rearwardly generally alongside said track.

8. A vehicle according to claim 1, wherein said engine assembly comprises an internal combustion engine and a hydraulic pump system operatively connected to said engine, said engine being constructed and arranged to operate said hydraulic pump system to pressurize a supply of hydraulic fluid;

each of said mounting structure movers comprising an extendible and retractable hydraulic piston and cylinder unit fluidly communicated to said hydraulic pump system.

9. A vehicle according to claim 8, further comprising a pair of control valves constructed and arranged to fluidly control said piston and cylinder units, each of said control valves being operable to control the amount of fluid flowing from said hydraulic pump system to a respective one of said pistons and cylinder units to thereby control extension and retraction movements thereof,

said electronic controller being operable during said vehicle steering operation responsively to control operation of said control valves to control the respective amounts of fluid flowing from said hydraulic pump system to said pistons and cylinder units so as to operate one or both of said pistons and cylinder units such that the ground bearing pressure applied by the ground engaging force imparting structure imparting the greater force in the vehicle driving direction to the vehicle during the vehicle driving operation is greater than the ground bearing pressure applied by the other ground engaging force imparting structure.

10. A vehicle according to claim 1, wherein said steering input device is a manually turnable steering wheel.

11. A vehicle comprising:

a main frame;

an engine assembly constructed and arranged to generate power;

a driving track assembly supporting said main frame, said driving track assembly including an endless ground engaging track, said driving track assembly being connected to said engine assembly in power supplying relation and being constructed and arranged to move said track in driving engagement with the ground using power from said engine assembly so as to move the vehicle along the ground;

a pair of secondary driving and steering assemblies mounted on opposing lateral sides of said track assembly in flanking relation, said secondary driving and steering assemblies each including a ground engaging driving and steering structure, said ground engaging driving and steering structures and said track assembly being mounted within said vehicle so as to enable said track assembly and said driving and steering structures to be moved generally vertically relative to one another to shift a distribution of vehicle weight between said driving and steering structures and said track;

said secondary driving and steering assemblies being operatively connected to said engine assembly in power supplying relation and being constructed and arranged to move said ground engaging driving and steering structures in driving engagement with the ground using power from said engine assembly so as to assist said track assembly in moving the vehicle along the ground;

power-operated structure operatively connected to said engine assembly in power supplying relation, said power-operated structure being constructed and arranged to affect the generally vertical relative movement between said driving and steering structures and said track assembly using power from said engine assembly to shift said distribution of the vehicle weight;

an electronic controller communicated to said power-operated structure and each of said secondary driving and steering assemblies;

a steering input device communicated to said electronic controller, said steering input device being operable to transmit a steering signal to said controller indicative of a selected angle at which said vehicle is to be steered;

said controller being operable to process said steering input signal and responsively control said secondary driving and steering assemblies and said power-operated structure to affect a vehicle steering operation wherein (1) said power-operated structure affects the generally vertical relative movement between said track assembly and said driving and steering structures so as to shift the distribution of vehicle weight from said track to said driving and steering structures, thereby providing said driving and steering structures with increased traction during movement thereof in driving engagement with the ground, and (2) said secondary driving assemblies move said driving and steering structures in driving engagement with the ground to thereby steer said vehicle at said selected angle.

12. A vehicle according to claim 11, wherein said ground engaging driving structures are ground engaging wheels rotatably mounted on said secondary driving and steering assemblies.

13. A vehicle according to claim 12, wherein said power-operated structure is operatively connected between said wheels and said frame and wherein said track assembly is fixed with respect to said frame, said controller being operable to control said power-operated structure during said vehicle steering operation such that said power-operated moving structure moves said wheels generally downwardly with respect to said track assembly so as to shift the distribution of vehicle weight from said track to said wheels.

14. A vehicle according to claim 13, wherein each of said secondary driving and steering assemblies includes (a) a vertically movable mounting structure having an associated one of said ground engaging wheels rotatably mounted thereto, each mounting structure being constructed and arranged to be moved in a generally vertical direction relative to said main frame independently of the mounting structure of the other secondary driving and steering assembly to provide for the generally vertical movement of said wheels relative to said track assembly, and (b) a wheel operating motor mounted to said mounting structure for generally vertical movement therewith, said wheel operating motors being connected to said engine assembly in power supplying relation and being constructed and arranged to rotate said wheels in driving engagement with the ground using power from said engine assembly.

15. A vehicle according to claim 14, wherein said engine assembly comprises an internal combustion engine and a hydraulic pump system operatively connected to said engine, said engine being constructed and arranged to operate said hydraulic pump system to pressurize a contained supply of hydraulic fluid;

said track assembly including a hydraulic track operating motor fluidly communicated with said hydraulic pump system, said track operating motor being constructed and arranged to move said track in driving engagement with the ground using pressurized fluid supplied thereto by said hydraulic pump system;

each of said wheel operating motors of said secondary driving and steering assemblies being a hydraulic motor fluidly communicated with said hydraulic pump system, said wheel operating motors being constructed and arranged to rotate said wheel in driving engagement with the ground using pressurized fluid supplied thereto by said hydraulic pump system.

16. A vehicle according to claim 15, wherein said hydraulic pump system comprises a positive displacement hydraulic pump and two variable displacement pumps, said positive displacement pumps being fluidly communicated to said track operating motor, a first of said variable displacement pumps being fluidly communicated to a first of said wheel operating motors, and a second of said variable displacement pumps being fluidly communicated to a second of said wheel operating motors,

said controller being operable to control said positive displacement hydraulic pump to control the amount of power supplied from said positive displacement hydraulic pump to said operating motor of said driving track assembly,

said controller being operable during said vehicle steering operation to individually control said first and second variable displacement hydraulic pumps to control the respective amounts of power supplied from said engine to said secondary operating motors so as to affect said vehicle steering operation by differential speeds imparted to said secondary operating motors.

17. A vehicle according to claim 14, wherein each of said mounting structures comprises an arm having a frame connecting portion pivotally mounted to said frame for pivotal movement about a horizontal transverse axis and a mounting portion on which the wheel and the secondary operating motor associated therewith is mounted.

18. A vehicle according to claim 17, wherein said power-operated structure comprises a pair of hydraulic piston and cylinder units, each of said piston and cylinder units being connected between an associated arm and said frame and being constructed and arranged to pivot said arm about the frame connecting portion with said arm maintaining a bottom surface of its associated wheel in generally parallel relation with respect to the ground.

19. A vehicle according to claim 18, wherein said arm of each mounting structure extends rearwardly generally alongside said track.

20. A vehicle according to claim 19, further comprising a pair of control valves constructed and arranged to fluidly control said piston and cylinder units, each of said control valves being operable to control the amount of fluid flowing from said hydraulic pump system to a respective one of said pistons and cylinder units to thereby control extension and retraction movements thereof,

said electronic controller being operable during said vehicle steering operation responsively to control operation of said control valves to control the respective amounts of fluid flowing from said hydraulic pump system to said pistons and cylinder units so as to operate one or both of said pistons and cylinder units to shift the distribution of vehicle weight shifted from said track to said driving and steering structures.

21. A vehicle according to claim 11, wherein said engine assembly comprises an internal combustion engine and a hydraulic pump system operatively connected to said engine, said engine being constructed and arranged to operate said hydraulic pump system to pressurize a contained supply of hydraulic fluid;

said power-operated structure comprising a hydraulic piston and cylinder system constructed and arranged to be extended and retracted to affect the generally vertical relative movement between said driving and steering structures and said track assembly.

22. A vehicle according to claim 21, wherein each of said secondary driving and steering assemblies includes (a) a vertically movable mounting structure having an associated one of said ground engaging wheels rotatably mounted thereto, each mounting structure being constructed and arranged to be moved in a generally vertical direction relative to said main frame independently of the mounting structure of the other secondary driving and steering assembly to provide for the generally vertical movement of said wheels relative to said track assembly, and (b) a wheel operating motor mounted to said mounting structure for generally vertical movement therewith, said wheel operating motors being connected to said engine assembly in power supplying relation and being constructed and arranged to rotate said wheels in driving engagement with the ground using power from said engine assembly.

23. A vehicle according to claim 22, wherein said hydraulic piston and cylinder system comprises a pair of hydraulic piston and cylinder units, each of said piston and cylinder units being connected between an associated arm and said frame and constructed and arranged to pivot said arm about the frame connecting portion with said arm maintaining a bottom surface of its associated wheel in generally parallel relation with respect to the ground.

24. A vehicle according to claim 11, wherein said power-operated structure is constructed and arranged to affect the generally vertical relative movement between said driving and steering structures and said track assembly to an extent sufficient to lift a substantial portion of said track assembly out of ground contact about a longitudinal end portion thereof during vehicle steering operation to thereby distribute the weight of said vehicle over three spaced supporting points including said longitudinal end portion of said track and each of said driving and steering structures, and wherein in response to said steering input signal said controller is operable during said vehicle steering operation to affect the generally vertical relative movement between said driving and steering structures and said track assembly to an extent sufficient to lift said substantial portion of said track assembly out of ground contact about the longitudinal end portion thereof.

25. A vehicle according to claim 24, wherein said longitudinal end portion of said track assembly is a rear end portion of said track assembly.

26. A vehicle according to claim 24, wherein said driving and steering structures are ground engaging wheels rotatably mounted on said secondary driving and steering assemblies.

27. A vehicle according to claim 11, wherein said axle assembly comprises a single axle extending transversely of said frame.

28. A vehicle according to claim 11, wherein said power-operated structure is communicated to a supply of pressurized fluid and is constructed and arranged to affect said generally vertical relative movement between said driving and steering structures and said track assembly using said pressurized fluid.

29. A vehicle according to claim 28, wherein said supply of pressurized fluid is a supply of pressurized hydraulic liquid and wherein said power-operated structure includes hydraulic cylinders operatively connected to said driving and steering structures.

30. A vehicle according to claim 29, wherein said engine assembly includes a hydraulic pump constructed and arranged to pressurize said supply of pressurized liquid.

31. A vehicle according to claim 28, wherein said supply of pressurized fluid is a supply of pressurized air and wherein said power-operated structure includes an air bag operatively connected to said wheels.

32. A vehicle according to claim 11, wherein said driving and steering structures are pivotally mounted to said frame for pivotal steering movement about a pair of generally vertical axes and wherein during said vehicle steering operation said controller is operable to pivot said driving and steering structures about said generally vertical axes so as to cause said driving and steering structures to move in driving engagement with the ground to steer said vehicle at said selected angle.

33. A vehicle according to claim 11, wherein said controller is a programmable logic controller.

34. A vehicle according to claim 11, wherein said steering input device is a remote control.

35. A vehicle according to claim 11, wherein said steering input device is carried on said frame and is manually operated by an occupant of said vehicle.

36. A vehicle according to claim 35, wherein said steering input device comprises a potentiometer operable to generate said steering signal responsive to manual operation of said steering input device.

37. A vehicle according to claim 36, wherein said potentiometer is a rotary potentiometer and wherein said steering input device comprises a steering wheel operatively connected to said rotary potentiometer such that rotational turning of said steering wheel responsively causes said potentiometer to generate said steering input signal.

38. A vehicle according to claim 11, wherein said driving and steering structures are oriented in generally the same direction as said endless track and wherein during said vehicle steering operation said controller is operable to control respective amounts of power flowing from said engine assembly to said secondary driving and steering assemblies such that said driving and steering structures are moved in driving engagement with the ground to impart different forces to the vehicle to thereby turn said vehicle at said selected angle.

39. A vehicle according to claim 38, wherein said driving and steering structures are rotatable wheels and wherein during said vehicle steering operation said controller is operable to control the respective amounts of power flowing from said engine assembly to said secondary driving and steering assemblies such that said wheels are rotated at different speeds in driving engagement with the ground to thereby turn said vehicle at said selected angle.

40. A vehicle according to claim 39, wherein during said vehicle steering operation said controller controls the respective amounts of power flowing from said engine assembly to said secondary driving and steering assemblies such that both of said wheels are rotated in driving engagement with the ground.

41. A vehicle according to claim 39, wherein during said vehicle steering operation said controller controls the respective amounts of power flowing from said engine assembly to said secondary driving and steering assemblies such that only one of said wheels is rotated in driving engagement with the ground and the other of said wheels is allowed to rotate in a freewheeling manner.