Abstract:
The present invention includes a load bearing mid-section weldment connected between a pair of telescoping incremental stepper assemblies to create a clearance space beneath the load bearing mid-section weldment and the telescoping incremental stepper assemblies thereby allowing the heavy machinery substructure to move and work over ground obstructions. Each telescoping incremental stepper assembly includes a bridge weldment connected between a pair of telescoping legs. Each telescoping leg includes at least one pair of nested leg sections and a linear actuator to adjust the length of the telescoping leg. Each telescoping leg further includes a fixed foot and an articulating pad assembly. The articulating pad assembly is configured to alternatively lift the foot and itself from the ground and moves the foot and itself relative to one another to move the heavy machinery substructure in incremental steps over the ground and any obstructions. The length of each telescoping leg is user adjustable and defines the height of the clearance space. The width of the load bearing mid-section defines the width of the clearance space. The length of the incremental stepper assembly defines the depth of the clearance space.

Description:
CROSS-REFERENCES TO RELATED APPLICATIONS 
     Not Applicable 
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not Applicable 
     NAMES OF PARTIES TO A JOINT RESEARCH AGREEMENT 
     Not Applicable 
     REFERENCE TO A SEQUENCE LISTING 
     Not Applicable 
     BACKGROUND OF INVENTION 
     1. Field of Invention 
     The present invention relates generally to substructures capable of supporting heavy machinery, such as a rotary drilling rig, to traverse and work over ground obstructions. More particularly, the present invention relates to a substructure having at least a pair of ground engaging feet and a pair of telescoping legs and including a pair of articulating pad assemblies that alternatively lift the feet and the pads from the ground and move the feet and pads relative to one another to move the substructure over ground obstructions such as well heads. 
     2. Background of Invention 
     Heavy machinery has been supported by a variety of substructures capable of moving over the ground. An early example is the self-propelled platform vehicle disclosed in U.S. Pat. No. 3,754,790 issued to Mappin et al (Mappin &#39;790). The vehicle is described as having two ground engaging sole plates carrying hydraulic rams for raising the vehicle from the ground to enable the vehicle to be advanced by a pair of advancing rams. The vehicle is incrementally walked over the ground by alternating ground contact of the sole plates. A significant disadvantage to the self-propelled vehicle of Mappin &#39;790 is the lack of a means to walk over ground obstructions. 
     Another example of an alternating ground contact walker is disclosed in U.S. Pat. No. 3,734,220 issued to Smith (Smith &#39;220). The deck or work platform of Smith &#39;220 includes eight legs and a horizontal sliding frame wherein four legs are fixed at the corners of the deck platform and the other four legs are fixed to the corners of the horizontal sliding frame. The deck platform moves over the ground by alternating ground contact of the two sets of legs. While the legs are extensible, it is achieved through a screw jack mechanism capable of biding and failure if not properly maintained. Other disadvantages to the self-propelled platform of Smith &#39;220 are the number of legs in alternating contact with the ground; the use of a horizontal sliding frame at the upper end of the legs; and the lack of a means to breakdown, transport and reassemble the self-propelled platform at desired locations. 
     The walking tree harvesting machine of U.S. Pat. No. 3,804,137 issued to McColl (McColl &#39;137) addresses the lack of breakdown, transportability and reassembly of the incremental walking substructure of Smith &#39;220. However, the McColl &#39;137 walking tree harvesting machine requires the use of a horizontal sliding frame similar to that of Smith &#39;220 and further lacks the ability to sustain prolonged elevated movement and operations. The incremental walking substructure disclosed in U.S. Pat. No. 5,921,336 issued to Reed (Reed &#39;336) overcomes the disadvantages of the horizontal sliding frame of Smith &#39;220 and McColl &#39;137 by alternating ground contact between the substructure and a plurality of jack pads wherein each jack pad includes an upper section which is in roller contact with a rail attached to a lower section, thereby eliminating the need for a horizontal sliding frame. However, the walking substructure device described in Reed &#39;336 has no means to sustain prolonged elevated movement and operations of the substructure above ground obstructions. 
     BRIEF SUMMARY OF THE INVENTION 
     The present invention is directed at a heavy machinery substructure capable of traversing and working over obstructions projecting away from the ground. In its most basic embodiment, the present invention includes a load bearing mid-section weldment connected between a pair of telescoping incremental stepper assemblies to create a clearance space beneath the load bearing mid-section weldment and the telescoping incremental stepper assemblies thereby allowing the heavy machinery substructure to move and work over ground obstructions. Each telescoping incremental stepper assembly includes a bridge weldment connected between a pair of telescoping legs. Each telescoping leg includes at least one pair of nested leg sections and a linear actuator to adjust the length of the telescoping leg. Each telescoping leg further includes a fixed foot and an articulating pad assembly. The articulating pad assembly is configured to alternatively lift the foot and itself from the ground and moves the foot and itself relative to one another to move the heavy machinery substructure in incremental steps over the ground and any obstructions. The length of each telescoping leg is user adjustable and defines the height of the clearance space. The width of the load bearing mid-section defines the width of the clearance space. The length of the incremental stepper assembly defines the depth of the clearance space. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         FIG. 1  is a isometric view of an heavy machinery substructure with a drilling package. 
         FIG. 2  is an isometric view of an heavy machinery substructure depicting incremental stepper assemblies connected to the mid-section weldment.  FIG. 2  further depicts the bridge weldments connected to the telescoping legs, which are in an extended position. One embodiment of the articulating pad assemblies is depicted in  FIG. 2  wherein the braces and main frame weldments are parallel to a longitudinal axis of the mid-section weldment. 
         FIG. 3  is an end view of an heavy machinery substructure depicting bridge weldments, mid-section weldment and telescoping legs in an extended position.  FIG. 3  further depicts the articulating pad assemblies in ground contact and the telescoping legs off the ground. 
         FIG. 3   a  is an end view of an alternative embodiment of the heavy machinery substructure depicting bridge weldments, mid-section weldment and telescoping legs in an extended position.  FIG. 3   a  further depicts the articulating pad assemblies within the telescoping legs. 
         FIG. 4  is an plan view of an heavy machinery substructure depicting an incremental stepper assembly with the telescoping legs extended and the articulating pad assemblies in ground contact. 
         FIG. 5  is a plan view of an extended telescoping leg depicting top, middle and bottom leg sections, and linear actuator. 
         FIG. 5   a  is a cross section of an extended telescopic leg depicting top, middle and bottom leg sections, upper pinning assembly, and lower pinning assembly.  FIG. 5   a  further depicts the locking pins of the upper and lower pinning assemblies engaged and passing through upper, middle and lower locking apertures formed in the top, middle and bottom leg sections. 
         FIG. 5   b  is another cross section of an extended telescopic leg depicting top, middle and bottom leg sections, upper pinning assembly, and lower pinning assembly.  FIG. 5   b  further depicts the locking pins of the upper and lower pinning assemblies engaged and passing through upper, middle and lower locking apertures formed in the top, middle and bottom leg sections. 
         FIG. 6  is another plan view of an extended telescoping leg depicting top, middle and bottom leg sections, and linear actuator. 
         FIG. 6   a  is a cross section of an extended telescoping leg assembly depicting top, middle and bottom leg sections, upper ratchet system, and lower ratchet system. 
         FIG. 7  is an isometric view of an articulating pad assembly depicting brace, main frame weldment, main frame assembly, pad assembly, indexer assembly and steering assembly. 
         FIG. 8  is an end view of an articulating pad assembly depicting main frame assembly, pad assembly, indexer assembly and steering assembly. 
         FIG. 8   a  is a cross sectional view of an articulating pad assembly depicting main frame assembly, pad assembly, and steering assembly. 
         FIG. 9  is an block diagram of an embodiment of a control and power means. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The present invention is a heavy machinery substructure  10  to traverse and position heavy machinery  10  over ground obstructions. The heavy machinery  10  can be a drilling rig as shown in  FIG. 1 , work over rig or other heavy machinery requiring stable, yet moveable substructure. The heavy machinery substructure  10  includes a mid-section weldment  30  connected between a pair of incremental stepper assemblies  20 . The mid-section weldment  30  and incremental stepper assemblies  20  are constructed of durable materials with sufficient strength to support the installed heavy machinery  10  while being moved or working over ground obstructions. The connections between a mid-section weldment  30  and incremental stepper assemblies  20  can be permanent or, preferably, removable. 
     Each incremental stepper assembly  20  includes a bridge weldment  21  connected to two telescoping legs  23 . In a preferred embodiment, as shown in  FIG. 2 , the telescoping legs  23  are connected to the ends of the bridge weldment  21 , such that the telescoping legs  23  and the bridge weldment  21  are in line with each other. It is contemplated that the connections between a bridge weldment  21  and a telescoping leg  23  can be permanent or, preferably, removable. 
     Each telescoping leg  23  includes at least one telescopic joint  24 . In a preferred embodiment, as shown in  FIG. 2 , each telescoping leg  23  has two telescopic joints  24  formed by nesting an upper portion of a bottom leg section  233  within a lower portion of a middle leg section  232 , and nesting an upper portion of the middle leg section  232  in the lower portion of a top leg section  231 , thereby giving the telescopic leg  23  a downward tiering form. In another embodiment, each telescopic leg  23  has at least one telescopic joint  24  formed by nesting a lower portion of a leg section within an upper portion of a lower leg section, thereby giving the telescopic leg  23  an upward tiering form. Each section of a telescopic leg  23  can include a solid wall, open frame or combination thereof.  FIG. 5  depicts an open frame telescopic leg  23 . Furthermore, the cross section of a telescopic leg  23  can be polygonal, circular, arcuate or a combination thereof. 
     Extension or retraction of a telescopic leg  23  is achieved by connecting at least one linear actuator  239  between two leg sections, adjacent or otherwise. One end of the linear actuator  239  is fixed to the bottom leg section  233  and the other end of the linear actuator  239  is fixed to the top leg section  231 . In other words, extension or retraction of a telescopic leg  23 , partial or otherwise, requires at least one linear actuator  239  to be fixed to different sections of a telescopic leg  23  and across at least one telescopic joint  24 . In a preferred embodiment, a linear actuator  239  is connected between a top leg section  231  and a bottom leg section  233  thereby allowing full or partial extension or retraction of a telescopic leg  23 . See  FIG. 5 . It is further contemplated that a linear actuator  239  can be an electro-mechanical linear actuator, a hydraulic linear actuator, pneumatic linear actuator, telescoping linear actuator or any combination thereof. In a preferred embodiment, a telescoping linear actuator is used to extend or retract a telescopic leg  23 . It is further contemplated that the linear actuator  239  may be positioned inside or outside the telescopic leg  23 .  FIG. 5  depicts the linear actuator  239  positioned inside the telescopic leg  23 . 
     A foot  234  is fixed to the lower region of a telescoping leg  23  for making contact with the ground. At least one articulating pad assembly  29  is connected to a telescoping leg  23  by a main frame weldment  27 . In a preferred embodiment, linear actuator  239  is fixed at one end to a shoulder  2391  which is in turn fixed to an upper portion of top leg section  231 ; and the other end is fixed to foot  234 . See  FIG. 3   a . In a preferred embodiment, a main frame weldment  27  is connected to a lower portion of a telescopic leg. See  FIGS. 2 ,  3 ,  4  &amp;  7 . In a preferred embodiment, a brace  25  is connected to a telescopic leg  23  above the main frame weldment  27 . See  FIGS. 2 ,  3 ,  4  &amp;  7 . In another embodiment, an articulating pad assembly  29  is positioned within a telescopic leg  23  and foot  234  is about the periphery of articulating pad assembly  29 . See  FIG. 3   a . In such an embodiment, brace  25  is integrated into telescopic leg  23  to support articulating pad assembly  29 . In either embodiment, connections between an articulating pad assembly  29 , main frame weldment  27 , brace  25  and telescopic leg  23  can be permanent or, preferably, removable. 
     Each articulating pad assembly  29  includes a lifting linear actuator  2911  connected between a main frame assembly  291  and a roller assembly  293 . See  FIG. 7 . The main frame assembly  291  is connected to the main frame weldment  27 . The lower end of the lifting linear actuator  2911  is slideably connected to a pad  2931 . The upper portion of the pad  2931  is configured with at least one track  2953  and the underneath portion of the pad  2931  is configured to make contact with the ground. In a preferred embodiment, the pad  2951  has two tracks  2953  with a “T” shaped cross section thereby creating a slot  2955  between them. See  FIG. 8 . The lower end of the lifting linear actuator  2911  is connected to a cylinder cage weldment  2931 . See  FIG. 8 . A roller locker  2937  is formed in the lower part of the cylinder cage weldment  2931 . See  FIG. 8 . The roller locker  2937  is configured to house at least one set of Hillman rollers  2935 . In a preferred embodiment, the roller locker  2937  is configured to hold two sets of Hilman rollers  2935 . See  FIG. 8 . In either embodiment, the Hillman rollers  2935  are in rolling contact with at least one track  2953 . In a preferred embodiment, a guide  2939  is configured to slide in the slot  2955  to keep the Hillman rollers  2935  on the track. Similarly, guides  2939  are configured to hook under the outside portions of the track  2953  to keep the Hillman rollers  2935  in rolling contact with the track  2953  when the pad assembly  295  is lifted off the ground by the lifting linear actuator  2911 . A traversing linear actuator  2957  is connected at one end to pad  2951  and the other end connected to cylinder cage weldment  2931 . Both the lifting linear actuator  2911  and the traversing linear actuator  2957  can be an electro-mechanical linear actuator, hydraulic linear actuator, pneumatic linear actuator, telescoping linear actuator or any combination thereof. 
     In a preferred embodiment, each telescoping leg  23  included a ratchet system  235 ,  236  to prevent the telescoping leg  23  from collapsing upon itself in the event of linear actuator  239  failure. As depicted in  FIG. 6   a , an upper ratchet system  235  is connected between a top leg section  231  and a middle leg section  232 . The upper ratchet system includes an upper linear rack  2351  connected to the top leg section  231 . A plurality of asymmetrical teeth  23511  project away from the upper linear rack  2351 . See  FIG. 6   a . An upper pawl  2353  is connected to the middle leg section  232  and it is configured to selectively engage the plurality of asymmetrical teeth  23511  of the upper linear rack  2351  to prevent movement of the top leg section towards the middle leg section  232 . A similar ratchet system is installed on the lower portion of a telescopic leg  23  to prevent the telescoping leg  23  from collapsing upon itself in the event of linear actuator  239  failure. As depicted in  FIG. 6   a , a lower ratchet system  236  is connected between a middle leg section  232  and a bottom leg section  233 . The lower ratchet system  236  includes an lower linear rack  2361  connected to the bottom leg section  233 . A plurality of asymmetrical teeth  23611  project away from the lower linear rack  2361 . See  FIG. 6   a . A lower pawl  2363  is connected to the bottom leg section  233  and it is configured to selectively engage the plurality of asymmetrical teeth  23611  of the lower linear rack  2361  to prevent movement of the middle leg section  232  towards the bottom middle leg section  233 . 
     In another preferred embodiment of the heavy equipment substructure  01 , a pinning assembly  237 ,  238  is connected to the telescoping leg  23  and configured to fix the length of the telescoping leg  23  to a pre-determined length. In its most basic form, an upper locking aperture  2317  is formed in the top leg section  231  of each telescopic leg; two middle locking apertures  2327  are formed in the middle leg section  232 ; and a lower locking aperture  2339  is formed in the bottom leg section  233 . The first middle locking aperture  2327  is located above the second middle locking aperture  2327 . See  FIGS. 5 ,  5   a , and  5   b . An upper pinning assembly  237  is mounted on the upper portion of the middle leg section  232 . A lower pinning assembly  238  is mounted on the upper portion of the bottom leg section  233 . See  FIG. 5   a . The upper pinning assembly  237  comprises a locking pin  2373  of sufficient length to pass through the upper locking aperture  2317  and the first middle locking aperture  2327  when the upper locking aperture  2317  and the first middle locking aperture are aligned. An upper linear actuator  2371  mounted to the middle leg section  232  and connected to one end of the upper locking pin  2373 , the upper linear actuator  2371  configured to stroke the upper locking pin  2373  in or out of the aligned upper locking aperture  2317  and the first middle locking aperture  2327 . The lower pinning assembly  238  comprises a locking pin  2383  of sufficient length to pass through the lower locking aperture  2339  and the second middle locking aperture  2327  when the lower locking aperture  2339  and the second middle locking aperture  2327  are aligned. A lower linear actuator  2381  mounted to the bottom leg section  233  and connected to one end of the lower locking pin  2383 , the lower linear actuator  2381  configured to stroke the lower locking pin  2383  in or out of the aligned lower locking aperture  2339  and the second middle locking aperture  2327 . In a preferred embodiment, each telescopic leg  23  would have four upper pinning assemblies  237  and four lower pinning assemblies  238 . See  FIGS. 5 ,  5   a  and  5   b.    
     In yet another embodiment of the heavy machinery substructure  01 , a steering assembly  299  is mounted between the main frame weldment  27  and the articulating pad assembly  29 . See  FIG. 8 . Specifically, a spheric bearing  2913  is mounted between the lifting linear actuator  2911  and the pad assembly  293 ; a gear  2991  is mounted to the pad assembly  295 ; and a pinioned rotary actuator  2993  is mounted to the main frame weldment  27 . The pinioned rotary actuator  2993  is enmeshed with the gear  2991  thereby allowing the articulating pad assembly to rotate about an axis parallel to the lifting linear actuator  2911 . See  FIGS. 7 ,  8  and  8   a . The pinioned rotary actuator  2993  can be an electro-mechanical rotary actuator, hydraulic rotary actuator or pneumatic rotary actuator. 
     Movement of the heavy machinery substructure  01  and the heavy machinery  10  is achieved by selectively applying power from a power means  40  to the linear actuators  239 , lifting linear actuators  2911  and traversing linear actuators  2957  to cause alternatively lifting the feet  234  and the pads  2951  from the ground and moving the pads  2951  and feet  234  relative to one another. More specifically, the incremental movement of the heavy machinery  10  over ground obstructions includes; placing of each foot  234  on the ground; adjusting the length of each telescopic leg  23  by moving the linear actuators  239  to achieve the user defined clearance above ground obstacles; placing each pad  2951  on the ground and lifting the feet  234  by extending the lifting linear actuators  2911 ; moving the traversing linear actuators  2957  to roll the heavy machinery  10  substructure across a portion of the tracks  2953 ; and lowering the lifting linear actuators  2911  to place each foot  234  on the ground and lifting the pads  2951  off the ground. Repetition of these steps results in incremental movement of the heavy machinery  10  over ground obstructions. Once the heavy machinery  10  is in the desired location, the feet  234  are placed on the ground and the articulating pad assemblies can be lifted or placed on the ground. 
     In a preferred embodiment in which pinning assemblies  237 ,  238  are installed, locking of the telescopic joints  24  can be achieved by selectively applying power from the power means  40  to the upper and lower linear actuators  2371 ,  2381 . In another embodiment, in which steering assemblies  299  are installed, rotation of the pad assemblies  295  can be achieved by selectively applying power from the power means  40  to the pinioned rotary actuator  2993 . It is contemplated that power means  40  is a generator capable of producing energy in the form of hydraulic, electro-hydraulic, electric, pneumatic, electro-pneumatic, pneumatic or a combination thereof. In a preferred embodiment, the actuators described herein are hydraulic and the power means  40  is a hydraulic pump fluidly connected to each actuator described herein. In yet another preferred embodiment, a control means  50  is connected to the power means  40  and the actuators described herein to coordinate activation and deactivation of the actuators described herein as well as the power means  40  to achieve and maintain the desired movement and clearance of the heavy machinery substructure  01  and heavy machinery  10  above ground obstructions. See  FIG. 9 . In one embodiment, the control means  50  includes a sensing system  51  and a command system  53  to coordinate power distribution from the power means  40 . The sensing system  51  includes a network of sensors configured to perceive the attitude of the heavy machinery substructure  10  above the ground or ground obstructions as well as the spatial relationship between the components of the incremental stepper assembly  20 . See  FIG. 9 . Sensory information from the sensing system  51  is delivered and processed by the command system  53  and instructional signals are generated and distributed to controllers  55  connected to the power means  40  and each actuator described herein to achieve the desired attitude of the heavy machinery substructure  10  above the ground or ground obstructions and/or spatial relationship between the components of the incremental stepper assembly  20 . See  FIG. 9 . 
     In a preferred embodiment, removable connections are used to allow the mid-section weldment  30 , bridge weldments  21 , telescoping legs  23 , brace  25 , main frame weldment  27 , and articulating pad assemblies  29  to be easily disconnected and shipped, transported or stored. It is further contemplated that each of these components may be sized such that their outer dimensions do not exceed the weight, length, width and height restrictions imposed by governmental entities for highway, rail, air or water transportation. In a preferred embodiment, these components are sized such that their outer dimension do not exceed about 15 short tons, a length of about 53 feet, a width of about 8 feet 6 inches and a height of 9 feet 10 inches.