TORSION FLOAT FUNCTION APPARATUS

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit under 35 U.S.C. § 119 (e) of U.S. Provisional Patent Application Ser. No. 63/666,995 filed Jul. 2, 2024, which is incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates generally to mounting equipment, and, more particularly, to a floating mechanism that enables degrees of freedom for equipment.

BACKGROUND

Users of motorized vehicles (e.g., loaders, skid steers, tractors, and/or the like) typically attach a variety of attachments for various purposes. For example, the attachments (e.g., a snow bucket, a snow blower, a soil conditioner, etc.) may engage the ground and be raised and lowered with hydraulic arms. When in a fixed position, the attachments may be violently caught on lips, manhole covers, or curbs—or dig into the ground, such as gouging or scratching pavement or driveways. Some vehicles, such as skid steer loaders, may include a float function for the hydraulic arms that support the attachment, where the arms are configured to float (relatively) freely using hydraulic flow functions, allowing the attachment to move up or down. Since the two arms move together, this may still lead to digging into the ground, such as if the ground is slanted up left-to-right and the right corner of a cutting-edge digs into the ground. Furthermore, not every vehicle has such a free float function and the function may not be ideal, such as having too much resistance in movement.

Some attachments may use short horizontal forward-aligned shafts that allow an attachment to tilt clockwise and counterclockwise relative to a forward direction of travel. However, this does not address free float in the vertical direction nor tilting forward.

Some attachments may use trip edges, such as torsion springs or compression springs configured to allow a cutting edge to swing backwards when it contacts an edge, such as a curb, without causing the entire momentum of the attachment to be absorbed.

Therefore, there may be a desire for an improved system and/or method to allow for freedom in movement that addresses one or more of these issues.

SUMMARY

A multi-directional float system is disclosed in accordance with one or more illustrative embodiments of the present disclosure. In one illustrative embodiment, the system may include a first body that includes a mounting structure. In another illustrative embodiment, the system may include a second body that includes a different mounting structure. In another illustrative embodiment, the system may include a linkage spring mechanism that includes a plurality of linkages coupling the first body to the second body along a coupling axis. In another illustrative embodiment, the plurality of linkages may include a first set of two or more linkages above or below a second set of one or more linkages. In another illustrative embodiment, the first set of two or more linkages may include a first linkage and a second linkage spaced apart along a lateral axis. In another illustrative embodiment, each linkage may include a link element that includes a first coupling at a first end and a second coupling at a second end. In another illustrative embodiment, the first coupling may include a rotational spring. In another illustrative embodiment, the first end of the link element may be configured to rotate around a first rotational axis of the rotational spring. In another illustrative embodiment, the rotational spring may include an outer tube coupled to the first body and a first element inserted into the outer tube. In another illustrative embodiment, the first element may be configured to rotate around the first rotational axis, engage elastic elements inside the outer tube, and be attached to the link element.

In a further aspect, the second coupling may include a ball joint. In another aspect, the second coupling may include a ball joint and a sliding joint. In another aspect, an angle of a second rotational axis of the sliding joint may be non-parallel to the lateral axis of the system. In another aspect, the plurality of linkages may include an indicator configured to rotate with the link element, where the indicator may include a protrusion extending outwards. In another aspect, the elastic elements may include segments along a common axis. In another aspect, the elastic elements may include parallel strands along parallel axes in each inner corner of the outer tube of the rotational spring. In another aspect, the system may include an offset distance between a second rotational axis of the second coupling and a second body mounting surface of the second body that is farther than a distance between the second rotational axis and the first body.

In another aspect, the first body may be configured to couple to an attachment, and the second body may be configured to couple to a vehicle. In another aspect, the first coupling may be closer to the ground than the second coupling when the system is in an operational position. In another aspect, the first set of two or more linkages may include a third linkage spaced apart along the lateral axis from the first linkage and the second linkage. In another aspect, the link element may be rigid. In another aspect, the link element may be flexible and may include at least one of metal or rubber. In another aspect, the link element may be configured to be adjustable in length. In another aspect, the first body may include an attachment, and the attachment may include a cutting edge with a bevel on an underside of the cutting edge. In another aspect, the system may include one or more springs coupled on each side of a linkage.

A multi-directional float system is disclosed in accordance with one or more illustrative embodiments of the present disclosure. In one illustrative embodiment, the system may include a first body. In another illustrative embodiment, the system may include a second body. In another illustrative embodiment, the system may include a linkage spring mechanism that includes a plurality of linkages coupling the first body to the second body. In another illustrative embodiment, the plurality of linkages may include a set of linkages. In another illustrative embodiment, the set of linkages may include a first linkage and a second linkage spaced apart along a lateral axis. In another illustrative embodiment, each linkage may include a link element that includes a first coupling at a first end and a second coupling at a second end. In another illustrative embodiment, the first coupling may include a rotational spring. In another illustrative embodiment, the first end of the link element may be configured to rotate around a first rotational axis of the rotational spring. In another illustrative embodiment, the second coupling may include a joint.

In a further aspect, the rotational spring of the first coupling may include a first element inserted into a second element and configured to rotate around the first rotational axis and engage elastic elements. In another aspect, one of the first element or the second element may be attached to a body, and another of the first element or the second element may be attached to the link element. In another aspect, the elastic elements may include segments along a common axis. In another aspect, the elastic elements may include parallel strands along parallel axes in each inner corner of an outer tube of the rotational spring. In another aspect, the joint of the second coupling may include a ball joint. In another aspect, the joint of the second coupling may include a ball joint and a sliding joint. In another aspect, an angle of a second rotational axis of the sliding joint may be non-parallel to the lateral axis of the system. In another aspect, the plurality of linkages may include an indicator configured to rotate with the link element, where the indicator may include a protrusion extending outwards (e.g., vertically).

In another aspect, the set of linkages may be a first set of linkages, and the linkage spring mechanism may include a second set of linkages above or below the first set of linkages. In another aspect, the first body may include a mounting structure configured to removably couple to an attachment or a vehicle. In another aspect, the second body may include a mounting structure configured to removably couple to an attachment or a vehicle. In another aspect, the first body may include a mounting structure configured to removably couple to an attachment, and the second body may include a different mounting structure configured to removably couple to a vehicle. In another aspect, the system may include an offset distance between a second rotational axis of the second coupling and a second body mounting surface of the second body that is farther than a distance between the second rotational axis and the first body.

In another aspect, the first body may include an attachment, and the second body may include a vehicle. In another aspect, the first coupling may be closer to the ground than the second coupling when the system is in an operational position. In another aspect, the set of linkages may include a third linkage spaced apart along the lateral axis from the first linkage and the second linkage. In another aspect, the link element may be rigid. In another aspect, the link element may include rubber and may be flexible. In another aspect, the link element may be configured to be adjustable in length. In another aspect, the first body may include an attachment, and the attachment may include a cutting edge with a bevel on an underside of the cutting edge. In another aspect, the system may include one or more springs coupled on each side of a linkage.

A system is disclosed in accordance with one or more illustrative embodiments of the present disclosure. In one illustrative embodiment, the system may include an attachment that includes a cutting edge. In another illustrative embodiment, the cutting edge may include at least one bevel on a first side of the cutting edge. In another illustrative embodiment, the cutting edge may include one or more countersunk holes configured to receive a bolt head. In another illustrative embodiment, the one or more countersunk holes may each include a countersunk portion. In another illustrative embodiment, the at least one bevel may be on the same side as the countersunk portion.

In a further aspect, the system may include a multi-directional float system configured to provide the attachment with float capabilities. In another aspect, the multi-directional float system may include a first body that includes a mounting structure configured to removably couple to the attachment. In another aspect, the multi-directional float system may include a second body that includes a different mounting structure configured to removably couple to a vehicle. In another aspect, the multi-directional float system may include a linkage spring mechanism that includes a plurality of linkages coupling the first body to the second body.

In another aspect, the attachment may include a snow blower.

A multi-directional float system is disclosed in accordance with one or more illustrative embodiments of the present disclosure. In one illustrative embodiment, the system may include a first body. In another illustrative embodiment, the system may include a second body. In another illustrative embodiment, the system may include a linkage spring mechanism that includes a plurality of linkages coupling the first body to the second body. In another illustrative embodiment, the plurality of linkages may include a first linkage and a second linkage. In another illustrative embodiment, the first linkage may include a first flexible element of material configured to bend laterally and twist around a longitudinal axis. In another illustrative embodiment, the second linkage may include a second flexible element of the material configured to bend laterally and twist around the longitudinal axis. In another illustrative embodiment, the second linkage may be spaced apart along a lateral axis from the first linkage. In another illustrative embodiment, both the first flexible element of the material and the second flexible element of the material may include at least one of metal or rubber.

This Summary is provided solely as an introduction to subject matter that is fully described in the Detailed Description and Drawings. The Summary should not be considered to describe essential features nor be used to determine the scope of the Claims. Moreover, it is to be understood that both the foregoing Summary and the following Detailed Description are example and explanatory only and are not necessarily restrictive of the subject matter claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description is described with reference to the accompanying figures. The use of the same reference numbers in different instances in the description and the figures may indicate similar or identical items. Various embodiments or examples (“examples”) of the present disclosure are disclosed in the following detailed description and the accompanying drawings. The drawings are not necessarily to scale. In general, operations of disclosed processes may be performed in an arbitrary order, unless otherwise provided in the claims.

FIG. 1A is a view of a multi-directional float system, in accordance with one or more embodiments of the present disclosure.

FIG. 1B is an alternate view of the system, in accordance with one or more embodiments of the present disclosure.

FIG. 2 is a top-down view of the system with horizontally spaced linkages, in accordance with one or more embodiments of the present disclosure.

FIG. 3 is a side view of the system, in accordance with one or more embodiments of the present disclosure.

FIG. 4 is a side view of an exploded assembly of the system, in accordance with one or more embodiments of the present disclosure.

FIG. 5 is a side view of a vertical translation of the system, in accordance with one or more embodiments of the present disclosure.

FIG. 6 is a side view of the system including an attachment, in accordance with one or more embodiments of the present disclosure.

FIG. 7 is a forward-facing view of a tilt of the system, in accordance with one or more embodiments of the present disclosure.

FIG. 8 is a side view of the system including an inverted cutting edge with a bevel on the bottom, in accordance with one or more embodiments of the present disclosure.

FIG. 9 is a side view of a system with lower linkages that are shorter in length relative to upper linkages to allow the system to trip and tilt over an obstacle, in accordance with one or more embodiments of the present disclosure.

FIG. 10 is a side view of a system including one or more springs to bias the linkages to be centered, in accordance with one or more embodiments of the present disclosure.

FIG. 11 is a system including a buckling mechanism, in accordance with one or more embodiments of the present disclosure.

FIG. 12 is a linkage with elastic elements in various configurations, such as may be used for various stiffness profiles of the torsion axle, in accordance with one or more embodiments of the present disclosure.

FIG. 13 is a front view of the second couplings (e.g., sliding joints) at an angle, in accordance with one or more embodiments of the present disclosure.

FIG. 14A is a top-down view of a system with leaf spring linkages shifting side to side, in accordance with one or more embodiments of the present disclosure.

FIG. 14B is a top-down view of the system with leaf spring linkages twisting, in accordance with one or more embodiments of the present disclosure.

FIG. 15A is a cross-sectional view of a torsion axle with user-adjustable stiffness, in accordance with one or more embodiments of the present disclosure.

FIG. 15B is a side view of the torsion axle with user-adjustable stiffness, in accordance with one or more embodiments of the present disclosure.

FIG. 15C is a perspective view of the torsion axle with user-adjustable stiffness, in accordance with one or more embodiments of the present disclosure.

DETAILED DESCRIPTION

Before explaining one or more embodiments of the disclosure in detail, it is to be understood that the embodiments are not limited in their application to the details of construction and the arrangement of the components or steps or methodologies set forth in the following description or illustrated in the drawings. In the following detailed description of embodiments, numerous specific details may be set forth in order to provide a more thorough understanding of the disclosure. However, it will be apparent to one of ordinary skill in the art having the benefit of the instant disclosure that the embodiments disclosed herein may be practiced without some of these specific details. In other instances, well-known features may not be described in detail to avoid unnecessarily complicating the instant disclosure.

Conventionally, attachments such as snow buckets attached to a vehicle are fixed and do not automatically tilt, raise, lower, or otherwise follow the sloping contours of the ground.

Broadly speaking, embodiments of the present disclosure are directed to a float system with an interface that enables a body to follow contours of the ground. In embodiments, the system may exhibit floating properties by virtue of a laterally spaced linkage system. In one or more embodiments, the system uses rotational springs at least partially rotatable around a horizontal axis. The floating properties may include, but are not necessarily limited to, a side tilt, a vertical translation, and a forward tilt. For example, some embodiments may include a single horizontal row of two or more linkages. Other embodiments may include a total of three or more linkages-one linkage that is above or below a row of two horizontally-spaced linkages. Other embodiments may include two vertically-spaced rows of at least two horizontally-spaced linkages in each row, one row above another. The system may be configured to be operated in multiple directions, such as for pushing and/or pulling an attachment.

In embodiments, the force profiles of the float functionality may be applicable to a wide variety of applications. For example, depending on the bias (e.g., pre-tensioning, stiffness of spring, or the like) of a spring mechanism, the system may be configured to provide extra downward force on the attachment for certain tasks and/or extra upward force to reduce a weight of the attachment for other tasks. For example, extra downward force may be used to scrape ice off pavement. Upward force may be used to lighten the load when a lighter touch is desired, such as gliding a mower attachment along the ground. Other solutions may not provide as much flexibility and/or range of motion as the float systems herein. For example, one or more embodiments of the present disclosure may provide a relatively large range of motion, configurability/adjustability, and damping properties compared to other solutions. In other words, other float solutions may have less range of motion, less adjustability, and/or no damping properties.

In this regard, embodiments herein may provide an interface between a power system and an attachment or functionality of the power system that exhibits flexible, floating, adaptable, controllable, and/or actuatable behavior. Benefits may also include reducing the relative complexity of supply chains, sales operations, support operations, and service chains.

At least some embodiments are directed to a floating mechanism system for improved flexibility using torsion axles. For example, the rotational springs may be torsion axles attached directly and/or indirectly to a mounting plate or an attachment. The floating mechanism may be part of the attachment or as a standalone mechanism. An example of a standalone mechanism is an intermediate adapter with a mounting plate for swapping out attachments and usable on multiple vehicles, or the like. However, it is briefly noted here that the floating mechanism is not necessarily limited to such embodiments, and non-torsion axle embodiments are also considered. In some embodiments, the linkages include leaf springs or similar flexible metal links.

The system may be utilized in a variety of configurations to provide float functionality to a variety of vehicles, a variety of attachments, or both. For example, the system may be an intermediate adapter compatible with a variety of vehicles and any attachment, integrally built into an attachment to permanently give the attachment float functionality, integrally built into a mounting portion of a vehicle for coupling to any attachment, or the like. For example, the intermediate adapter may be configured to add functionality to an existing attachment (e.g., snowblower, snow bucket, plow, soil conditioner, etc.). For instance, the intermediate adapter (e.g., adapter assembly) may include female and male mounting plate elements such as male standardized mounting plates used on skid steers and female attachment mounting plates for mounting to vehicles, and/or the like. The linkages may allow the male element to “float”, thereby providing the mounted attachment with float functionality. In another example, the linkages (e.g., with torsion axles) are part of the attachment itself (e.g., built into and integral with the attachment)—giving the attachment floating functionality. For example, the outer tube of the torsion axle may be coupled (e.g., welded, fastened) to the attachment.

An example of a system (e.g., system 100) is shown in FIGS. 1A and 1B.

FIG. 1A illustrates a view of a multi-directional float system 100, or system 100, in accordance with one or more embodiments of the present disclosure. FIG. 1B is an alternate view of the system 100, in accordance with one or more embodiments of the present disclosure. The system 100 may include various support structure (e.g., welded steel) for connecting elements to each other.

The system 100 may be configured to mount or attach to an attachment 800 as shown to provide the attachment 800 with float capabilities. The attachment 800 may be any attachment, such as a snow bucket as shown but the attachment is not limited to a snow bucket. Further, the system 100 is not limited to the system shown in FIGS. 1A and 1B. For example, the system 100 may include the attachment 800 (or be an integral part of an attachment). For instance, rather than a removably couplable mounting structure (e.g., mounting plate, 3-point hitch, or the like), the system 100 may be integrally formed, such as welded to the attachment 800. Similarly, the system 100 may be configured to mount to a vehicle. In another embodiment, the system 100 may be integrally formed with (and/or include) the vehicle. Any combination of the mounting structures (or lack thereof) for a vehicle and an attachment 800 may be used, such as, but not limited to, a vehicle built for a specific function with float functionality built-in, a mounting plate on each side as shown in FIGS. 1A and 1B for use in a variety of attachments and vehicles, a mounting plate on the attachment side, a mounting plate on the vehicle side, and/or the like.

For example, as shown, some embodiments may include an intermediate adapter compatible with a variety of attachments 800, so that the attachments 800 may be swapped out as desired. In such a configuration, the first and second body may include mounting structures configured to be coupled to the attachment 800 and the vehicle.

In some embodiments, the system 100 may include a purpose-built machine with float functionality integral to the purpose-built machine. For example, the first body may include the attachment 800 and the second body may include a vehicle. For example, the purpose-built machine may be a dedicated snow blower (e.g., where the snowblower is permanently attached and non-swappable). For example, the purpose-built machine may be a grader with a permanently attached moldboard attachment for grading gravel roads or the like. The above examples are non-limiting and the purpose-built machine may include any suitable purpose-built machine known in the art.

In embodiments, the system 100 may include an indicator 12. For example, the indicator 12 may be configured to rotate with a portion of the system 100 to provide indication of an amount of rotation and therefore an amount of vertical movement of the floating portion (e.g., attachment 800). For example, the indicator 12 may be a portion of (or coupled to) the linkages. For instance, the indicator 12 may be a vertical protrusion (e.g., sheet metal, pins, steel rods, and/or the like) extending outwards from the linkages. The indicator 12 may be a laser cut portion of the same plate used to make a link element of the linkages. The indicator 12 may be configured to align with side reference indicators 10, to be used by a user as reference for how much the indicator 12 has rotated. For example, the side reference indicators 10 may be coupled to a non-rotating portion of the system 100 such that the movement of the linkages causes the indicator 12 to move relative to the side reference indicators 10. For instance, the non-rotating portion may include, but is not limited to, a vehicle-side, second body of the system, such as the supporting structure 120 labeled in FIG. 4. In embodiments, the side reference indicators 10 may be vertical protrusions (e.g., sheet metal, pins, steel rods, and/or the like). The system 100 may include two or more reference indicators 10. For example, the system 100 may include a side reference indicator 10 on each side, such as one for each linkage spaced laterally apart.

FIG. 2 illustrates a top-down view of a system 100 with horizontally spaced linkages 110, in accordance with one or more embodiments of the present disclosure.

The vehicle 802 may be any vehicle, such as a self-powered, self-propelled vehicle. For example, the vehicle 802 may include, but is not necessarily limited to a skid steer loader, tractor, road grader, excavator, bulldozer, backhoe, forklift, telehandler, combine harvester, snowplow, street sweeper, all-terrain vehicle (ATV), utility task vehicle (UTV), dump truck, wheel loader (e.g., front end loader), or motor grader. For example, the vehicle 802 may be at least one of a wheel loader, skid steer loader, or tractor. For example, the vehicle 802 may be a skid steer loader. For example, the vehicle 802 may be a tractor. For instance, the system 100 may be configured to couple with such vehicles 802 using mounting structure (e.g., skid steer plate, 3-point hitch, and/or the like). By way of another example, the system 100 may be integrally formed with one or more of such vehicles 802.

The multi-directional float system 100 may include a first body 102 and a second body 104. In embodiments, the bodies 102, 104 may include a mounting structure configured to mount to an attachment 800 or vehicle 802. For example, a male mounting plate structure 116 and a female mounting structure 112 are shown in FIG. 4.

In some embodiments, the bodies 102, 104 may include (or be) an attachment 800 itself, or a vehicle 802 itself. For example, the first body 102 of the multi-directional float system 100 may include a mounting structure (e.g., mounting structure 330 in FIG. 3). The mounting structure 330 may be configured to removably couple to an attachment 800 or a vehicle 802. For example, the mounting structure 330 may include a skid plate mount (e.g., male or female), a 3-point hitch (e.g., male or female), and/or the like that can repeatedly removably couple to an attachment 800 and temporarily lock the attachment 800 in place relative to the mounting structure 330. For example, the mounting structure 330 may include locking pins (not shown) common to skid steer mounting plates.

In addition, or alternatively, the second body 104 of the multi-directional float system 100 may include a mounting structure (e.g., different mounting structure 332 in FIG. 3). The different mounting structure 332 may be configured to removably couple to a vehicle 802. Although, in some embodiments, the different mounting structure 332 may be configured to removably couple to an attachment 800. For example, the different mounting structure 332 may include a skid plate mount, a 3-point hitch, and/or the like. For instance, the different mounting structure 332 may include a female mounting structure and the mounting structure 330 may include a male mounting structure.

The multi-directional float system 100 may include a linkage spring mechanism 302 including at least two linkages 110. The linkages 110 may be in any arrangement, such as the two linkages 110 being spaced apart at least some distance along the lateral direction (e.g., X-direction) orthogonal to a coupling direction (e.g., longitudinal Y direction). Being spaced laterally and having linkages 110 with couplings at each end may allow the multi-directional float system 100 to have more degrees of freedom and improved operational profile (e.g., mechanically constrained ability to float and/or trip over obstacles) than a single torsion axle spring. Compared to a single torsion axle spring, the multi-directional float system 100 may have vertical translation as shown in FIG. 5. Compared to a single torsion axle spring, the multi-directional float system 100 may have a larger range of motion for side tilt as shown in FIG. 7.

Each linkage 110 may include a link element 310. The link element 310 may include a first coupling 306 at a first end and a second coupling 308 at a second end of the link element 310. The first coupling 306 may include a rotational spring. The first end of the link element 310 may be configured to rotate around a first rotational axis 202 of the rotational spring. The link elements 310 may be rigid (e.g., rigid metal plates as shown). The link element 310 may include a flat plate (e.g., steel plate). The link element 310 may include (or be) an arm that is longer in the longitudinal direction than it is wide or thick.

Referring briefly to FIG. 11, the link elements 310 may be rigid except along their length in that the link elements 310 may be extendable and retractable via a telescoping functionality, such as a tube inside another tube with a spring. Such a structure may allow even more compliant behavior and degrees of freedom of the system 100 to respond to environmental forces.

Referring briefly to FIGS. 14A and 14B, in some embodiments, the link elements 310 are flexible elements configured to bend and twist. In some embodiments, the link elements 310 include metal—similar to leaf springs. In some embodiments, the link elements 310 include rubber.

Referring back to FIG. 2, the second coupling 308 may include (or be) a joint. The second end of the link element 310 may be configured to rotate around a second rotational axis 204 of the joint. The joint of the second coupling 308 may include (or be) any joint, such as a rotational joint. For example, the joint may include a ball joint 118. For example, the joint may include a sliding joint. Further, as shown, the joint may include both a ball joint 118 and a sliding joint. For instance, the ball joint 118 may be coupled to and configured to slide on a shaft (e.g., sliding joint). This combination may allow the second end of the linkage 110 to slide, which may accommodate a side tilt of the system 100. In this way, as the system 100 tilts, one or more of the joints may slide to accommodate the tilt.

In some embodiments, the sliding joint 308 allows 6 inches or more of sliding range (e.g., 3 inches of slide in each direction or more). In some embodiments, the sliding joint allows for 1 inch or more of sliding in each direction (i.e., 2 inches total or more). In some embodiments, the sliding joint allows for 2 inches or more of sliding in each direction (i.e., 4 inches total or more).

The first coupling 306 may include a rotational spring (e.g., torsion axle). The rotational spring may include a first element 312 inserted into a second element 314. The first element 312 may be configured to rotate around the first rotational axis 202 and engage elastic elements 316.

One of the first element 312 or the second element 314 may be attached to a body (e.g., first body 102, second body 104). Another of the first element 312 or the second element 314 may be attached to the link element 310. In other words, either the first element 312 or the second element 314 may be attached to the link or the body 102, 104. For example, as shown, the second element 314 (e.g., outer tube) may be attached to the first body 102.

In some embodiments, the system 100 may be in a compact configuration. For example, the system 100 may include an offset distance 206 where the second rotational axis 204 of the second coupling 308 is farther from the first body 102 than a second body mounting surface 208 (e.g., inside surface of a skid plate). Being compact may provide a variety of benefits. For example, for a given length of linkage 110, the offset distance 206 may allow a relatively larger range of motion (e.g., vertical translation), while still allowing a vehicle 802 to be closer to an attachment 800. A system 100 that is compact may be less likely to tip the vehicle 802 when carrying large loads due to the weight of the attachment 800 being closer to the vehicle 802. Being compact may allow an attachment 800 and/or vehicle 802 to fit on smaller trailers, saving costs, and/or allowing more room for other equipment on the trailer. Additionally, a compact configuration allows for more maneuverability of the system 100 in tight spaces.

The linkage spring mechanism 302 may include a plurality of linkages 110 coupling the first body 102 to the second body 104. The plurality of linkages 110 may include a first set of linkages (e.g., top row of linkages 340 in FIG. 3). The first set of linkages 340 may include a first linkage 110 and a second linkage 110. The second linkage 110 may be spaced apart along a lateral axis from the first linkage 110.

Note that the figures and descriptions herein are nonlimiting and that, in some embodiments, the system 100 includes any number of linkages 110 of two or more, in any configuration. For example, the system 100 may include a single row of two linkages 110 as shown in FIG. 2.

In some embodiments, the system 100 includes three or more linkages 110. For example, the three or more linkages may include a single row of two or more linkages 110 and one or more other linkages 110 below or above the two or more linkages 110. For instance, the system 100 may include two laterally spaced linkages 110 and one vertically spaced linkage 110 above or below the two laterally spaced linkages 110.

In some embodiments, the system 100 includes two or more rows of two linkages, such as a two-by-two arrangement in FIGS. 1A and 1B. Each set/row of linkages may include a third linkage (not shown) or more. The third linkage may be spaced apart along a lateral axis from the first linkage 110 and the second linkage 110.

The linkages 110 may include a first element 312 (e.g., inner tube) coupled to (e.g., inserted into) one or more second elements 314. For example, the second elements 314 may be one or more outer tubes 314 (e.g., non-circular tube such as a square tube). The outer tube 314 may include elastic elements 316 inside (e.g., rubber in each corner) for torsion axle functionality. In some embodiments, each first element 312 couples to a single, corresponding outer tube 314.

In some embodiments, multiple laterally-spaced first elements 312 may couple to the same shared outer tube 314, as shown by center-located shared tube 314.

FIG. 3 illustrates a side view of the system 100, in accordance with one or more embodiments of the present disclosure.

In embodiments, the angle (e.g., angle from a horizontal plane) of the linkages 110 may be any angle. For example, the angle may be selected based on design criteria such as a desired vertical translation profile, where a lower attachment-side coupling may cause more resistance to the attachment “tripping” over obstacles, and vice versa. For instance, the attachment-side coupling (e.g., first coupling 306) may be closer to a ground (not shown) than the second coupling 308 when the multi-directional float system 100 is in an operational position. An example of an operational position is shown in FIG. 1A. The operational position may be, but is not necessarily required to be, when the system 100 is oriented for engaging the ground as designed to be and/or when the system 100 is properly mounted to a vehicle 802.

Referring to the opposing ends of each linkage 110 in the linkage spring mechanism 302, the coupling that is nearest to the attachment may be lower, vertically (relative to the ground) than the coupling that is nearest to the vehicle. Such a configuration may make it more difficult for an attachment 800 to trip upwards, although that may be desired if a relatively higher threshold force is desired for keeping the attachment 800 on the ground when only experiencing smaller forces. For example, the first coupling 306 (e.g., torsion axle coupling) may be lower, vertically, than the second coupling 308, and may be the coupling that is located closest to the attachment 800. In some embodiments, the couplings 306, 308 are substantially at the same height (e.g., within 3 inches vertically). In some embodiments, the coupling closest to the attachment 800 is higher, which may make it relatively easier for the attachment 800 to “trip” upwards over obstacles. Such a configuration may be used when a lower threshold force is desired to trip the attachment 800 upwards.

In some embodiments, the system 100 is configured for a maximum weight of an attachment 800. For example, the linkage spring mechanism may be configured to support a maximum weight. For instance, the linkage spring mechanism may be configured to stop rotating after the maximum weight is reached. The maximum weight may be any weight such as 1,000 pounds or more. In some examples, the maximum weight is within 500 pounds of 3,000 pounds. In some examples, the maximum weight is within 1,000 pounds of 7,000 pounds (i.e., between 6,000 and 8,000 pounds).

In some embodiments, the system 100 includes a stop (not shown) for the link elements 310. For instance, the stop may be coupled to the second body 104 and configured to contact the link elements 310 before a threshold amount of rotation. For instance, the stops for each link element 310 may prevent an over-rotation of a heavy attachment 800, such as to protect against a permanent deformation of the linkage spring mechanism.

FIG. 4 illustrates a side view of an exploded assembly of the system 100, in accordance with one or more embodiments of the present disclosure.

The system 100 may include a support structure 120. The support structure 120 may be configured to offset the mounting element 112 forward from the coupling surfaces 114.

The linkages 110 may be attached to the support structure 120 via pins, or shafts 106, in coupling surfaces 114 via holes defined by support structure 120. For example, the shaft 106 may be a sliding shaft for the sliding joint of the second coupling 308.

FIG. 5 illustrates a side view of the system 100 being vertically translated, in accordance with one or more embodiments of the present disclosure.

For example, after contacting an obstacle (e.g., manhole cover), the first body 102 may vertically raise up and fall back down to a resting position.

FIG. 6 illustrates a side view of a system 100 including an attachment 800 that is integrated with the system, in accordance with one or more embodiments of the present disclosure. “Integrated” in this context may mean configured to be coupled to the attachment 800, even when the attachment 800 is uncoupled from a vehicle. For example, the system 100 may be welded to a frame of the attachment 800, or the like. In this way, the system 100 may include the attachment 800 itself, such that the attachment 800 has a built-in floating mechanism.

The attachment 800 may be any attachment. For example, the attachment 800 may include one of the following: bucket, dozer blade, grader blade, land plane, landscape rake, soil conditioner, snow plow, snow blower, angle broom, power rake, box blade, scarifier, tiller, road milling machine, vibratory roller, laser-guided box blade, snow pusher, or planer. For instance, the system 100 may include a bucket. For instance, the system 100 may include a snow plow. For instance, the system 100 may include a rotary broom. It is noted that the attachment 800 is not limited to the attachment types described herein, and that any suitable attachment type known in the art is contemplated.

An offset distance 604 (e.g., longitudinal distance, Y-direction distance) between a rearward rotation axis 308a (e.g., center of second coupling 308) and an inside surface of different mounting structure 332 (e.g., corresponding to the vehicle) may be less than a distance between the rearward rotation axis 308a and a forward rotation axis 306a (e.g., center of torsion axle 306). A benefit of this may include allowing the different mounting structure 332 to be closer to the attachment 800, which may allow for more clearance when turning the vehicle, and a closer center of gravity of the attachment to the vehicle 802, such as for lifting heavy loads of material (e.g., snow).

FIG. 7 illustrates a forward-facing view of a system 100 being tilted, in accordance with one or more embodiments of the present disclosure. Having the linkage 110 components spaced apart laterally across the width of the attachment 800 may provide lateral stability and allow the cutting edge 602 to tilt to either side to follow the contours of the ground 804 as shown. The system 100 may be configured to rotate and/or translate in a variety of motions, along a variety of axes, via the float functionality of the system 100. Referring briefly to FIG. 9, besides tilting sideways around a longitudinal axis (e.g., coupling axis) and translating vertically up and down, the system 100 may be configured to tilt forward.

The system 100 may be configured to tilt a tilt range 702 (e.g., maximum angular range), which may be measured around the longitudinal axis (e.g., coupling axis). For example, the tilt range 702 may be at least 4 degrees (e.g., at least 2 degrees to each side). For example, the tilt range 702 may be at least 15 degrees. For example, the tilt range 702 may be at least 20 degrees. For example, the tilt range 702 may be at least 40 degrees (i.e., 20 degrees to each side). For instance, a tilt range 702 of at least 40 degrees may provide, depending on the width of the attachment, 5 inches of vertical travel of each end of the attachment.

In some embodiments, the tilt range is provided by the sliding and ball joint. In some embodiments, the tilt range is provided by any other form of flexibility or play in the system 100 such as a flexibility provided by a leaf spring-like link element 310.

FIG. 8 illustrates a side view of an inverted cutting edge 806 with a bevel 812 on the bottom, in accordance with one or more embodiments of the present disclosure.

Typically, in industry, cutting edges include a bevel on the top of the cutting edge, not the bottom. In such a configuration, the bevel faces upward and the cutting edge typically includes countersunk holes on the bottom side, opposite from the top beveled side. The countersunk holes house the bolt heads, while the nuts attached to the bolt are mounted on the top side of the cutting edge. This configuration helps prevent bolt heads from wearing away as the cutting edge scrapes the ground. If the countersunk holes were on the same side as the bevel, then the nuts and distal bolt ends would face downward and scrape the ground and quickly wear away.

Embodiments of the present disclosure contemplate an opposite arrangement of a cutting edge. It is contemplated that putting the bevel 812 on the bottom side—i.e., on a same side as the countersunk holes 810—may allow the cutting edge 806 to “trip” over certain obstacles 808 using the sloped angle of the bevel itself. Rather than the bevel serving to only narrow the tip and sharpness of the cutting edge, the bevel may simultaneously aid in ramping over short obstacles such as ridges of a manhole cover or a crack in the road. Further, the user may still have the option to tilt the attachment forward to engage the cutting action of a sharp end of the cutting edge 806 if desired. However, in a default non-forward-tilted position, the bevel may help protect the ground from being scraped or scratched from the cutting edge 806.

In this regard, in embodiments, the cutting edge 806 may include a bevel 812 on a same side (e.g., underside) as countersunk portions 810 (e.g., cone-shaped recesses) of a countersunk hole configured to receive a bolt head.

This configuration may be referred to as an inverted cutting edge 806. Embodiments may include one or more inverted cutting edges 806 configured to aid in a trip behavior. For example, the inverted cutting edges 806 may include a bevel 812 on an underside of the cutting edge 806. This may aid the cutting edge 806 in “tripping” upwards when ramming into an obstacle 808. The bevel surface that is angled upwards may be more likely to deflect upwards than a cutting edge without any bevel on the underside of the cutting edge 806.

FIG. 9 illustrates a side view of a system 100 with lower linkages 110 of a first set of linkages 342 that are shorter in length relative to upper linkages 110 of a second set of linkages 340 to allow the system 100 to tilt forward over an obstacle 808, in accordance with one or more embodiments of the present disclosure. Such a configuration may allow the lower part of the system to swing rearwards (towards the vehicle 802) and tilt forward. It is to be understood that any length and angle of linkages 110 may be used to achieve a variety of movement profiles and force profiles of the system 100 as desired.

In embodiments, the cutting edge 602 may be coupled to a spring 902 and configured to rotate rearward. The spring may be configured to allow a lower edge of the cutting edge 602 to swing backwards to a trip position when encountering a rigid, immovable object 808. The cutting edge 602, via the spring 902, may be configured to swing forward into a default original position after tripping over the object 808. In this way, a typical trip edge may provide further complementary tripping behavior beyond just the tripping behavior of the float functionality. In tandem, both tripping mechanisms may act together to provide less damage to the system than either tripping mechanism alone.

FIG. 10 illustrates a side view of a system 100 including one or more springs 1002 configured to bias the linkages 110 to be centered, in accordance with one or more embodiments of the present disclosure. For example, the springs 1002 may include tension springs (as shown), compression springs, and/or the like. For instance, the springs 1002 may include at least one spring 1002 coupled on each side, such as a left and a right side of a linkage 110.

The centering springs 1002 are not necessarily needed on all four linkages 110 in a four-link configuration, and in some examples only two sets of springs 1002 are used—one for a left-side linkage 110 and one for a right-side linkage 110. For example, the upper linkages 340 in a two-by-two arrangement of linkages may include at least one spring 1002 coupled to the upper linkages 340, where the lower linkages 342 do not necessarily use centering springs, or vice versa.

FIG. 11 illustrates a system 100 including a buckling mechanism 1104, in accordance with one or more embodiments of the present disclosure. Embodiments may include one or more mechanisms. The mechanisms may include one or more adjustable length rods, triggers, or buckling members. The mechanisms may include any suitable material such as rubber, steel, or plastic.

For example, the system 100 may include one or more mechanisms that include one or more adjustable length rods or buckling members. The mechanisms may be the link element 310 or be included end-to-end adjacent to the link element 310. In this way, the link element 310 may be configured to be telescoping and adjustable in length.

In embodiments, the system 100 includes both a cutting edge 806 and the buckling mechanism working in tandem to reduce strain on the system 100 during collisions with an obstacle. For example, the linkages 110 may include the buckling mechanism 1104 of FIG. 11. The buckling mechanism 1104 may include a compression spring that enables the link element 310 to change length, and absorb forces and “buckle” (i.e., non-destructibly retract and extend in length). The link element 310 may include a telescoping mechanism including a first telescoping element 1106 and a second telescoping element 1108 inserted into the first telescoping element 1106. For example, the elements may include a smaller tube 1108 inside a larger tube 1106, where a compression spring (e.g., of buckling mechanism) is inserted into the larger tube 1106 to allow the smaller tube 1108 to temporarily retract farther into the larger tube 1106. The retracting and extending may occur when a longitudinal force is applied to the attachment 800. The retracting and extending may improve the compliance of the system 100, such as reducing strain on the system 100 when hitting obstacles and/or allowing more freedom of movement of the floating mechanism.

Embodiments may provide these characteristics utilizing one or more actively powered mechanisms, rather than only a passive buckling spring mechanism. Embodiments may provide these characteristics utilizing one or more powered systems that may include one or more controllers, passive mechanisms, powered mechanisms, actuators, triggers, limiters, switches, encoders, resolvers, linear resolvers, or the like. For example, the link element 310 may be configured for an actively powered adjustable length. For instance, the link element 310 may include a hydraulic cylinder. For instance, the link element 310 may include one or more linear actuators, or a resolver (e.g., linear resolver). For instance, the buckling mechanism 1104 may include (or be) a linear actuator.

Embodiments may be configured for a select distance between the buckling mechanism and an attachment 800. For example, embodiments may incorporate adjustable elements, such as holes 1110 and pins to enable a user to adjust a distance of retraction of the buckling mechanism. For instance, the second telescoping element 1108 may include lateral holes in the second telescoping member 1108 that—when a fastener (e.g., bolt, pin) is inserted therein—restrict a range of motion of the adjustable length of the link element 310.

FIG. 12 illustrates elastic elements 316 in various configurations, such as may be used for various stiffness profiles of the torsion axle 306, in accordance with one or more embodiments of the present disclosure.

Note that the elastic elements 316 shown in various figures are merely non-limiting examples of a rotational and/or torsion spring (e.g., torsion axle 306), and the system 100 may include any other suitable configuration. Each corner shown in FIG. 12 represents a different configuration. The system 100 may include one or more of these configurations and/or any other suitable configuration.

In embodiments, the elastic elements 316 are configured to act in a state of compression or tension to provide spring functionality.

In some embodiments, the elastic elements 316 are configured to function in a state of tension to provide spring functionality. For instance, the elastic elements 316 may fill the entire gap between outer element 314 and inner element 312 and be attached/coupled (e.g., via adhesive) to the inner element 312 such that a rotation of the inner element causes the elastic element 316 that is attached to it to be stretched in tension.

In some embodiments, as shown, the elastic elements 316 are configured to be compressed to provide a spring functionality. For example, the spring may include elastic elements 316 in each corner. The rotation of the inner element 312 may compress the elastic elements 316, causing a rotational spring force configured to return the inner element 312 back to its original resting position.

The elastic elements 316 may include multiple strands 316a, such as multiple parallel strands along parallel axes in each inner corner of the second element 314. The elastic elements 316 may include multiple segments 316b, such as multiple segments of elastic elements 316b aligned sequentially in series down a length of a common axis, in each corner. For instance, the segments 316b may be any length.

In some embodiments, each segment 316b or strand 316a includes an elastic material with different material properties than at least one other segment 316b or strand 316a, respectively. Varying the properties may allow for tuning the spring/force profile of the rotational torsion axle 306. For example, to achieve a desired force profile, segments 316b and/or strands 316a may have different stiffness (i.e., elastic modulus, Young's modulus in Pascal units). For example, to achieve a desired force profile, segments 316b and/or strands 316a may have different hardness.

In this way, a stiffness (e.g., stiffness profile, such as a rotational force profile versus angle of rotation/displacement) of the torsion axle 306 may be adjustable. For example, each torsion axle 306 may be configured for a stiffness (as a whole) that is a function of angular displacement that is non-linear. By way of another example, the torsion axles 306 may include a stiffness that is a function of angular displacement that is progressive.

As noted above, the system 100 may include one or more torsion axles 306 as shown in FIG. 12. For example, the first coupling rotational spring 306 may include (or be) a torsion axle 306.

Embodiments may incorporate one or more torsion axles 306 where the stiffness is configured to be adjusted by rotating a gear. For instance, a gear (not shown) may be coupled and configured to rotate the outer tube 314, and thereby tighten (e.g., pre-load, pre-tension) or loosen the stiffness of the torsion axle 306. For instance, the gear may be coupled and configured to rotate the inner torsion axle relative to the outer tube to tighten (e.g., pre-load) or loosen the stiffness of the torsion axle 306. For example, the system may be configured to be adjusted by rotating a first gear with a second gear. For instance, the first or second gear may be a worm gear coupled to the first or second gear respectively such that the torsion axle is tightened and pre-loaded.

FIG. 13 illustrates a front view of a configuration of four second couplings 308 (e.g., sliding joints) at respective angles 1302, in accordance with one or more embodiments of the present disclosure. Benefits of such a configuration may include allowing or aiding in a side tilt of the first body 102, without causing singularities or near singularities of the sliding joint 308. A joint singularity is defined as when a joint instantly or nearly instantly moves a large amount during normal operation.

In some embodiments, as shown, angles 1302 of the second rotational axis 204 of laterally aligned sliding joints 308 are different (i.e., non-parallel) relative to each other. For example, the second rotational axes 204 may be symmetrical to each other. For instance, the second rotational axis 204 may be non-parallel to a horizontal X-direction (lateral axis). In some examples, the second rotational axis 204 angle 1302 is more than 5 degrees from the lateral axis. In some examples, the second rotational axis 204 angle 1302 is more than 10 degrees from the lateral axis. In some examples, the second rotational axis 204 angle 1302 is more than 20 degrees from the lateral axis. The angle 1302 may be the angle of the axis 204 of the sliding joint. For example, the angle may be within an X-Z plane (e.g., lateral-vertical plane).

In this way, embodiments may include one or more prismatic joints that are arranged at an angle to the linkages 110 to which they connect. Embodiments may include one or more prismatic joints that are arranged at a 90-degree angle to the linkages 110. Embodiments may include one or more prismatic joints that are arranged at an angle that is less than or greater than 90 degrees to the linkages 110 or elements to which they connect such that the angle minimizes or eliminates the presence of one or more of singularities, force singularities, velocity singularities, or joint singularities. The angle may minimize or eliminate the presence of one or more of singularities, force singularities, velocity singularities, or joint singularities.

Embodiments may include joints that incorporate designs that minimize or eliminate the presence of Hertz contact. Embodiments may include joints that incorporate designs that minimize Hertz contact stresses or strains. Embodiments may include joints wherein the radii of curvature of the interfacing contour surfaces are maximized to minimize one or more of Hertz contact, Hertz contact stresses, Hertz contact strains, or associated properties contributing to wear.

FIG. 14A is a top-down view of a system 100 with leaf spring linkages 1402 shifting side to side, in accordance with one or more embodiments of the present disclosure.

It is contemplated that using a leaf spring or the like may replace a ball and socket joint and/or provide additional flexibility compared to a rigid link element 310 shown in other figures.

In some embodiments, the linkage spring mechanism 302 (and/or the link element 310) includes (or is) a flexible element of metal 1402. For instance, the laterally spaced linkages 110 may include (or be) a flexible element of metal 1402. The flexible element of metal 1402 may be configured to bend laterally (e.g., side to side) as shown in FIG. 14A and to twist around a longitudinal axis (e.g., Y-axis) as shown in FIG. 14B. Benefits may include relatively reducing the complexity and saving costs compared to more complicated float mechanisms. For example, leaf spring linkages 1402 may be used as shown in FIGS. 14A and 14B.

While the second body 104 is illustrated as moving relative to a static first body 102, this is not necessarily required and is for simplicity of illustration only. For example, rotating all of the elements in the bottom half of the image may be difficult and create many overlapping, skewed objects. Rather, the first body 102 may be more likely to move relative to the second body 104 and the view of the diagram shown may be tracking a location of the first body 102 while it moves, which may make the second body 104 appear to move but in reality, the second body 104 may be stationary.

The system 100 may include a securing member 1404 (e.g., pin, bolt, fastener, or the like) for coupling the flexible element of metal 1402 to the rest of the system 100.

FIG. 14B is a top-down view of a system 100 with leaf spring linkages 1402 in a twisted position, in accordance with one or more embodiments of the present disclosure.

For example, the flexible elements of metal 1402 may twist around the longitudinal axis (i.e., Y-axis).

While the second body 104 is illustrated as twisting relative to a static first body 102, this is not necessarily required and is shown for simplicity of the illustration only. In at least some embodiments, the first body 102 may be more likely to twist relative to the second body 104.

The system 100 may include one or more adjustable mechanisms that incorporate pins (e.g., pins 106 of FIG. 4). The pins 106 may be configured to be used to adjust the preloading of one or more of leaf, flat leaf, arched, or coil springs. Embodiments may include one or more mechanisms that operate between a first end and a second end. Embodiments may include one or more mechanisms that operate between a first end and a second end and where a mechanism is self-centering between the first end and the second end. Embodiments may include one or more mechanisms that operate between a first end and a second end and where the mechanism is preloaded to resist displacement from a centered position between the first end and the second end.

Embodiments may operate in or about one or more of a preloaded or centered position between a first end and a second end and may include one or more springs (e.g., springs 1002 of FIG. 10). Embodiments that operate in or about one or more of a preloaded or centered position between a first end and a second end may include one or more leaf or coil springs. Such leaf or coil springs may be characterized by having at least 100 pounds of maximum spring force. For example, leaf springs 1402 are illustrated in FIGS. 14A and 14B. Embodiments that operate in or about a preloaded and centered position between a first end and a second end may include one or more pairs of springs and one or more adjustment pins. Embodiments may include one or more pairs of springs and one or more gears. At least one gear may be a spur gear and at least one gear may be a worm gear. One or more pairs of springs may be incorporated as a prismatic joint. Embodiments may include one or more springs with a constant stiffness. Embodiments may include one or more springs with a progressive stiffness. Embodiments that operate in or about a preloaded and centered position may include one or more springs with one or more of a linear or non-linear stiffness.

Embodiments may be flexible within a range of motion, where the range of motion may include a range of frequencies. The motion may include a range of frequencies and the frequencies may be configured to be minimized. In some embodiments, the amplitudes may be minimized by one or more mechanisms described herein.

Embodiments may be flexible within a range of motion where the range of motion may include a range of frequencies with associated amplitudes where at least a subset of the frequencies are within an audible range and where the frequencies and amplitudes are minimized. For example, the frequencies and amplitudes may be minimized towards being inaudible.

Embodiments may be flexible within a range of motion and configured for reduced shaking, sound, or shock. For example, the link elements 310 of the system 100 may include rubber instead of metal. The rubber may allow the system 100 to dampen movement compared to steel float functions. For instance, mower decks that use a simple pivot steel arm for float functionality may “bounce” while rubber embodiments of the present disclosure may dampen such a bounce using elastic materials such as rubber in a rotational spring.

Embodiments may be flexible within a range of motion and utilize that range of motion to allow for one or more connected portions to follow one or more contours. Embodiments may flexibly connect two or more portions of a system 100 that operate on a surface having one or more contours. The surface may include a ground surface having one or more contours, where the range of motion allows the system 100 to follow the contours of the surface. The range of motion may allow the system 100 to follow the contours of the surface in a way that depends upon desired settings, properties, characteristics, adaptations, articulations, or adjustments of a flexible connection of the linkages 110—whether passive or powered. Embodiments may progressively restrict the relative motion of one or more portions of a machine.

FIG. 15A illustrates a cross-sectional view of a torsion axle 306 with user-adjustable stiffness, in accordance with one or more embodiments of the present disclosure.

The torsion axle 306 may include the outer element 314 and the inner element 312. The inner element 312 may be configured to rotate within the outer element 314. The system 100 may incorporate one or more of these torsion axles 306.

In some embodiments, the torsion axle 306 is configured to be adjusted with a translating element or translating assembly.

In some embodiments, the torsion axle 306 is configured to be adjusted with a clamping assembly. The clamping assembly may be configured to clamp the torsion axle 306 perpendicular to its length, limiting a rotational deflection distance of the torsion axle 306 available to rotate under load.

The clamping assembly may include a series of fasteners 1506 (e.g., screws) that loosen or tighten a gap 1504 (e.g., slit) of an outer tube 314 along its length. For example, the outer tube 314 may include a gap 1504 configured to be tightened and reduced in size by a fastener 1506. The outer tube 314 may be configured to receive the fastener 1506 along one or more voids 1502 (e.g., drilled holes) along a length of the outer tube 314 and aligned perpendicular to the length.

In some embodiments, the force profile (e.g., spring force at each rotation angle) is adjustable hydraulically. For example, the gap 1504 may be configured to be reduced in size. For instance, reducing the gap may include clamping the outer tube 314 using hydraulic elements. For instance, a hydraulic cylinder (not shown) may be used to reduce the gap 1504, and thereby change the properties of the torsion axle 306. For instance, the cylinder may be perpendicular in a Z-direction, along the axis of the fastener 1506 shown, such as to compress the size of the gap 1504. In some embodiments, a hydraulic wedge may be configured to reduce the size of the gap. For example, a wedge (not shown) may be configured with rollers (e.g., rolling balls, wheels, etc.) to slide in between the outer tube 314 and a fixed plate (not shown) above the outer tube 314, and thereby reduce the size of the gap 1504. Reducing the size of the gap may leave less room for the elastic elements 316 to change shape, and thereby increase the force required to do so, such that the torsion spring has a higher spring force for each degree of rotation.

FIG. 15B illustrates a side view of the torsion axle with user-adjustable stiffness, in accordance with one or more embodiments of the present disclosure.

The outer element 314 may be elongated along a longitudinal axis. The inner element 312 may extend substantially (e.g., at least) the length of the outer element 314.

In some embodiments, the system includes a coupling element 1508 attached to one end of the inner element 312. The coupling element 1508 may include a circular portion configured to couple the torsion axle to other components (e.g., a frame) of the multi-directional float system.

FIG. 15C illustrates a perspective view of the torsion axle with user-adjustable stiffness, in accordance with one or more embodiments of the present disclosure.

The system 100 may include an outer element 314 with a gap 1504 along its length. The gap 1504 may be configured to allow adjustment of the stiffness of the system by tightening or loosening, as described for FIG. 15A.

The outer element 314 may include a cross-sectional profile that is substantially rectangular. One end of the outer element 314 may include an opening with a cross-sectional profile configured to receive elastic elements, such as those described in relation to FIG. 12. This configuration may allow for the rotational spring functionality of the torsion axle, as described in previous embodiments.

Embodiments may incorporate one or more torsion axles 306 where the stiffness is configured to be adjusted with a removable and replaceable pin. Optionally, a receiver plate may be used. Embodiments may incorporate adjustable linkages where adjusting the angular position of the linkages relative to the first body or second body adjusts the effective radius at which the weight (e.g., center of mass) of an attachment or an applied load will be carried, and thus adjusting the overall stiffness of the system.

Being adjustable may allow the system 100 to be modified for different scenarios. For example, a user may wish to adjust the stiffness to provide more downward force when scraping ice off a parking lot at relatively slow speeds, and less downward force when moving snow on roads at higher speeds. However, these are merely non-limiting examples, and adjustability may allow for a variety of use cases.

The system 100 may be sold as a kit or be part of a kit. A kit may include one or more variations of one or more assemblies or one or more components that provide a user with the ability to customize or switch between one or more behaviors of one or more embodiments of the present disclosure. For example, the system 100 may include (swappable) strands 316a of different elastic modulus. For example, the system 100 may include (swappable) segments 316b of different elastic modulus.

The outer element 314 may include a cross-sectional profile that is relieved or recessed to prevent the elastic material from over-compressing. For example, a recessed shape may include, but is not necessarily limited to, a square shape with the elastic element 316 in each inner corner of the square shape.

In some embodiments, the system 100 includes one or more of fixed ballasts or movable ballasts, which are not shown.

It is noted that the specific thicknesses, relative sizes, materials, number of components, and the like of the figures and descriptions thereof are provided for illustrative purposes only and those skilled in the art should recognize that a variety of components, dimensions, materials, and the like may be suitable for implementation in the present disclosure and may vary as needed. For example, the lengths and/or number of the linkages 110 and corresponding torsion axles and couplings (e.g., ball joints) may vary.

The floating mechanism design may be adapted to suit different attachments and operating requirements by varying the dimensions, materials, and quantities of the components. For example, larger or heavier attachments may require thicker, stronger linkages 110 and torsion axles 306 to support the increased loads. The number of linkages 110 and torsion axles 306 may also be increased to provide greater stability and load distribution. Conversely, smaller or lighter-duty attachments may be able to use thinner, lighter components to reduce cost and weight. The type and size of the ball joints 118 or other pivot connections may also be selected based on the expected load and rotation requirements. The materials used for the components may be chosen based on factors such as strength, durability, weight, cost, and corrosion resistance. For example, the linkages 110 and mounting elements may be made of high-strength steel, while the torsion axles 306 may use elastic materials (e.g., elastomeric materials with suitable spring properties). For example, rubber may be used as the elastic material. One or more damping elements or damper materials may be applied to control the damping ratio. For example, the damping ratio may be configured to be approximately one (e.g., 0.8-1.2). One or more magnets or electromagnets may be used as a travel limiter or damper. One or more bistable mechanisms may be used as one or more safety or shock absorption mechanisms.

Referring back to one or more embodiments of the system 100, various configurations are hereby further characterized in one or more ways.

At least some embodiments of the present disclosure include a first body and a second body, where the first body and the second body are connected by at least one pair of parallelogram linkages. For example, each pair of parallelogram linkages may be comprised of at least two link elements, where on a first end each link is joined with the first body via a revolute joint that incorporates at least one torsion axle and on a second end each link joins with the second body via a joint that concatenates a spherical joint and a prismatic joint.

In some embodiments, the system includes one or more open or closed chain mechanisms arranged in or with parallelogram linkages. In some examples, joints of the parallelogram linkages are not independent. In other examples, joints of the parallelogram linkages are independent.

For example, in some embodiments, the system includes a pair of closed chain mechanisms arranged in parallelogram linkages, where one or more joints of the parallelogram linkages are not independent. In some examples, such embodiments include additional joints or elements and thereby express one or more degrees of freedom enabling the flexible behavior (e.g., floating behavior of an attachment). In other examples, such embodiments include prismatic joints and thereby express one or more degrees of freedom enabling the flexible behavior.

In some embodiments, the system includes symmetry as a means to increase load carrying capacity and enable functionality.

In some embodiments, the system includes one or more joints (e.g., two rows of three linkages) that are kinematically redundant.

In some embodiments, the system 100 may include a closed-chain mechanism. In some embodiments, the system 100 may include an open-chain mechanism. In some embodiments, the system 100 may include one or more parallelogram linkages. In some embodiments, the system 100 may include a closed chain mechanism where the joints are not independent.

Embodiments may include one or more open or closed chain mechanisms arranged in or with parallelogram linkages, where the parallelogram linkages are separated by one or more joints. Embodiments may include one or more open or closed chain mechanisms arranged in or with parallelogram linkages, where the parallelogram linkages are separated by one or more joints, characteristic of a split chassis design. Embodiments may include a split chassis design with two or more portions that are separated by a shear connection. Embodiments may include a split chassis design with two or more portions that are separated by a shear connection, where the shear connection is a flexure or rotational spring (e.g., torsion axle).

One skilled in the art will recognize that the herein described components (e.g., operations), devices, objects, and the discussion accompanying them are used as examples for the sake of conceptual clarity and that various configuration modifications are contemplated. Consequently, as used herein, the specific exemplars set forth and the accompanying discussion are intended to be representative of their more general classes. In general, use of any specific exemplar is intended to be representative of its class, and the non-inclusion of specific components (e.g., operations), devices, and objects should not be taken as limiting.

Those having skill in the art will appreciate that there are various vehicles by which processes and/or systems and/or other technologies described herein can be effected (e.g., hardware), and that the preferred vehicle will vary with the context in which the processes and/or systems and/or other technologies are deployed.

The previous description is presented to enable one of ordinary skill in the art to make and use the invention as provided in the context of a particular application and its requirements. Various modifications to the described embodiments will be apparent to those with skill in the art, and the general principles defined herein may be applied to other embodiments. Therefore, the present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations are not expressly set forth herein for sake of clarity.

The herein described subject matter sometimes illustrates different components contained within, or connected with, other components. It is to be understood that such depicted architectures are merely exemplary, and that in fact many other architectures can be implemented which achieve the same functionality. In a conceptual sense, any arrangement of components to achieve the same functionality is effectively “associated” such that the desired functionality is achieved. Hence, any two components herein combined to achieve a particular functionality can be seen as “associated with” each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being “connected,” or “coupled,” to each other to achieve the desired functionality, and any two components capable of being so associated can also be viewed as being “couplable,” to each other to achieve the desired functionality. Specific examples of couplable include but are not limited to physically mateable and/or physically interacting components and/or wirelessly interactable and/or wirelessly interacting components and/or logically interacting and/or logically interactable components.

Furthermore, it is to be understood that the invention is defined by the appended claims. It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” and the like). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, and the like” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, and the like). In those instances where a convention analogous to “at least one of A, B, or C, and the like” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, and the like). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.”

Finally, as used herein any reference to “in embodiments”, “one embodiment” or “some embodiments” means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment disclosed herein. The appearances of the phrase “in some embodiments” in various places in the specification are not necessarily all referring to the same embodiment, and embodiments may include one or more of the features expressly described or inherently present herein, or any combination or sub-combination of two or more such features, along with any other features which may not necessarily be expressly described or inherently present in the instant disclosure.

It is believed that the present disclosure and many of its attendant advantages will be understood by the foregoing description, and it will be apparent that various changes may be made in the form, construction and arrangement of the components without departing from the disclosed subject matter or without sacrificing all of its material advantages. The form described is merely explanatory, and it is the intention of the following claims to encompass and include such changes. Furthermore, it is to be understood that the invention is defined by the appended claims.