Patent Publication Number: US-2009230368-A1

Title: Adaptable beam lifter element (able) system

Description:
RELATED APPLICATION 
     The present application claims the benefit of U.S. Provisional Application No. 61/036,729 filed Mar. 14, 2008, entitled “ADAPTABLE BEAM LIFTER ELEMENT (ABLE) SYSTEM,” which is incorporated by reference herein in its entirety. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates to an apparatus for lifting and transporting a wide variety of vehicles and containers including trailers and military equipment. The ABLE system further includes a method of slaving a master unit with at least one slave unit for lifting and maneuvering large objects from a first location to a second location. 
     BACKGROUND OF THE INVENTION 
     The transport of military vehicles and containers from a storage location to a theater of operation is a difficult logistical issue involving the optimal use of space aboard the heavy transport. Whether the heavy transport is a ship or a plane, the movement of these large military objects and supply containers requires the ability to closely pack the objects while maintaining the ability to rearrange the objects quickly based on demand. For example, while in transit from a stateside base to a foreign location a need may develop for certain stores or vehicles that was unexpected. Thus it would be beneficial to be able to reconfigure the load in transit for quicker access upon reaching the destination. Loading, unloading or transferring containers or vehicles are generally carried out by cranes or other lifting devices, wherein the containers are lifted from the side or from the top, depending on the corresponding standard. However, such equipment is usually somewhat limited and the location fixed. Therefore, there is a need to load the objects onto an intermediary style loading device that allows for closely placing the objects during loading and allowing for efficient retrieval. 
     SUMMARY OF THE INVENTION 
     The present invention is an Adaptable Beam Lifter Element (ABLE) system for use in lifting and moving an assortment of military vehicles and containers in transit and storage. An ABLE devices is generally a structure having a low-profile frame that contains hydraulic lift, maneuvering, and drive features that may readily be placed beneath or around vehicles or containers for desired movement in a confined space. By using ABLE devices, transported vehicles placed on ships or in other confined locations can be stowed very close together, while allowing vehicles to be retrieved easily and efficiently, without dedicating a vast amount of space for maneuvering. In some embodiments, multiple ABLEs may be ganged and slaved logically together to form a system to cooperatively lift and transport a variety of vehicles and containers including many types of military equipment. 
     In an embodiment of the invention, an adaptable beam lifter element device for lifting and maneuvering vehicles and containers comprises a frame including a first elongate support portion and a second elongate support portion coupled adjacent one another in slideable relation. The device includes a hybrid electric drive system disposed within the frame, the hybrid electric drive system including an engine coupled to a generator for charging a plurality of batteries and supported by the frame. The device also includes an electric hydraulic assembly powered by the generator. The electric hydraulic assembly includes a pump, a valve network, a plurality of telescopic lift cylinders, and a plurality of drive motors. Also included in the device is a controller for controlling operation of the engine, the power source, and the electric hydraulic assembly. The frame includes a plurality of omni-directional drive devices located at spaced-apart locations on the frame. Each of the omni-directional drive devices are equipped with a telescopic lift cylinder. Each of the lift and omni-directional drive devices are also equipped with a pair of the drive motors operably connected to a plurality of wheel units, where the wheel units are arranged in a split castor configuration. 
     In another embodiment of the invention, an adaptable beam lifter element device for lifting and maneuvering vehicles and containers comprises a frame member having an upper face adapted to selectively interface with vehicles and containers of various shapes and dimensions. The device also has a plurality of wheeled units. The wheeled units are disposed within the frame member and include a hydraulically actuated lift cylinder and a pair of hydraulic common drive motors capable of omni-directional maneuvering and drive. The lift cylinder positioned between a wheel set and the upper face of the frame member. The device also has a secondary lift device supported by the frame member comprising a beam member coupled to a hydraulic lift cylinder. The secondary lift device arranged so that the beam member extends vertically from the upper face of the frame member. Additionally, a hydraulic beam arm is pivotaly attached at a first end to the frame member. The beam member extending horizontally from the frame member. In addition to these components, the device has an electric-over-hydraulic system for providing control and hydraulic power for the plurality of wheeled units, the secondary lift device, and the beam arm. 
     In further embodiments of the invention, an adaptable beam lifting system includes a master beam lifting unit comprising an adjustable frame. The frame includes a hydraulically actuated lifting means and a hydraulically actuated drive means controlled by a electric hydraulic system. The system includes a slave beam lifting unit comprising an adjustable frame. The slave frame includes a hydraulically actuated lifting means and a hydraulically actuated drive means controlled by a electric hydraulic system. The slave beam lifting unit is logically coupled to the master unit such that when operator input is made to the master unit, the slave unit reads the master unit for parameters including speed, pivot location, and lift heights. 
     Further embodiments of the invention include a method of lifting and transporting vehicles and containers. The method includes providing a plurality of adaptable beam lifting element units including a master unit and one or more slave units, each of the adaptable beam lifting element units carrying out independent drive, lift and maneuvering. The method further includes positioning the master unit to a defined position aligned to engage a load consisting of a vehicle or container. Next, the master unit mode is set to park, and the slave units are positioned one at a time to a position for engaging the load. The slave unit mode is subsequently set to synchronize. Commands are communicated to the master unit which cause the slave units to read the master unit for speed, pivot locations and lift heights. The loads are then lifted and maneuvered using both the slave and master units cooperatively as initialed by the operator, where commands from the operator are only directly communicated to the master unit. The master unit thereafter causing cooperative movement instructions to be given to the slave units via a communications link between the master and the slave units. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1   a  is a perspective view of a self-contained lifting unit referred to as an ABLE device according to an embodiment of the invention. 
         FIGS. 1   b  and  1   c  are perspective views of alternate configurations for the ABLE device according to an embodiment of the invention. 
         FIG. 1   d  is a top view of an ABLE device according to an embodiment of the invention. 
         FIG. 1   e  is a side elevational view of an ABLE device according to an embodiment of the invention. 
         FIG. 1   f  is a front elevational view of an ABLE device according to an embodiment of the invention. 
         FIGS. 2   a  and  2   b  respectively, are perspective views of an ISO (International Organization for Standardization) beam adapter and a plurality of ISO beam adapters mounted to ABLE devices side loaded on an ISO container according to an embodiment of the invention. 
         FIG. 2   c  is a goose neck adapter for an ABLE device according to an embodiment of the invention. 
         FIG. 2   d  is an example of fork tines used as an adapter to an ABLE device according to an embodiment of the invention. 
         FIG. 3  is a perspective views of ABLE devices end loaded on a MTVR (Medium Tactical Vehicle Replacement) according to an embodiment of the invention. 
         FIG. 4  is a partial perspective view of the lower half of an LMD (Lifting Maneuver Drive) device according to an embodiment of the invention. 
         FIG. 5  is a partial perspective view of an LMD device according to an embodiment of the invention. 
         FIG. 5   a  is a cross-sectional view of an LMD device according to an embodiment of the invention. 
         FIG. 6   a  is a perspective view for and ABLE device having the SLD and LMD devices both in an extended configuration according to an embodiment of the invention. 
         FIG. 6   b  is a perspective view for and ABLE device having the SLD in the extended configuration and the LMD devices in a non-extended configuration according to an embodiment of the invention. 
         FIG. 7  shows a frame beam for an ABLE device according to an embodiment of the invention. 
         FIG. 8   a  is a perspective view of an ABLE device end-loaded on a HMMWV (High-Mobility Multipurpose Wheeled Vehicle) according to an embodiment of the invention. 
         FIG. 8   b  is a perspective view of an ABLE device side-loaded on a HMMWV according to an embodiment of the invention. 
         FIG. 8   c  is a perspective view of ABLE devices end-loaded on a LVSR (Logistics Vehicle System Replacement) according to an embodiment of the invention. 
         FIG. 8   d  is a perspective view of ABLE devices side-loaded on a LVSR according to an embodiment of the invention. 
         FIG. 9  is a perspective view of the quick release shackle system on an ABLE device according to an embodiment of the invention. 
         FIG. 10  sets forth the components of the hybrid electrical system of an ABLE device according to an embodiment of the invention. 
         FIG. 11  is a schematic diagram of the hydraulic system of an ABLE device according to an embodiment of the invention. 
         FIG. 12  is a flow chart demonstrating an example of steps performed to logically gang and slave multiple ABLE devices to form a system according to an embodiment of the invention. 
     
    
    
     While the present invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the present invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention. 
     DETAILED DESCRIPTION OF THE DRAWINGS 
     In its various embodiments, the ABLE system a self-contained, operator controlled, lifting device which is able to accomplish desired lifting and maneuvering capabilities through use of one or more ABLE devices  100 . An embodiment of a general ABLE device  100  is shown in  FIG. 1   a.  As shown, the frame of the device is generally comprised of a head portion  101  and a beam portion  102 . In  FIG. 1   a,  these portions are slideably connected via a flange structure  107  protruding from the beam portion  102  which is retained within a grooved feature  103  on the head portion  101 . In the configuration of  FIG. 1   a,  the beam portion  102  is locked into place with a pin  104  placed through one of the aperatures  105  located at the center position of the head portion  104  so as to form a “T” shape. 
     Embodiments and views of an ABLE device are seen in  FIGS. 1   a - f  setting forth various components of the ABLE device. One of these components includes a plurality of Lift Maneuver Drive (LMD) devices  106  capable of causing cooperative but independent lift of the head portion  101  and beam portion  102  of the frame structure to which they are engaged as well as motorized steering and drive capabilities at the instruction of a user. Other components of the ABLE devices  100  include hydraulically powered secondary lift devices  108  which provide additional lifting capabilities to an operator, a plurality of selectively attachable, hydraulically controlled frame beams  110  that can be configured as supplemental support arms for certain applications, a kickstand  112  for holding the ABLE device  100  in place during reconfiguration procedures, and a plurality of quick release shackles  114  that are useful for stability and support when needed in transport or otherwise. Together these and other components cooperate to form a device allowing for efficient, selective, and safe movement and stowage of vehicles and containers in space restrictive environments such as ships. 
     First, with respect to the overall structure of the device, the head portion  101  of the ABLE device constitutes an elongate, generally rectangular-shaped platform which is supported by a plurality of wheels and structure extending from the LMD devices  106 . As shown, the two LMD devices  106  are located in spaced-apart relation in the head portion  101 . The top surface  111   a  of the head portion  101  is generally flat and provides a planar platform of material for engaging a vehicle or container when a lifting operation is carried out. Releasable shackles  114  are found at each of the two outward facing comers of the head. An elongated rectangular recess  116  extends lengthwise across the surface of the head  101  providing access to the SLD  108  housed below the top surface  111   a.  Additionally, circular recessed areas  113  are found on the head surface  111   a.  These recessed areas  113  each surround LMD devices  106  which extend through and below the platform structure of the head portion  101 . Access to the LMD components is made easier by these recessed portions  113  if maintenance or repair of these units is required. Tabs  113   a  are found extending across the recessed portions  113  which provide an inlet housing surrounding a tapped hydraulic connection for each of the respective lift cylinders  140  of the LMDs  106 . Additionally, access panels  109  are spaced throughout the surface of the ABLE device to provide openings for maintenance and assembly. Similarly, caps  109   a  and  109   b  provide access to hydraulic tank and fuel tanks located within the device frame. The four-sided rectangular head portion  101  has two longer sides  101   a  and  101   b  and two shorter sides  101   c  and  101   d.  Side  101   a  is adjacent the coupled beam portion  102  and  101   b  is on the opposite side furthest from the beam portion  102 . 
     The bottom surface  115   a  of the head portion  101  contains a head housing compartment  117  located adjacent side  101   b.  The head housing compartment  117  includes the batteries, system controller, valve blocks  161 , SLD  108 . The bottom surface  115   a  of the platform is narrower and more recessed at the area adjacent the side  101   a.  This provides additional clearance for the LMD devices  106  to engage and operate beneath the frame and is sized for free pivoting of the wheels. Side  101   a  of the head portion  101  contains a grooved feature  103  for engaging the beam portion  102 . This grooved feature  103  has an upper and lower lip which help retain a T-shaped flange feature  107  of the beam portion  102 . At the top surface  111   a,  along edge  101   a  adjacent the beam member, are a plurality of aperture locations  105  for insertion of a pin  104 . This pin  104  is for manually locking the beam member  102  into place with respect to the head portion  101 . Although the device will typically be locked into place via operation of the hydraulic motor drives, the manual lock of pin  104  provides additional structure to achieve the desired alignment of the selected configuration. 
     The beam portion  102  of the frame is an elongate rectangular platform of material oriented adjacent the head portion  101  such that its length extends perpendicular to the length of the head portion  101 . The four-sided rectangular shaped beam portion has two sides  102   a  and  102   b  of short length and sides  102   c  and  102   d  of longer length. Side  102   a  is located adjacent the head portion  101  and side  102   b  is located opposite the head portion  101 . The top surface  111   b  of the beam section is generally planar and includes a short rectangular recess  118  for housing the secondary lift device  108  below the surface as well as a generally circular recess  113  surrounding the LMD  106  located near side  102   b  and opposite the side  102   a.  The SLD recess  118  provides an access passage for the SLD to function and raise above the beam top surface  111   b  when desired. Likewise, the recess  113  surrounding the LMD  106  provides space for accessing the LMD  106  for maintenance and repairs. 
     The bottom face  115   b  of the beam portion  102  contains a kickstand  112  adjacent side  102   a  at the end of the beam  102 . This kickstand  112  can be deployed either manually or automatically when the ABLE device is lifted with the LMD devices  106 . The kickstand  112  functions to help hold the beam portion  102  of the ABLE device in place when the geometry of the ABLE device  101  is modified with respect to the slideably coupled location of the head  101  and beam  102  portions. The bottom face  115   b  of the beam portion  102  contains a beam housing compartment  119  adjacent the kickstand  112  that extends more than half the length of the beam member  102 . The beam housing compartment  119  of the frame contains various components of the electric hydraulic system including an engine  154 , alternator  156 , inverter  162 , fuel tank, hydraulic reservoir and SLD  108 . The remaining area of bottom face  115   b  of the beam  102  has a recessed portion extending adjacent to side  102   b.  This recessed section allows for more clearance and space in which one of the LMD devices  106  can operate. 
     The lengthwise sides  102   c  and  102   d  of beam  102  also are equipped with features that may be used in operation of the ABLE device  100 . First, near the center of side  102  are mounts  121  to which frame beams  110  can be engaged and stored when these compartments are not in use. At the corners of the lengthwise sides adjacent side  102   b  are receptacles  123  in which the frame beams  110  may be selectively mounted. These frame beams  110  may be hydraulically manipulated to suit the desired lift points of a vehicle and the proper vehicle height. These frame beams  110  thereby are often capable of providing useful structural support members for lifting smaller vehicles and containers. 
     The ABLE devices  100  are configurable in geometry to adapt to varying wheel bases or container widths. One way in which the geometry of the device  100  is modified is by unlocking the beam portion  102  including raising the LMD devices  106 , manually releasing pin  104 , lowering the kickstand  112 , lowering the LMD devices  106  on the head portion  101 , and driving the head portion  101  into place with the LMD devices  106  and relocking. The beam portion  102  may generally be locked into place at the center position or when one of the short sides of the head portion  101  is aligned with a lengthwise side of the beam portion  102  along one edge and an aperture  105  for receiving a pin  104  is properly aligned. This provides for a ABLE device having a “L” shape or backwards “L” shape in addition to the “T” shape of  FIG. 1   a,  as seen in  FIGS. 1   b  and  1   c,  respectively. 
     Lifting, locomotion, and maneuverability of a given load is achieved with the LMD devices  106 . The LMD devices  106  allow for the full 360-degree maneuverability and the physical lifting of the vehicles or containers. Locomotion, pivoting, and lifting may be produced by a servo-controlled AC-powered electric-over-hydraulic system. These features comprising some aspects of the electric hydraulic system of the device. The LMD devices  106  will be described later in greater detail. 
     A Secondary Lift Device (SLD)  108  adapts to varying clearances between ground and the undercarriages or frames. In the embodiments shown in  FIGS. 1   a - f,    6   a,  and  6   b  the SLD  108  contains a first SLD member  125  on the head portion  101  of the ABLE device  100  and a second SLD member  127  on the beam portion  102  of the ABLE device  100 . The SLD  108  has beams  129  supported by hydraulic actuators  145  providing supplemental hydraulic lift. The SLD  108  combined with the lifting features of the LMD devices  106  and the frame beams  110  allow for direct lifting of wheels or the frame of small vehicles only requiring one ABLE device  100 . The SLD is also particularly useful for mounting large vehicles requiring large clearance heights when lifted. The SLD  108  will be described later in greater detail. 
     The general ABLE device  100  configuration allows for lifting of the undercarriage of tracked and large-wheeled vehicles. The lifting feature of the SLD  108  and the actuation of the frame beam  110  may also be achieved with a servo-controlled AC-powered electric-over-hydraulic system. Power for the ABLE devices  100  may be produced from a hybrid electrical system consisting of a diesel power generator  156 , a Smart Bus Bar (SBB)  158 , and standard maintenance-free battery banks  160  similar to those used in naval certified electric forklifts. This is set forth in  FIGS. 10 and 11  and the related discussion which provides for more details regarding the electric hydraulic system of the ABLE device. 
     The ABLE devices  100  are designed to receive various adapters including beam adapters  120  that allow for handling of containers ranging from 20-foot ISO containers/Quadruple containers (QUADCONs) to a group of Joint Modular Intermodal Containers (JMICs). An example of such a beam adapter  120  is seen in  FIG. 2   a.  The beam adapter generally includes a horizontally disposed member  120   a  and a vertically disposed member  120   b  which contains a container latch  120   c.  The horizontally disposed member  120   a  is adapted for engagement across the top surface  111   b  of beam section  102  and may be manually secured into place. The top of the vertically disposed member  120   b  is secured at a right angle with respect to the horizontally disposed member  120   a.  This arrangement allows the beam adapter  120  to hang below the surface  111   b  and provide an industry standard container latch  120   c  at this location. These beam adapters  120  and other adapters allow for continued growth of handling options thereby meeting the ever-changing needs of the warfighter.  FIG. 2   b  shows use of adapters  120  on two ABLE devices  100  engaged in lifting a container  122 . Note that the frame beams  110  may also be considered adapters which are useful to a number of lifting applications, as seen in  FIG. 7 . 
     Other possible adapters include a goose neck hitch  124 , as seen in  FIG. 2   c,  and fork tines  126 , as seen mounted to an ABLE device in  FIG. 2   d.  The goose neck hitch  124  comprises a large metal bracket with central channel  124   a  enabling towing of large military trailers or the like. Such a gooseneck hitch  124  could readily mount to the surface  111   b  of the beam portion  102  of the ABLE device  100 , thereby allowing a variety of towing and lifting operations to be possible. The fork tine adapters  126  are designed for attachment to the head of the device, as seen in  FIG. 2   d.  The fork tine adapters  126  having a horizontally disposed member  126   a  which is attached to the surface  111   a  of head member  101  as well as vertically disposed section  126   b  joining the horizontally disposed section  126   a  to the tines  126   c  that are used as a forklift in conjunction with the lifting capabilities of the ABLE device  100 . 
     The lifting arrangement of  FIG. 3  demonstrates an example of how multiple ABLE devices  100  are capable of being utilized together to form a system to lift and transport a wide range of vehicles and containers, such as the MVTR  144  that is depicted. In this example, two able devices  100  have been front loaded to lift the MVTR  144 . Due to the configurability of the ABLE geometry and the flexibility to use multiple ABLE devices, most common military vehicles can be lifted with an ABLE device. 
     The LMD devices  106  implemented in the ABLE devices  100  contain a variety of features that provide desired maneuverability and control of operation including omni-directional movement. In some embodiments, the LMD devices  106  contain conventional wheels  128  for this movement. This wheel arrangement can be seen in the partial perspective view of  FIG. 4  which sets forth the lower half of an LMD device. Note that the drive wheel quantity and size is load specific. To achieve omni-directional aspects, the design uses an Active Split Caster (ASC)  130 . In general, sets of multiple wheels  134  are axially aligned in a caster housing  169  such that their axis is in the same plane as the pivoting axis of the casters located above their location in the LMD. Each set of wheels  134  is joined by a drive axle  170  to a gear train  171  which is driven by a hydraulic drive motor  132 . The ACS  130  uses two common drive motors  132  controlled independently by the system controller. The drive motors drive wheel sets  134  on either side of a pivoting axis allowing for a variety of directional movement and control. More specifically, omni-directional control is achieved by varying the velocities of each drive. The imbalance in drive velocities of opposite wheel sets  134  allows for precise turning and steering capabilities. As the axis for rotation for these devices is in the same plane as the drive axis, little or no wheel slippage or skidding should result. 
     The LMD device arrangement using an ASC  130  has advantages which include a small space requirement and the mitigation of deck scrubbing during turning. The small vertical space required by LMD devices  106  implementing the ASC  130  creates a low-profile system, allowing the ABLE devices  100  to travel beneath the frames of the vehicles. Another advantage of this particular wheel arrangement concerns the effect of the roller-deck frictional loads during turning or omni-directional movements. This effect, called scrubbing, has many detrimental effects that include excessive roller wear, potential damage to the deck surface and high power/torque requirements, all of which are mitigated with the LMD device  106  design. Some embodiments may preferably use eight inch diameter wheels for the LMD devices  106  consisting of 90 A durometer polyurethane and a four inch steel core. Such a design will help provide characteristics to limit wear, improve friction to reduce slippage, and increase contact area to decrease contact pressure. 
     The location of the wheel sets  134  and their drive components are designed to work well with the shape of the ABLE structure. Specifically, the LMD devices  106  located in the head  101  of the device are spaced such that the wheel sets  134  do not extend beyond the perimeter of the space covered by the head structure. By arranging the wheels  134  such that they can fully rotate below the platform lifting structure and no difficulties will be experienced due to contact with overhanging wheels or parts from a lifted vehicle or container. This is true as the clearance provided should generally allow for an open space for a full range of wheel rotation and movement. Although the LMD device  106  located on the beam  102  has wheels that extend beyond the perimeter of the beam, the central location, low profile and use of the centrally configured “T” shaped device should allow for minimal issues of restricted or damaging movement due to wheel interference. 
     Alternatively, in some other embodiments it may be possible to alternatively adapt a system in which specialized wheels are built to achieve omni-directional movement rather than the conventional wheel design described. Such wheels would use a method of traction in one direction while allowing free motion in another. These types of wheels could include a number of arrangements, examples being a Mecanum wheel design or an orthogonal wheel. 
     In various embodiments it is preferable to use a lifting method which allows for concentration of lift on the frame of the vehicle when dealing with small wheeled vehicles. In various embodiments, a single ABLE device  100  is able to solely handle small wheeled vehicles, including the HMMWV (High-Mobility Multipurpose Wheeled Vehicle). This independent working ability allows for efficient use of ABLE devices  100  and fast load and unload times. 
     Various shapes for the overall geometry of the ABLE device are contemplated such an “I”, “T”, “C”, triangle, or rectangle shapes. The “T” and “L” arrangement shown in  FIGS. 1   a - f  is particularly advantageous due to its adaptability, vehicle stability, simplicity, and increased packaging volume for components. 
     The LMD device  106  also incorporates hydraulic lift in the upper half of the device  136 , while the lower half  138  of the LMD  106  generally is responsible for omni-directional control and general locomotion. The upper both upper and lower portions of a LMD device  106  can be seen in  FIG. 5  and the cross-sectional view of the LMD device in  FIG. 5   a.  The hydraulic lift includes a top cover  172  having an upper circular plate and which has a centrally located spline  173  on the lower half of the plate. This spline  173  extends into an interface feature  174  the caster housing  169  which is surrounded by a seal cap plate  175  Adjacent the interface feature  174  of the caster housing  169  is a pressure equalization path  176  to enable proper hydraulic operation of the lift. Additionally seen in  FIG. 5   a  is a pivot bearing  177  surrounding the lift cylinder as well a bearing  178  set to the cylinder and a bearing  179  set to the frame. In all the telescopic cylinder contains three sections including the caster housing  169 . 
     The upper half  136  of the LMD device  106  provides the lifting means for the small-wheeled vehicles, trailers, and containers. This is achieved via a hydraulic-operated telescopic lift cylinder and mast  140 . In various embodiments, the LMD device  106  provides more than six inches of total travel while still allowing full omni-directional control. In general, the lift assembly of the LMD device  106  is compact and allows for easy transition of the ABLE device  100  under vehicles. 
     In conjunction with the LMD  106  to allow the lifting of small-wheeled vehicles and trailers, a removable remote fold-out frame interface may be used. This is referred to as a frame beam  110  and allows one ABLE device  100  to perform a lift of small-wheeled vehicles while still maintaining stability and load control.  FIG. 7  shows the frame beam  110  rack-and pinion fold out system, allowing for remote placement and positioning of the beams under the frame of a vehicle. As previously mentioned, the frame beams  110  may be selectively mounted within the receptacles  123  located at the comers of the beam member  102 . The frame beams  110  are mounted into by manually pinning these members into place. Once pinned in place, these members may be hydraulically controlled by an assembly in which auxiliary beam cylinders  143  are actuated at the frame beam mount locations. As such, a wide range of vehicles and containers can be readily adapted to with these beam members  102 . Pads  141  located on the outwardly extending ends of each of the beam members help to provide generally non-abrasive contact surfaces for engaging vehicles or containers as well. 
     Another feature that may be present in various embodiments is the secondary lifting device (SLD)  108  that is shown in  FIGS. 6   a  and  6   b.  These features allow for handling large wheeled and tracked vehicles that require unique or longer lifts. As seen in  FIG. 1   a,  the SLD  108  may contain a first SLD member  125  located in the head portion  101  of an ABLE device, as well as a second SLD member  127  located in the beam portion  102  of the device. The SLD  108  locations each contain an elongate steel beam member  129  which may be raised and lowered from its respective location in the housing of either the head portion or beam portion of the ABLE device  100 . The beams  129  are used for lifting and are mounted on hydraulic actuators such as hydraulic cylinders  145  which enable such supplemental raising and lowering to take place. Examples of lift beams  129  lifted into their extended lift configuration are seen in  FIGS. 6   a  and  6   b.  This SLD  108  operation may occur as in  FIG. 6   a  where the LMD devices  106  are in an extended lift position or, as in  FIG. 6   b,  where the LMD devices are in a non-extended lift position. 
     When in the retracted state the beams  129  and their hydraulic lift cylinders  145  are entirely contained below the surfaces  111   a  and  111   b  of the beam  102  and head  101  portions of the frame in either the head housing compartment  117  or the beam housing compartment  119 . Typically the SLD  108  is used to provide further lift of an especially large vehicle or vehicle with suspension requiring a large amount of ground clearance for unrestricted movement. Therefore, the SLD beams  129  are generally raised after the LMD devices  106  have already lifted the vehicle frame or container and further lift height of the object is desired. Accordingly, the SLD  108  allows lift of an object to a height above the ABLE frame that could not otherwise be reached without the secondary set of lifts. Commands to utilize the SLD  108  are communicated by an operator to the controller as is done in other ABLE operations. 
     Various lifting arrangements are possible for the one or more ABLE devices  100  used in a system for a given vehicle or container. For example, such vehicles and containers may include an HMMWV  142 , MTVR  144 , Logistics Vehicle System Replacement (LVSR)  146 , Bradley, ISO containers  122 , or other object. Possible lifting arrangements for some of these vehicles are disclosed in  FIGS. 2   b,    3 , and  8   a - d.  For most vehicles, the ABLE devices may be with either end-loaded or side loaded on vehicles, based on the needs and or space restrictions of the operator. As shown, the ABLE system is adaptable to vehicles of a wide range of types and sizes. Note that the devices may typically be designed to favor lifting the frames of vehicles rather than the tires. Generally greater versatility and adaptability is provided with such a design as the tires of vehicles tend to vary somewhat in location and number. 
     In embodiments of the invention, the ABLE system is designed for safe operations on sloped or moving decks and to thereby provide stability under sea conditions and the ability to prevent loss of load. Stability of the ABLE system is inherent in the design as it is adaptable and low. Lifting arrangements or configurations may be set to achieve the best stability based on vehicle geometry and position of the ABLE devices  100 . Proper placement of the ABLE devices and lift points may be standardized per vehicle in handbooks and manuals as required. 
     The ABLE system maintains a low Center of Gravity of the vehicles lifted. During lifting, the vehicles are only lifted just beyond that of vehicle contact with the deck. This conserves power and allows for a stable lift, maintaining a low system center of gravity of the unit with the load. The frame beams  110  ensure proper frame captivation of smaller wheeled vehicles for better stability during movement and ship motion as well. 
     Preventing motion of the devices is achieved by locking the flow to the drive motors  132 . This is accomplished with closed center hydraulic valves. Significant advantages of this method include that braking does not rely on friction so it is not susceptible to wear or heat, it is not effected by vibration, the reaction times are lower, and there is no free-wheeling during load moves leading to loss of control. Redundancy is designed within the system with emergency check valves that lock the flow in case of primary valve failure. 
     The prevention of load loss is achieved by safety chains that extend from a removable shackle  114  on the ABLE  100  to the vehicle shackle or lifting provision. The ABLE devices  100  have multiple mount locations for the quick release shackle  114  found about the perimeter of the device. Therefore, the device is adaptable to multiple vehicles and materials that it may handle. An embodiment disclosing the quick release shackle  114  is seen in  FIG. 9 . These shackles  114  may be utilized during sip transport, for example, when shifting forces could be experienced by the device. 
     The ABLE system  100  contains a power system that provides the availability for a complete ship onload or offload. In some embodiments, the power system may be a hybrid electrical system  152  that allows for optimal availability, thereby reducing the total number of systems required for a complete onload or offload. Such a hybrid system additionally has advantages in terms of cost and overall operating weight of the system. The components of hybrid electrical system are seen in  FIG. 10  and described below. Note that in other embodiments, however, a device is alternatively contemplated that would be solely electrically controlled rather than the hybrid arrangement largely described in this disclosure. 
     In an hybrid electric hydraulic embodiment, a diesel or gas engine  154  drives a high-power alternator/generator  156  that feeds into the SBB (Smart Bus Bar)  158 . The SBB  158  is connected to both the power output of the generator, battery bank  160 , and the inverter  162 . Any power not used by the generator is properly controlled and sent to the battery bank  160 . The SBB  158  also monitors the battery condition and determines when the engine  154  should run. The batteries  160  are an Absorbed Glass Mat (AGM) type not requiring watering or any other maintenance. For example, the UN 2800 class non-spillable type of battery is approved for air and sea and provides a useful option for power storage in the ABLE system. Power from the SBB  158  goes to a high-power inverter  162  to control an AC hydraulic pump motor  164 . The system uses an AC pump motor versus DC for better efficiencies under load, reduced heat rejection, maintenance and weight. Note that an electrical connection is made possible between the head  101  and beam  102  portions. Specifically, this connection is made through the keyed interface made at grooved feature  103  between the members via a wide slot cut into the key and the keyway. Therefore, a electrical connection point is established between the head  101  and beam  102  members of the frame. 
     Typically, in ABLE devices the engine  154 , high power alternator  156 , SBB  158 , generator, inverter  162  hydraulic pump motor  164  will be located in the beam housing compartment  119 . The batteries  160 , valve blocks  161 , and controller are located in the head housing compartment  117 . In general, commands for movement, lift and operation are sent to the controller from an operator having a user interface enabling him or her to send commands via an IR, tethered, wired, or radio command. A variety of well-known hardware and software (i.e. antennas, transceivers, wireless networks, etc.) to accomplish the desired wired or wireless communication may be readily implemented as required. Software located on the controller  163  is able to process these commands and provide instructions to the hybrid electric and hydraulic system to coordinate movement, lift and general system operations. 
     A schematic of the hydraulic system and components which constitute an embodiment of this invention is disclosed in  FIG. 11 . As seen in this figure, hydraulic fluid for the ABLE system is supplied by a reservoir tank  167  located in the beam housing compartment  119 . The hydraulic fluid is supplied from the tank  167  to a valve network comprised of a plurality of hydraulic hoses, valves, and sensors. This is done via an AC hydraulic pump motor  164 , which pumps fluid to the valve block  161 . From the valve block  161  hydraulic fluid and power may be selectively provided to the various hydraulic components in the ABLE system. Power is provided to hydraulic drive motors  132  of each of the LMDs located in the head  101  and beam  102  of the device as well as the lift cylinders  140  of the LMDs. Hydraulic power is also provided from valve block  161  to each of the SLD cylinders  145  needed to raise the SLD devices  108 . Further, pressurized hydraulic fluid is provided to the cylinder  143  in the beam receptacles  123  to provide power for frame beam  110  movement. Instructions for this system provided by the controller which is equipped to receive input communications from the operator. 
     A feature of operation of the ABLE system includes using multiple ABLE devices  100  in cooperation with one another. This is accomplished when a plurality of ABLE devices are ganged and slaved (only logically not physically) together to form a system to lift and transport a wide range of vehicles and containers. Although, the operator of the ABLE system controls only one ABLE at a time, multiple units can be utilized. In general, the system is accomplished with a communications link via infared (IR) or tether between what is known as the master ABLE unit and the ABLE-(1-n) slave(s). 
     Specifically, steps to form such a system are set forth in the flowchart of  FIG. 12 . First, the multiple ABLE devices are provided including a master unit and one or more slave units which are each capable of independent drive, lift and maneuvering at  300 . Next, the operator positions one ABLE, known as the master to a defined position aligned to engage a load consisting of a vehicle or container as set forth at  302 . The operator next sets the master ABLE mode to park as at  304 , and shifts the control to a second slave ABLE known as ABLE-1 as at  306 . The operator can position the ABLE-1 to a defined position at  308  and repeat for any additional slave ABLE-n(s). Next, the operator set the mode of each of the slaves ABLE-1 to synchronize at  310 . Next, the operator shifts control back to the master ABLE at  312 . A system is now formed to lift, transport, and move vehicles or containers. At this point, the operator communicates commands to the system at  314  where each operator input to the system is to the master ABLE. This causes all slaved ABLE-n(s) to read the master ABLE for speed, LMD pivot location, LMD lift height, and SLD lift height. In some embodiments, up to three ABLE-n slaves can be added to form a given system. Finally, the operator initiates lifting and maneuvering of the desired loads at  316  using both the slave and master units in cooperation where commands from the operator are only directly communicated to the mater unit, which accordingly causes cooperative movement instructions to be given to the slave units via a communications link between the master and slave units. 
     Each ABLE  100  has redundancy in sensors and communication links. For example, this could be partially employed with a wireless or RF communication system utilizing structures such as an antenna  180 . Also, each ABLE  100  has software monitoring load and speed limits and spikes. Combined with power-off brakes via check and closed center valves, the system can operate without the possibility of runaway. To further implement operational safety, each unit will not release brakes or latches unit until communications with master or operator is established and the signal is of specified strength. 
     It is envisioned that at least two classes of ABLEs would be utilized, a light class known as A-class and a heavy class of ABLE known as B-class. The A-class ABLE will serve the majority of the wheeled and tracked vehicles, QUADCONs, ganged or grouped JMICs, and trailers, both single and double axles all weighing under 56,000 pounds. The B-class ABLE will serve the majority of the wheeled and tracked vehicles, 20-foot ISO containers, and trailers, both single and double axles all weighing less than 144,000 pounds. 
     The ABLE devices  100  may weigh approximately 6000 lbm in some embodiments and are designed to interface with ship ramps and traction bars. Embodiments of the ABLE design are advantageous as they may have AC drives, do not require cleaning and brush replacement and adjustment, utilize AGM sealed batteries, and use a drive system design requiring little maintenance. 
     The ABLE system is designed to have one operator that can safely control one load at a time. In some embodiments, it is expected that for every four ABLE devices used, there would be two operators and one rigger. The rigger generally unlashes/lashes the vehicles and containers from the deck, safety chains the load to the ABLE, and acts as a safety observer. 
     The above summary of the invention is not intended to describe each illustrated embodiment or every implementation of the present invention. While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.