United States Patent (19)
`Swisher, Jr. et al.
`
`(54) STEERING AND CUTTER DRUM
`POSITIONING IN A PAVED ROADWAY
`PLANING MACHINE
`75) Inventors: George W. Swisher, Jr., Oklahoma
`City; Donald W. Smith, Edmond;
`Larry W. Teel, Yukon, all of Okla.
`73) Assignee: CMI Corporation, Oklahoma City,
`Okla.
`21 Appl. No.: 66,336
`22) Filed:
`Aug. 14, 1979
`51) Int. C. .............................................. EO1C 23/12
`52 U.S. C. ....................................... 299/1; 180/6.48;
`404/84; 299/39
`(58) Field of Search ................. 299/39, 41, 1; 404/84;
`180/6.48
`
`56
`
`References Cited
`U.S. PATENT DOCUMENTS
`1,995,450 3/935 French ................................... 404/84
`3,272,099
`9/1966 Drake ..................................... 404/84
`3,414,327 12/1968 Austin .............
`299/39 X
`3,771,892 11/1973 Munyon et al.
`... 404/84
`3,807,887
`4/1974 Tate ................
`... 404/84
`3,811,787
`5/1974 Beaty et al..
`... 404/84
`3,846,035 11/1974 Davin ..........
`... 404A84
`3,879,149
`4/1975 Smith et al......
`... 404/72
`4,029,165
`6/1977 Miller et al. ........
`... 404/84 X
`4,140,193
`2/1979 Miller ..........
`... 404/84 X
`4,186,968
`2/1980 Barton .................................... 299/39
`Primary Examiner-Ernest R. Purser
`
`11
`45
`
`4,270,801
`Jun. 2, 1981
`
`Attorney, Agent, or Firm-Dunlap, Codding &
`McCarthy
`ABSTRACT
`57
`A wheeled roadway planing machine in which the
`wheels are pivotable by individual hydraulic rams for
`steering purposes. Each ram is controlled by a rotary,
`blocked-center valve and the valves are simulatane
`ously actuated by a linkage which establishes a pattern
`of off-center displacements of their valve members to
`initiate pivoting of the wheels. The valves are mounted
`on pivotable wheel representation members which
`pivot with the wheels, via cables connecting the repre
`sentation members to support shafts upon which the
`wheels are mounted, to return the valves to their
`blocked-center positions as the wheels pivot to a pattern
`of positions on the chassis of the machine similar to the
`pattern of displacements of the valve members resulting
`from operation of the linkage. A cutting drum is
`mounted on the chassis to form a cut in the roadway,
`such cut having a shape determined by the position of
`the chassis on the support shafts. Such position and the
`depth of each side of the cut are shown by scales,
`mounted on the chassis near each end of the drum and
`near the rear end of the chassis, and pointers mounted
`on rods positioned by the roadway surface. String lines,
`extending between supports pivotally attached to the
`ends of the chassis, provide a grade reference for con
`trol of the position of the chassis relative to the road
`way. Portions of the supports which engage the road
`way are laterally positionable on the chassis for selec
`tion of a grade line.
`
`23 Claims, 18 Drawing Figures
`
`
`
`CATERPILLAR EXHIBIT 1024
`
`Page 1 of 39
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`U.S. Patent
`U.S. Patent
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`Jun. 2, 1981
`Jun. 2, 1981
`
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`4,270,801
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`Jun. 2, 1981
`Jun. 2, 1981
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`Sheet 2 of 9
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`4,270,801
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`U.S. Patent
`U.S. Patent
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`SOL Page 3 of 39 :
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`Jun. 2, 1981
`Jun. 2, 1981
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`U.S. Patent Jun. 2, 1981
`
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`Page 5 of 39
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`U.S. Patent Jun. 2, 1981
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`Sheet 6 of 9
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`U.S. Patent Jun. 2, 1981
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`Sheet 7 of 9
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`U.S. Patent
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`Sheet 9 of 9
`Sheet 9 of 9
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`Jun. 2, 1981
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`

`

`1.
`
`STEERING AND CUTTER DRUM POSITONING
`NA PAVED ROADWAY PLANING MACHINE
`
`5
`
`O
`
`15
`
`SUMMARY OF THE INVENTION
`The present invention relates generally to construc
`tion machines and, more particularly, but not by way of
`limitation, to construction machines having a cutting
`tool for forming a cut in the surface of a paved work
`surface as the machine is driven therealong.
`In the past it has been common practice to repair
`blemishes in paved surfaces, such as potholes, cracks
`and the like in roadways, by the addition of asphalt
`concrete to the surface. This addition has, in some cases,
`taken to form of patching the surface and, in other
`cases, has taken the form of repaving; that is, of overlay
`ing an existing, blemished surface with a new layer of
`asphalt. It has been found that better results of repair
`can be achieved, in either case, by preparing the surface
`for the addition of asphalt by planing away a portion of
`20
`the surface prior to the addition of new asphalt. A ma
`chine for planing such surfaces has been disclosed in
`U.S. Pat. No. 4,139,318, issued Feb. 13, 1979 to Jakob, et
`al., and assigned to the assignee of the present invention,
`A number of problems are encountered in the use of
`25
`machines of this type and these problems vary with the
`circumstances under which machines are used. A very
`common problem occurs when a machine is used to
`plane a roadway or the like wherein are located rela
`tively small obstacles, such as manholes, which must be
`30
`avoided in the planing operation. It is desirable that the
`machine be large in order that obstacle-free areas can be
`planed as rapidly as possible and this size has, in the
`past, resulted in difficulty in the maneuvering of ma
`chines about such small obstacles. While linkages, for
`35
`connecting and turning wheel and track assemblies for
`turning a machine, are known which will provide vari
`ous types of machines with a reasonable degree of ma
`neuverability, such linkages are generally unsuited for a
`planing machine because of the weight and size the
`planing machine must have to carry out the planing
`operation. On the other hand, where the machine is
`guided by servomechanisms, known servomechanisms
`have not, in the past, been able to provide the machine
`with the maneuverability required to avoid small obsta
`45
`cles. For example, a known servomechanism includes a
`master-slave system wherein one track assembly sup
`porting a machine, the master track, is positioned by
`opening a valve to a ram which turns the master track
`assembly and providing a means for repositioning the
`case of the valve to close the valve as the master track
`assembly reaches a selected position and a similar valve
`and repositioning means for causing the slave track
`assembly to follow the master track assembly. While
`such a servomechanism is capable of steering a heavy
`machine, such as a planing machine, the turning of track
`assemblies by equal amounts does not provide a ma
`chine with the degree of maneuverability required in
`many of the applications of a machine used to plane a
`paved surface.
`60
`In the present invention, this problem is solved via a
`linkage which is connected between representations of
`the transporters rather than between the transporters
`themselves. The linkage is utilized to open a plurality of
`valves mounted on the representation members and a
`65
`feedback assembly, connecting the transporters to the
`representations thereof is utilzed to cause the represen
`tations to pivot with the transporters to close the valves
`
`4,270,801
`2
`as the transporters assume desired positions for steering
`the machine.
`It is common in machines of this type to mount the
`tool used to form a cut in the work surface on the chas
`sis of the machine and to control the position of the tool
`relative to the work surface by positioning the chassis of
`the machine relative thereto. Problems arise both in the
`control of the position of the chassis during a planing
`operation and in the initial positioning thereof at the
`commencement of a planing operation. In general, ma
`chines of this type are provided with some means for
`establishing a reference for the chassis with respect to
`the work surface and a control circuit which senses the
`position of the reference relative to the chassis of the
`machine and provides control signals for extablishing
`the attitude of the chassis from the reference. A com
`mon reference is the average grade of an interval of the
`work surface containing the machine and various types
`of grade averaging assemblies have been developed to
`permit such an average grade to be used as a reference.
`In the past, a problem which has arisen in many cases is
`that portions of the work surface engaged by a grade
`averaging assembly have been severely blemished with
`the result that overcontrol of the chassis of the machine
`has been affected to leave a cut surface with undesirable
`undulations. The present invention includes a novel
`stringline support assembly, attachable to the ends of
`the construction machine for supporting the ends of a
`stringline utilized for averaging control, which permits
`a selection of a wide range of lines, fore and aft of the
`chassis of the machine, along which the average grade
`of the work surface is to be measured. For this purpose,
`the stringline support assembly has a pivot arm which is
`attached to the end of the chassis and a walking beam
`which is attached to the pivot arm via a walking beam
`support arm which is slidable laterally on the pivot arm.
`Where control of the attitude of the chassis is accom
`plished during a planing operation via automatic con
`trols, such controls must be set at the commencement of
`the planing operation and it is desirable that the controls
`be set as quickly as is feasible. In the past, it has been
`found that such setting can be facilited by mounting
`scales on portions of the chassis adjacent the transport
`ers which move the machine along the work surface
`and to support pointers by the transporters to indicate
`the positions of the transporters with respect to the
`chassis. The pointers are zeroed when the cutting tool
`grazingly contacts the work surface so that the attitude
`of the chassis can be established for a desired depth of
`cut by means of manually raising and lowering the chas
`sis on the transporters while observing the position of
`the pointers on the scales. While such scales and point
`ers have been found useful for establishing the position
`of the chassis of the machine when automatic control of
`the attitude of the chassis is to be carried out, a problem
`has arisen where, as is often the case, the attitude of the
`machine is to be controlled manually. For example, a
`common type of contract for a planing operation will
`call for a particular depth of the work surface to be
`removed. Often, such removal is most conveniently
`carried out by manually positioning the chassis of the
`machine during the cutting oeration provided that the
`position of the cutting tool is known with respect to the
`work surface. The present invention provides the ease
`of setting of automatic controls which has heretofore
`been provided by mounting pointers on the transporters
`of the machine and further permits for manual control
`
`50
`
`55
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`Page 11 of 39
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`5
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`4,270.80
`3.
`4.
`of the attitude of the chassis by utilizing pointers which
`F.G. 13 is another schematic representation of the
`linkage assembly of the steering assembly.
`are positioned by uncut positions of the work surface
`FIG. E4 is a schematic representation of the chassis of
`mounted on the chassis of the machine. By this means,
`the construction machine showing a preferred mode of
`the depth of the cut, at each side thereof, is measured
`steering thereof.
`directly and such information is visually displayed to
`the operator of the machine. A third pointer which is
`supported by one of the transporters of the machine of
`the present invention and which rides in the cut made
`support assemblies.
`by the cutting tool, overdays a third scale on the chassis
`FIG. 17 is a perspective view of the first indicator
`of the machine so that the three scales and three point
`subassembly of the indicator assembly.
`ers can be utilized, at the commencement of a planing
`FIG. S is a perspective view of the third indicator
`operation wherein automatic control of the attitude of
`subassembly of the indicator assembly.
`the chassis of the machine is to be carried out, to permit
`rapid positioning of the chassis for setting the automatic
`DESCRIPTION OF THE PREFERRED
`controls.
`EMBODMENT
`An object of the present invention is to provide a
`Referring now to the drawings in general and to
`planing machine with a high degree of maneuverability
`FGS. 1, 2, and 3 in particular, shown therein and desig
`while avoiding the use of heavy linkages between trans
`nated by the general reference numeral 30 is a construc
`porters which support the machine on a work surface
`20 tion machine constructed in accordance with the pres
`and move the machine therealong.
`ent invention. In general, the construction machine 30
`Another object of the present invention is to provide
`comprises: a chassis 32, constructed above a central
`a plaining machine having the capability of grade aver
`frame 34 and having a forward end 36, a rear end 38, a
`aging control utilizing a selection of hines longitudina
`first side 4 and an opposing second side 42 (FG.3), the
`of the chasis of the machine for establishing the control
`sides 4,42 extending generally between the ends 36,38
`grade.
`of the chassis 32; a plurality of transporters 44 and 46
`Yet a further object of the present invention is to
`(FIG 1), and 48 and 50 (FIG. 2) which support the
`provide a planing machine with a scale assembly which
`chasis 32 above a work surface 52 and, as will be de
`permits gauging of the cut made by the machine in a
`scribed below, move the machine 30 thereakong; a cut
`work surface for manual control of the position of the
`ting tool 54 (indicated in dashed himes in FGS. 1, 2 and
`chassis of the machine relative to the work surface, at
`3) disposed on a media portion of the chassis 32 for
`such times that is desirable to employ manual comtrol,
`forming a cut 56 in the work surface 52 as the machine
`while further permitting the rapid positioning of the
`30 is moved thereakong; a first grade averaging assen
`by 5 (F.G. , 3) disposed generally adjacent the first
`to automatically control the cut made in the work sar
`side 40 of the chassis 32 and having a first forward
`35
`face.
`stringine support apparatus 6 pivotally connected to
`Other objects, features and advantages of the present
`the forward end 36 of the chassis 32 and a first rear
`invention will become apparent from the following
`stringine support apparatus 2 pivotally connected to
`detailed specification when read inconjunction with the
`the rear end 3 of the chassis 32; a second grade averag
`attached drawings and appended claims.
`ing assembly 64 (FGS. 2, 3) disposed generally adja
`cent the second side 42 of the chasis 32 and having a
`BREF DESCRIPTION OF THE DRAWINGS
`second forward stringine support apparatus 6 pivot
`FG-1 is a first side dievational view of the construc
`ally connected to the forward end 36 of the chassis 32
`tion machiae of the present invention
`and a second rear stringine support apparatas a pivot
`FIG. 2 is a second side elevational view of the con
`ally connected to the reagend 3 of the chasis 32; and
`struction inachine.
`an indicator assembly comprised of a first indicator
`FG. 3 is a plan wicw of the construction machine.
`sub-assembly 70 (F.G. 1) disposed on the first side 40 of
`F.G. is an devational view of one of the transport
`the chassis 32 near a first end 72 of the cutting tool 54,
`a second indicator sub-assembly 74(FG.2) disposed on
`FG 3.
`the second side 42 of the chassis 32 near a second cad 76
`50
`FG.5is a plan view of a portion of the central frane
`of the cutting too. 54 and a third indicator sub-assembly
`of the construction machine showing the rans and hy
`78 (FIG. 1) disposed generally on the first side 40 of the
`draulic circuit utilized to pivot the transporters for
`chassis 32 near the rear end 3 thereof. As shown in
`stocring.
`FGS. 1 and 2, two of the transporters, 44 and 46, are
`F.G. 6 is a top view of the steering assembly of the
`disposed on the first side 40 of the chassis 32, the trans
`55
`construction machine.
`porter 44 near the forward end 36 of the chassis 32 and
`FG. 7 is a botton view of the steering assembly.
`the transporter 46 near the rear end 38 of the chassis 32,
`F.G. is a partial cross-section of the steering assembly
`and two of the transporters, 48 and 5, are disposed on
`taken along line S-S of F.G. 6.
`the second side 42 of the chassis 32, the transporter 48
`FG.9 is a cross-section of a tenary link mount in the O
`near the forward end 36 of the chassis 32 and the trans
`steering assembly taken along the line 9-9 of FIG. 6.
`porter 50 near the near end 38 of the chassis 32, as wit:
`F.G. 1 is a bottom view of one of the transporter
`be discussed below, the transporters 44-50 are arranged
`representation members showing the mounting of one
`in a rectangular array on the chassis 32. By means
`of the blocked-center waves thereon.
`which will be presently discussed, the transporters
`F.G. 1 is a cross-section taken along line 11-11 of
`44-50 are pivotally mounted on the chassis for pivota
`65
`F.G. ).
`tion about axes 80, 82 (FIG. , 84 and 36 (FIG. 2)
`FIG. 2 is a schematic representation of the linkage
`respectively, the axes 80-86 extending substantially per
`assembly of the steering assembly.
`peradicularly to the work surface 52, aid each trans
`
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`4,270,801
`6
`5
`porter is driven in rolling engagement with the work
`first side 40 and the rear end 38 thereof. Similar rams
`surface 52 (one transporter 46 engages portions of the
`(not shown) are provided for the transporters 44, 48 and
`50 so that the chassis 32 can be positioned with respect
`work surface 52 within the cut 56) so that the machine
`to the work surface 52, both in attitude and height, via
`30 can be moved along the work surface 52 and such
`movement can be guided, or steered, by concertedly
`the rams in the mounting wells 90, 100, 102 and 104. A
`pivoting the transporters 44–50 such that the lines of
`hydraulic control circuit (not shown), supplied with
`hydraulic pressure from one of the pumps (not shown)
`rolling contact thereof with the work surface 52 are
`formed into a preselected pattern with respect to the
`driven by the prime mover (not shown) is utilized for
`chassis 32. Similarly, the transporters 44-50 are axially
`positioning the chassis 32 and the control circuit can be
`manually adjusted to position the chassis 32 or can be
`positionable on the chassis 32, along the axes 80-86 so
`adjusted via hydraulic sensors to automatically position
`that the chassis 32 can be positioned in height and atti
`the chassis in accordance with a preselected reference.
`tude relative to the work surface 52 and such position
`ing is utilized to position the cutting tool 54 to set the
`As will be described below, the grade averaging assem
`profile of the cut 56. In the preferred embodiment of the
`blies 58, 64 provide one such reference. The hydraulic
`machine 30, motive power for the operation of compo
`control circuit is conventional and need not be de
`nents of the machine 30 is provided by pressurized hy
`scribed for purposes of the present disclosure.
`A flange 110 is formed about the lower end of the
`draulic fluid, as will be discussed below, and the ma
`cylindrical portion 94 of the mounting well 90 and a
`chine 30 is provided with a prime mover (not shown),
`cylindrical sleeve 112, having an axis coinciding with
`such as a deisel engine, and a plurality of hydraulic
`the axis 82 and having a flange 114 extending about a
`pumps (not shown-one pump 88 has been schemati
`20
`cally indicated in FIG. 5) to supply the pressurized
`medial portion thereof, is secured to the lower end of
`the mounting well 90 via bolts (not shown) passing
`hydraulic fluid.
`through the flanges 110 and 114. A portion of the sleeve
`The mounting of the transporters 44–50 on the chassis
`112 extends into the mounting well 90 for securing a
`32 has been shown in FIG. 4 for the transporter 46
`25
`square-to-round adapter 116, utilized in pivoting the
`disposed on the first side 40 of the chassis 32 near of rear
`transporter 46 about the axis 82, and the lower end of
`end 38 thereof. With exceptions to be noted below, the
`transporters 44, 48 and 50 are indentical to the trans
`the mounting well 90 s will now be described. The
`square-to-round adapter 116 has a cylindrical portion
`porter 46 and are mounted in an indentical manner so
`... that it will not be necessary for purposes of the present
`118 which mates with the inner periphery of the sleeve
`112 so that the square-to-round adapter 116 is supported
`disclosure to provide a detailed description of each of
`30
`the transporters 44-50 and the manner of mounting
`for pivotation about the axis 82 by the sleeve 112. An
`exterior flange 120 at the upper end of the cylindrical
`thereof on the chassis 32. Rather, it will suffice to de
`portion 118 engages the upper end of the sleeve 112 and
`scribe the transporter 46 and the mounting thereof on
`a circular feedback sheave 122, secured to the lower
`the chassis 32 and to note the differences between the
`transporter 46 and the transporters 44, 48 and 50 and the
`end of the square-to-round adapter 116 via bolts (not
`difference in the mounting between transporter 46 and
`shown), engages the lower end of the sleeve 112 to
`transporters 44, 48 and 50.
`axially position the square-to-round adapter 116 at the
`lower end of the mounting well 90 while permitting the
`For the purpose of mounting the transporter 46b on
`square-to-round adapter 116 to pivot with respect
`the chassis 32, the chassis 32 includes a mounting well
`thereto. (The feedback sheave 122 is a portion of the
`90 which is secured to the chassis 32 in any convenient
`guidance system of the machine 30 and the structure
`manner as, for example, via a beam 92 welded to the
`thereof will be described in more detail below.) Interior
`central frame 34 of the chassis 32. The mounting well 90
`flanges 124,126 are formed on the interior periphery of
`has a cylindrical portion 94.having an axis coinciding
`with the axis 82 of pivotatign of the transporter 46 and
`the square-to-round adapter 116, at the upper and lower
`the upper end of the mounting well 90 is closed by a cap
`ends thereof respectively, and square apertures 128, 130
`45
`respectively, centered on the axis 82 and aligned such
`96 secured in any convenient manner to the cylindrical
`that the sides of aperture 130 are parallel to the sides of
`portion 94. An aperture 98 is formed in the cap 96 of the
`aperture 128, are formed through the flanges 124, 126
`mounting well 90 for a purpose to be described below.
`respectively.
`Mounting wells 100,102 and 104 are similarly provided
`The transporter 46 comprises a support shaft 132
`for the transporters 44, 48 and 50 (FIGS. 1, 2 and 3) and
`which is formed of square tubing to mate with the aper
`the mounting wells 100, 102 and 104 differ from the
`tures 128, 130 in the square-to-round adapter 116. The
`mounting well 90 in that no apertures, such as the aper
`support shaft 132 passes through the square-to-round
`ture 98, are formed in the caps of the mounting wells
`adapter 116 so that the support shaft 132 has an upper
`100, 102 and 104. The mounting wells 90, 100-104 are
`disposed in a rectangular array in the preferred embodi
`portion disposed in the mounting well 90 and a lower
`55
`portion which extends out of the lower end of the
`ment and, as will be clear from the description of the
`mounting of transporter 46 in mounting well 90, such
`mounting well 90. An annulus 134 (see also FIG. 18) is
`description applying to the mounting of transporters 44,
`welded to the upper end of the support shaft 132 and a
`second square-to-round adapter 136, comprised of a
`48 and 50 in mounting wells 100-104, such arrangement
`circular plate having a square aperture formed through
`of the mounting wells 90, 100-104 positions the trans
`porters 44-50 in a rectangular array.
`the center thereof, is welded to the support shaft 132
`near the upper end thereof, the upper square-to-round
`Referring again to FIG. 4, a lug 1.06 is mounted on the
`adapter 136 slidingly engaging the inner periphery of
`inner surface of the cap 96 and the lug 106 is connected
`the cylindrical portion 94 of the mounting well 90 so as
`to the piston rod of a hydraulic ram 108 which extends
`to coact with the square-to-round adapter 116 to center
`along the axis 82 of pivotation of the transporter 46. The
`65
`the support shaft 132 about the axis 82. (The transport
`body of the ram 108 is secured to the transporter 46 so
`that the transporter 46 can be moved axially along the
`ers 44, 48 and 50 differ from the transporter 46 in that no
`annulus, such as the annulus 134, is included in the trans
`axis 82 to raise and lower portions of the chassis near the
`
`50
`
`Page 13 of 39
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`

`4,270,801
`7
`8
`porter 44, 48 and 50. The purpose of the annulus 134
`move on a straight line path extending forwardly of the
`will be discussed below.)
`machine 30 at such times that the ground engagement
`An inverted L-shaped support bracket 138 is welded
`members, such as the ground engagement member 140,
`to the lower end of the support shaft 132 to support a
`of the transporters 44-50 roll along reference lines,
`ground engagement member 140 on the lower end of 5
`indicated by numerals 176, 178, 180 and 182 for the
`the support shaft 132 for rolling engagement with the
`transporters 44, 46, 48 and 50 respectively, extending
`work surface 52. In a preferred embodiment of the
`longitudinally of the chassis 32 and directed forwardly
`present invention, the ground engagement member 140
`of the chassis 32. (In FIG. 5, the forward end 36 of the
`is a wheel rotationally driven about an axis 142, trans
`chassis 32 is diposed above the portions of the frame 34
`verse to the axis 82 of the transporter 46, via a hydraulic 10
`shown therein). Steering of the machine 30 is accom
`motor 144 mounted on the bracket 138 and supplied
`plished by concertedly pivoting the transporters 44-50
`with pressurized hydraulic fluid from one of the pumps
`such that the lines along which the ground engagement
`(not shown) driven by the prime mover (not shown).
`members of the transporters 44-50 roll are displaced
`However, as will be clear to those skilled in the art, the
`from the lines 176-82 in a coherent manner. For pur
`present invention is not limited to a wheeled machine; 15
`poses of describing these pivotations, the directions of
`rather, the present invention encompasses tracked ma
`pivotation of the transporters 44-50 are defined with
`chines and the term "rolling engagement' as used
`respect to the chassis and the definition of a direction of
`herein means that portions of the groun engagement
`pivotation for one transporter 44-50 extends to all trans
`member 140 engaging the work surface 52 are instanta
`porters 44-50. That is, where a first direction of pivota
`neously at rest.
`20
`tion is chosen for one transporter 44-50 to be counter
`For pivoting the transporter 46 about the axis 82, the
`clockwise pivotation of such transporter 44-50 on the
`transporter 46 includes a lever arm 146 (see also FIG.
`chassis 32 as viewed from above the chassis 32, a coun
`5), which can be conveniently welded to the lower side
`terclockwise pivotation of any transporter 44-50 on the
`of the feedback sheave 122. The lever arm 146 extends
`chassis as viewed from above the chassis 32 will also be
`transversely to the axis 82 and has an aperture (not 25
`pivotation in a first pivotation direction. With this con
`shown) near the extensive end thereof to permit the
`vention, first and second directions of pivotation of the
`lever arm 146 to be pivotally connected to the piston
`transporters 44-50 designated 184 and 186 respectively,
`rod of a hydraulic ram 148. As is more clearly shown in
`have been shown in FIG. 5 for purposes of describing
`FIG. 5, the ram 148 extends along the exterior of the
`the steering of the machine 30. A similar convention is
`central 34 of the chassis 32 and the body thereof is 30
`utilized herein to describe the sense of hydraulic pres
`pivotally connected to a vertical brace 150 welded to
`sure supplied to the hydraulic rams 148, 164, 166 and
`the central framework 34 so that the transporter 46 can
`168. (As used herein, the term "sense of hydraulic pres
`be pivoted about the axis 82 by extending and retracting
`sure" denotes the supply of pressurized hydraulic fluid
`the piston rod of the ram 148.
`to one of two ports of a ram while draining hydraulic
`With the exceptions noted above, the transporters 44, 35
`fluid from the other of the two ports so that one sense of
`48 and 50 are constructed and are connected to the
`hydraulic pressure will extend the piston of the ram
`chassis 32 in the same manner that the transporter 46 is
`while an opposite sense of hydraulic pressure will re
`connected to the chassis 32. In particular, as shown in
`tract the piston of the ram.) That is, where hydraulic
`FIG. 5, feedback sheaves 152, 154 and 156 are provided
`pressure is supplied to the ports of a ram to turn the
`for the transporters 44, 48 and 50 respectively, and lever 40
`transporter in correspondence therewith in the first
`arms 158, 160 and 162 are welded to feedback sheaves
`direction 184, the sense of hydraulic pressure supplied
`152, 154 and 156, respectively. Hydraulic rams 164, 166
`to such ram will be referred to herein as a first sense of
`and 168, connected between the lever arms 158, 160 and
`hydraulic pressure; where hydraulic pressure is sup
`162, respectively, and braces 170, 172 and 174, respec
`plied to the ports of a ram to turn the transporter in
`tively, on the chassis 32 are utilized to pivot the trans- 45
`correspondence therewith in a second direction 186, the
`porters 44, 48 and 50 respectively about the axes 80, 84
`sense of hydraulic pressure supplied to such ram will be
`and 86, respectively, in the same manner that the ram
`referred to herein as a second sense of hydraulic pres
`148 pivots the transporter 46 about the axis 82. For
`sure. Thus, with the first and second directions of pivot
`purposes of describing the guidance system of the ma
`ation 184, 186 defined as shown in FIG. 5, a first sense
`chine 30, the rams 148, 164 and 168 connected to the 50
`of hydraulic pressure for the rams 148 and 164 will be a
`lever arms 146, 158, 160 and 162, respectively, of trans
`sense of hydraulic pressure supplied so as to extend the
`porters 46, 44, 48 and 50, respectively, will be referred
`piston rods of the rams 148 and 164 while a first sense of
`to herein as corresponding to such transporters 46, 44,
`hydraulic pressure for the rams 166 and 168 will retract
`48 and 50.
`the piston rods thereof.
`As will be clear to those skilled in the art, steering of 55
`Referring once again to FIG. 1, the construction
`the construction machine 30 can be accomplished via
`machine 30 is provided with an operator's cabin 188,
`the positioning of the totality of the transporters 44-50
`mounted high on the first side 40 of the chassis 32 and in
`about the axes 80-86 respectively. That is, the relative
`a medial portion thereof with respect to the length of
`orientations of the transporters 44-50 are determinative
`the chassis 32. A conventional steering mechanism 190
`of