# US 10,246,130 B2 · Trackless tugger train and method for steering a trackless tugger train > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,130 B2 - Document ID: US10246130B2 - Status: Granted - Kind: B2 - Application number: 14/713,302 - Filed: 2015-05-15 - Published: 2015-12-24 - Granted: 2019-04-02 - Earliest claimed: 2014-05-16 - Assignees: Helmut Schmidt Universität, Universität der Bundeswehr Hamburg; Hamburg Innovation GmbH - Applicants: Helmut-Schmidt-Universität; Hamburg Innovation GmbH - Inventors: Rainer Bruns; Stephan Ulrich; Konstantin Krivenkov - Web page: https://patentgrep.com/patent/US10246130B2 ## CPC - B62D 13/02: for centrally-pivoted axles - B62D 5/0421: {Electric motor acting on or near steering gear} - B62D 12/02: for vehicles operating in tandem - B62D 13/00: Steering specially adapted for trailers (combined traction and steering hitches B60D) - B62D 13/005: {operated from tractor steering system} - B62D 53/00: Tractor-trailer combinations; Road trains (traction couplings other than fifth wheel coupling B60D {; tracked vehicles comprising at least two articulated parts B62D55/0655}) - B62D 53/005: {Combinations with at least three axles and comprising two or more articulated parts (articulated buses B62D47/025)} - B62D 63/08: Component parts or accessories - F16H 1/2854: {involving conical gears} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - F16H: GEARING ## Abstract The subject matter of the invention is a trackless tugger train having at least one transportation module and at least two axle modules. Each transportation module is arranged between two axle modules, wherein each axle module has a wheel axle and a steering device for steering the wheel axle, wherein the steering devices of the axle module are embodied in each case in such a way that each steering device steers the axle module which is assigned to it, independently of a steering device of another axle module. ## Claims ### Claim 1 A trackless tugger train, comprising: at least one transportation module; and at least two axle modules; wherein the at least one transportation module is arranged between two of the axle modules; wherein each axle module has a wheel axle and a steering device for steering the wheel axle; wherein each steering device of the respective axle module is embodied in each case in such a way that the steering device steers the respective axle module independently of the steering device of another one of the axle modules; wherein the axle modules each have a first cantilever arm and a second cantilever arm, wherein the first cantilever arm and second cantilever arm are connected to the wheel axle via an articulated connection; wherein the articulated connection has a first vertical pivoting joint and a second vertical pivoting joint, wherein the first and second vertical pivoting joints each have a rotational axis which is embodied vertically with respect to a longitudinal extent of the cantilever arm, wherein the first cantilever arm is connected to the wheel axle via the first vertical pivoting joint, and wherein the second cantilever arm is connected to the wheel axle via the second vertical pivoting joint; and wherein the articulated connection has a horizontal pivoting joint, wherein the horizontal pivoting joint has a rotational axis which extends transversely with respect to the direction of travel of the tugger train at least in the case of straight-ahead travel of the tugger train. ### Claim 2 (depends on 1) A trackless tugger train according to claim 1, characterized in that the steering device is embodied in such a way that the steering device steers the wheel axle into an angle-bisecting position between the first cantilever arm and the second cantilever arm. ### Claim 3 (depends on 1, 2) A trackless tugger train according to either one of claims 1 or 2, characterized in that the steering device is embodied in the form of a spring-damper system. ### Claim 4 (depends on 3) A trackless tugger train according to claim 3, characterized in that the spring-damper system has a first spring element connected to the first cantilever arm and to the wheel axle, a second spring element connected to the second cantilever arm and to the wheel axle, and at least one damper element. ### Claim 5 (depends on 4) A trackless tugger train according to claim 4, characterized in that the at least one damper element is connected to the wheel axle and to the first cantilever arm or to the second cantilever arm. ### Claim 6 (depends on 4) A trackless tugger train according to claim 4, characterized in that the spring-damper system has three damper elements which are each connected by a first end to the wheel axle and by a second end to an attachment frame connected to the articulated connection, wherein a first damper element and a second damper element are arranged inclined at an angle <90° with respect to the longitudinal extent of the wheel axle and are connected to a first side of the wheel axle, and wherein a third damper element is arranged vertically with respect to the longitudinal extent of the wheel axle and is connected to a second side of the wheel axle lying opposite the first side. ### Claim 7 (depends on 1, 2) A trackless tugger train according to either one of claims 1 or 2, characterized in that the steering device has a motor-powered drive which is controlled by means of an electronic control unit. ### Claim 8 A trackless tugger train, comprising: at least one transportation module; and at least two axle modules; wherein the at least one transportation module is arranged between two of the axles modules; wherein each axle module has a wheel axle and a steering device for steering the wheel axle; wherein each steering device of the respective axle module is embodied in each case in such a way that the steering device steers the respective axle module independently of the steering device of another one of the modules; wherein the axle modules each have a first cantilever arm and a second cantilever arm, wherein the first cantilever arm and the second cantilever arm are connected to the wheel axle via an articulated connection; and wherein the steering device has at least two connecting rods, wherein a first connecting rod is connected by a first end to the first cantilever arm and by a second end to the wheel axle, and wherein a second connecting rod is connected by a first end to the second cantilever arm and by a second end to the wheel axle, wherein the connecting rods are each guided in a displaceable fashion in a linear guide by their first end or their second end. ### Claim 9 A trackless tugger train, comprising: at least one transportation module; and at least two axle modules; wherein the least one transportation module is arranged between two of the axle modules; wherein each axle module has a wheel axle and a steering device for steering the wheel axles; wherein each steering device of the respective axle module is embodied in each case in such a way that the steering device steers the respective axle module independently of the steering device of another one of the axle modules; and wherein the steering device is embodied in the form of a gear until, and wherein the gear unit has a first gear wheel connected to the first cantilever arm, a second gear wheel connected to the second cantilever arm, and at least a third gear wheel connected to the wheel axle, wherein the first gear wheel and the second gear wheel are connected in a rotationally movable fashion by means of the at least one third gear wheel. ### Claim 10 A trackless tugger train, comprising: at least one transportation module; and at least two axle modules; wherein the at least one transportation module is arranged between two of the axles modules; wherein each axle module has a wheel axle and a steering device for steering the wheel axle; wherein each steering device of the respective axle module is embodied in each case in such a way that the steering device steers the respective axle module independently of the steering device of another one of the modules; wherein the axle modules each have a first cantilever arm and a second cantilever arm, wherein the first cantilever arm and the second cantilever arm are connected to the wheel axle via an articulated connection; and wherein a last one of the axle modules when viewed in the direction of travel of the tugger train is connected by the axle module's first cantilever arm to the at least one transportation module and by the axle module's second cantilever arm to a bogie frame having at least one wheel. ### Claim 11 (depends on 10) A trackless tugger train according to claim 10, characterized in that a Bissell bogie is arranged between the last axle module when viewed in the direction of travel of the tugger train and the bogie frame. ### Claim 12 (depends on 11) A trackless tugger train according to claim 11, characterized in that the Bissell bogie has a connecting rod which is connected by a first end to the wheel axle of the last axle module when viewed in the direction of travel, and by a second end, lying opposite the first end, to a wheel axle of the bogie frame. ### Claim 13 (depends on 11) A trackless tugger train according to claim 11, characterized in that the Bissell bogie has a first connecting rod, a second connecting rod and a guide element which is mounted in a displaceably movable fashion on the second cantilever arm of the last axle module when viewed in the direction of travel, wherein the first connecting rod is connected to the guide element and to the wheel axle of the last axle module when viewed in the direction of travel, and wherein the second connecting rod is connected to the guide element and to a wheel axle of the bogie frame. ### Claim 14 A trackless tugger train, comprising: at least one transportation module; and at least two axle modules; wherein the at least one transportation module is arranged between two of the axles modules; wherein each axle module has a wheel axle and a steering device for steering the wheel axles; wherein each steering device of the respective axle module is embodied in each case in such a way that the steering device steers the respective axle module independently of the steering device of another one of the modules; and wherein the at least one transportation module comprises at least two transportation modules which are provided in the form of U-shaped supporting frames, wherein the at least two transportation modules have at their upper ends at least one outwardly directed supporting arm each with a coupling element, wherein the supporting arms, arranged opposite one another, of transportation modules which are arranged adjacent to one another are coupled to one another in an articulated fashion by means of the coupling elements. ### Claim 15 (depends on 14) A trackless tugger train according to claim 14, characterized in that the coupling elements of supporting arms which are arranged opposite one another are connected to a full-floating axle arranged on the articulated connection.