Wheel assembly for a transport device

Abstract

This invention relates to a wheel assembly for a transport device, comprising at least the following components: a wheel body having an axle defining a wheel axis for rolling on the ground; a wheel fork in which the axle of the wheel body is fitted; and a suspension device for preloading the wheel body between the wheel fork and the ground during use. A key feature of the wheel assembly is that it further includes at least one guide support connected to the axle, wherein, beyond a radial extension of the axle, the guide support contacts the wheel fork to prevent torsion, wherein the direction of the resultant force contacting the wheel fork lies only in a plane spaced apart from and parallel to the wheel axis of the wheel body. The proposed wheel assembly is suspended and can provide a well-defined suspension force, while being low-cost to produce and exhibiting a very low profile.

Description

Technical Field

[0001] The present invention relates to a wheel assembly for a transport device, an automated guided vehicle having the wheel assembly for the transport device, and a transport vehicle having the automated guided vehicle for transporting strips. Background Technology

[0002] Transport vehicles for slivers are widely used in the textile industry, such as in spinning mills. These vehicles are used extensively and vary in size. However, they typically involve passive transport by pushing. There is a growing demand for autonomous transport vehicles. It is known to use additional transport vehicles configured to handle one or more slivers. However, such vehicles require at least additional space to grab the slivers and / or turn on transport ramps. Therefore, the objective is to provide an autonomous transport vehicle configured to fit into the spaces traditionally available in various textile industrial sites designed for passive transport and without the opportunity to modify transport ramps.

[0003] WO 2023 / 217 670A1 discloses a self-propelled transport vehicle for transporting a receiving container of fiber slivers. The self-propelled transport vehicle is positioned below the sliver container. At least in the transverse direction to the main direction of travel, the space occupied by the self-propelled transport vehicle is no wider than, or at least not significantly wider than, the driven container. The self-propelled transport vehicle is also equipped with a position guidance device that reads position guidance information placed on the ground to guide the container along that position guidance information.

[0004] Because empty containers, or even containers filled with strips, are very light—for example, for a small transport vehicle with a diameter of, say, 350 mm, the maximum load with strips is about 12 kg, and the total mass of the transport vehicle is less than 20 kg—or for a large transport vehicle with a diameter of 1200 mm, the maximum load with strips is about 80 kg, and the total mass of the transport vehicle is less than 140 kg. Furthermore, the center of gravity is very high, and precise guidance is required. Therefore, keeping the drive rollers reliable and pressing them firmly against the ground is a challenge. WO 2023 / 217 670A1 states that, in terms of vehicle stability on the ground, it is advantageous to have at least one wheel suspended. Figures 16 and 17 show examples of suspended wheel assemblies, respectively.

[0005] Furthermore, due to industry requirements, this wheel assembly must be inexpensive. Simultaneously, it needs precise guidance and a precisely defined suspension force window to achieve these tasks. Summary of the Invention

[0006] Based on the foregoing, the object of this invention is to at least partially overcome the known disadvantages of the prior art. The features of this invention are set forth in the independent claims, and advantageous embodiments are indicated in the dependent claims. The features of the claims may be combined in any technically reasonable manner, including features derived from the explanations in the following description and the accompanying drawings, which include supplementary embodiments of the invention.

[0007] This invention relates to a wheel assembly for a transport device, comprising at least the following components:

[0008] A wheel body having an axle defining a wheel axis for rolling on the ground;

[0009] A wheel fork, wherein the axle of the wheel body is fitted in the wheel fork; and

[0010] A suspension device, in use, preloads the wheel body between the wheel fork and the ground.

[0011] The main features of the wheel assembly are:

[0012] The wheel assembly also includes at least one guide support connected to the axle.

[0013] Specifically, outside the radial extension of the shaft, the guide support contacts the wheel fork to prevent torsion.

[0014] The direction of the resultant force in contact with the wheel fork lies only in a plane that is spaced apart from and parallel to the wheel axis of the wheel body.

[0015] In the following text, when using the concepts of axial or axial extension, radial or radial extension, or circumferential, and corresponding concepts indicating spatial direction, reference is made to the wheel axis described above unless otherwise explicitly stated. Furthermore, unless explicitly stated otherwise, the description of the wheel assembly is based on its use in a transport device where the vertical axis of the transport device is erected on a flat ground and thus oriented along the Earth's gravitational field. Unless otherwise explicitly stated, ordinal numbers used in the above and following descriptions are for clear distinction only and do not imply any order or ranking of the components. An ordinal number greater than 1 does not necessarily imply the presence of additional such components.

[0016] The proposed suspended wheel assembly for transport devices (preferably indoor vehicles) is particularly suitable for autonomous transport devices and / or transport vehicles, including automated guided vehicles, configured for transporting sliver containers, for example, within textile mills. The suspended wheel assembly is configured to provide the stability and maneuverability required by the transport device, ensuring efficient and reliable transport of the sliver containers. Simultaneously, the suspended wheel assembly can be constructed as a low-cost component. Furthermore, the suspended wheel assembly can be designed to fit beneath the container without raising it, and unlike passively driven transport vehicles, it does not require reducing the container volume to compensate for the height of the suspended wheel assembly.

[0017] In one embodiment, the wheel body is a conventional component, preferably a mass-produced product available inexpensively on the global market, and most preferably already assembled with a bearing assembly. In another embodiment, the wheel body is a simple one-piece element, for example, at least its surface is made of a rubber material, preferably a one-piece casting, and most preferably made of a single material, such as PA [polyamide] or TPR [thermoplastic rubber]. In one embodiment, the wheel body includes a pressurized tire. Preferably, the wheel body is small and rigid compared to the suspension device.

[0018] The wheel is mounted on the axle, so it can rotate about its (theoretically) wheel axis when moving on the ground. Preferably, the axle is configured to passively roll the wheel, for example, by providing a bearing assembly between the wheel and the axle, or the wheel is engaged by direct sliding contact. In one embodiment, the axle is or comprises a simple rod or bolt, preferably configured to withstand bending moments caused by the rolling motion of the wheel and the corresponding vehicle weight, while also being configured to withstand axial tensile stresses to hold the components together axially. It can be noted that, to simplify the design and thus improve cost-effectiveness, the axial extension of the axle and the wheel axis are preferably aligned with each other. Similarly, the axle as a whole or its rod or bolt is also preferably a mass-produced product that is inexpensive and readily available on the global market.

[0019] The wheel is positioned and oriented relative to the vehicle body via a wheel fork. The wheel fork ensures that the wheel axle is fixed in position relative to the corresponding vehicle, thus providing sufficient rigidity. The wheel fork preferably includes two lugs for providing two areas that (preferably indirectly) contact the wheel axle, wherein these areas are spaced apart from each other and preferably positioned axially outside the left and right sides of the wheel to provide stability of the wheel relative to the wheel fork. The wheel fork may be mechanically connected to the transport device directly or indirectly. For rotatable suspended wheel assemblies, the wheel fork is connected to the transport device, wherein the wheel fork can rotate about a lateral axis transverse to the wheel axle, preferably perpendicular to the ground during use.

[0020] In one embodiment, the wheel fork is a sheet metal component, preferably constructed as a single piece by stamping and / or cold forming for high cost-effectiveness. In another embodiment, the wheel fork is a mass-produced product that is inexpensive and readily available on the global market, wherein such a mass-produced wheel fork can be adapted to the requirements of the proposed suspension wheel assembly with little or no modification.

[0021] Regarding the characteristics of a suspended wheel assembly, regardless of any additional flexible components (such as one or more of the aforementioned components) that may be present in the proposed suspended wheel assembly, a suspension device is provided. Therefore, the suspension device is the primary or characteristic functional unit of the elastic properties of the suspended wheel assembly when rolling on the ground. Preferably, any other component in the mechanical force guide exhibits more rigid properties compared to the suspension device.

[0022] In one embodiment, the suspension device includes one or more rubber or rubber-like elements. Additionally or alternatively, in one embodiment, the suspension device includes a metal spring element, such as a leaf spring, a coil spring, and / or a fluid damper, i.e., having an encapsulated liquid or pressurized gas providing resistance.

[0023] In a preferred embodiment, the suspension device comprises two spaced-apart components or modular units, each component or modular unit being located near the axial end of the axle, i.e., the left and right outer sides of the wheel body. Preferably, the suspension device is positioned near or axially overlaps with the corresponding lugs of the double-lug embodiment of the wheel fork. Preferably, the two components of the suspension device are identical and / or symmetrically arranged with respect to a plane perpendicular to the axial center of the wheel body.

[0024] Alternatively, the two components or module units of the suspension device exhibit two resultant forces, each of which, in use, includes a vector component perpendicular to the ground downwards and oriented parallel to the other component, wherein the two vector components have the same magnitude, i.e., the same force. Preferably, any vector components oriented in other directions will cancel each other out.

[0025] Known wheel assemblies suitable for small installation spaces exhibit insufficient stiffness to resist torsional and / or tilting movements of the wheel axle, or conversely, exhibit unsuitable height and / or inaccurately defined windows for suspension forces. In contrast, the proposed suspension wheel assembly provides sufficiently small suspension forces and sufficient stiffness to resist torsional and / or tilting movements of the wheel axle. Preferably, the guide support suppresses the vector components of torsional and / or tilting movements caused by varying loads and movements in the suspension, which are oriented perpendicular to the ground during use.

[0026] This is provided by a guide support, which is connected to the axle and thus moves up and down with the wheel body during suspension. During the up-and-down movement and when stationary, the guide support provides contact at a point in time and thus transmits force in at least one of two opposite directions to resist torsional and / or tilting movements of the axle. To achieve this, the guide support has at least two opposing surfaces, each of which is in permanent or occasional (e.g., direct sliding) contact with the wheel fork with sufficiently small assembly tolerances.

[0027] It can be noted that the shaft has a radial extension relative to its wheel axis. In one embodiment, the shaft or a portion thereof is part of a one-piece element having additional elements, such as a shroud and / or guide protrusions, whose radial extension extends beyond the radial extension of the shaft.

[0028] To optimize for low force and therefore low friction, the distance between the spaced and parallel planes is preferably maximized; that is, the positions of the forces resisting the tilting movement of the shaft are as far apart as possible from each other within the limits allowed by the provided installation space. In a preferred embodiment, the parallel plane is located above the shaft during use. In one embodiment, the parallel plane is located between the upper ends of the laterally extending lugs of the shaft and the wheel fork through which the shaft extends. In a preferred embodiment, the parallel plane is located within the maximum radial extension of the wheel body. In a preferred embodiment, the parallel plane is located outside the maximum radial extension of the bearing assembly of the wheel body. The parallel plane has a surface normal intersecting the wheel axis, which, during use, forms an angle of ±45° [±45 degrees out of 360°] or less with the direction of the Earth's gravitational field and / or the vertical axis of the transport device. Most preferably, this angle is (at least approximately) 0° [zero], and therefore, is parallel to the surface normal on a flat surface during use.

[0029] It can be noted that the parallel plane is a theoretical concept, and for multiple locations and / or components in contact with the wheel fork, multiple (independent) parallel planes may exist, each with at least one resultant force. Furthermore, it can be noted that the resultant force is perpendicular to the pair of surfaces forming the force-transmitting contact. Such a pair of contact surfaces lies in a plane perpendicular to the wheel axis, or the wheel axis and the normal to the aforementioned defined surface intersecting the wheel axis lie in that plane. The pair of surfaces has point contact, line contact, or surface contact.

[0030] For example, the corresponding contact area of ​​the guide support on the wheel fork is axially outside the axial extension of the wheel body, preferably, alternatively, or additionally, axially outside the wheel fork. On the other hand, preferably, the axial extension of the guide support is smaller than the axial extension of the axle. In one embodiment, the radial distance of the contact portion or its extension relative to the wheel axle is greater than that of the bearing assembly of the axle, the wheel body guard, and / or the radial extension of the wheel body. It can be noted that in one case, due to technical limitations, the contact portion is approximately a single contact point. In another case, the contact portion is an area, wherein in one case, the center of the contact portion and in another case, the maximum extension, i.e., the farthest distance to the wheel axle, are located as previously defined. It can also be noted that in one case, this contact area extends from the area of ​​the wheel axle to the maximum extension, while in another case, the contact area begins only outside this area of ​​the wheel axle, for example, outside the axle, the wheel body guard, and / or the radial extension of the wheel body. In one embodiment, additional contact portions are present for the same purpose, for example, used below the wheel axle.

[0031] In short, the force generated by the friction between the guide support and the wheel fork is so small that the suspension reacts—that is, it applies further load—before the locking effect caused by torsional and / or tilting motions occurs. This is achieved by providing a larger distance (i.e., providing larger mechanical levers in the mechanical model) and / or a larger contact area between the corresponding surfaces of the guide support and the wheel fork.

[0032] In another embodiment of the wheel assembly, the axle includes at least one bearing assembly and two bearing elements, and

[0033] The bearing assembly is fixed between two bearing elements.

[0034] Preferably, the two bearing elements are fixed to each other by bolts extending along the wheel axis and positioned relative to the wheel fork, and / or

[0035] Preferably, at least one of the bearing elements is connected to a guide protrusion that extends to the area where the guide support and the wheel fork are in force transmission contact.

[0036] In this embodiment, the shaft is an assembly of multiple parts, wherein these parts preferably have cost-effectiveness and / or a generally simple geometry; for example, at least one of them is a cast part, most preferably made of thermoplastic material by injection molding. In one embodiment, the bearing assembly is a component pre-assembled on or integrated into the wheel body. In another embodiment, the bearing assembly is a separate component assembled between the shaft and the wheel body. In one embodiment, the bearing assembly includes one or more rolling bearings, for example, the bearing assembly is a single-groove ball bearing. Alternatively, the bearing assembly includes at least a pair of complementary sliding surfaces, most preferably as a self-lubricating bearing and / or as an integral surface of the wheel body and / or shaft, for example, at least one bearing element.

[0037] The primary task of the two bearing elements is to provide axial fixation for the wheel body in an assemblable manner. To this end, at least one bearing element, preferably two bearing elements, includes shoulders, wherein the wheel body or its bearing assembly is axially fixed between these shoulders, preferably pressed between the two shoulders.

[0038] In one embodiment, at least one bearing element further has at least one of the following tasks:

[0039] Used to form a mechanical connection between the wheel body and the wheel fork;

[0040] For the shaft, it is preferable to make mechanical contact with the wheel fork, transmitting axial force in two opposite directions along the wheel axis;

[0041] By incorporating and / or directly assembling the guide support as a single piece onto the corresponding bearing element, forming part of the lateral guide element, preferably relative to the wheel fork and / or the guide support; and

[0042] A protective cover is formed for the aforementioned wheel bearing assembly.

[0043] As described above, in one embodiment, the shaft includes bolts, preferably for bearing loads originating from the wheel body and / or for transmitting such loads directly or indirectly to the wheel fork. In one embodiment, two bearing elements are axially pressed together, either directly or via at least one other element (e.g., the rolling bearing ring of the wheel body bearing assembly).

[0044] In one embodiment, not only are the guide supports configured to apply advantageous guiding forces in two opposite directions, but additionally, the guide protrusions of at least one (preferably two) bearing element are configured to apply the guiding force, i.e., to a portion of the surface of the wheel fork, which is directly opposite the surface to which the guiding force is applied by the respective guide support. In embodiments of wheel forks having two lugs for receiving the axle (e.g., as described above), preferably, the two opposing surfaces of at least one lug (preferably two) are positioned on the two flat surfaces of the respective lugs.

[0045] It can be noted that at least one (preferably two) bearing element contacts the wheel fork near the wheel axis, for example, to axially fix the shaft and / or wheel body relative to the wheel fork. However, the guide protrusion has the same or similar function as the guide support. One advantage is that any twisting of the wheel fork in this manner will not, or will very little, cause a jamming effect due to tilting.

[0046] It should also be noted that a bearing element is preferably a one-piece element. However, in one embodiment, at least one bearing element comprises two or more components, which are assembled together, or even connected together by force-locking and / or material-locking. In a preferred embodiment, at least one, preferably two, bearing elements are one-piece cast parts including guide protrusions.

[0047] In another embodiment of the wheel assembly, the bolt has a bolt head, and a nut is connected to the threaded portion of the bolt.

[0048] By tightening the threaded section and nut, preferably by means of the bearing assembly of the shaft, the two bearing elements are pressed axially together.

[0049] The proposed implementation achieves lightweight (i.e., low mass) and simple construction by integrating the wheel body and other components separately in the force flow between the wheel body and the bolt head or nut, with axial positioning (preferably axial compression). In one alternative embodiment, the aforementioned bolt is a hollow shaft, thus including a central through-hole through which a screw is inserted. In another alternative embodiment, the bolt has one through-hole, or two blind holes with threads at their axial ends, each of which a screw can be inserted, depending on the aforementioned purpose. In yet another embodiment, axial fixation is achieved solely by bearing elements and / or guide supports. Typically, the axial fixation connection need not be (easily) detachable, but in one embodiment it is achieved through material bonding, such as fusion welding, brazing, copper brazing, and / or adhesives.

[0050] In one embodiment, the bolt, bolt head, and / or nut are integrated components of another part of the wheel assembly, such as an integrated component of a guide support. Preferably, the bolt and nut are entirely separate components, and most preferably, they are mass-produced products that are inexpensive and readily available on the global market.

[0051] In a highly preferred embodiment, the tightening force that presses the wheel body and / or bearing elements into position through the interaction of the threaded section and the nut, or alternatively as described above, is not applied to the wheel fork. This is achieved by axially positioning the guide support and, preferably, the bearing element (most preferably having a guide protrusion) together, thereby creating an axial clearance relative to the corresponding portion of the wheel fork (e.g., the aforementioned lug). Preferably, the axial clearance is defined by a form-locking engagement between the bearing element and the guide support, which axially press against each other. In one embodiment, this form-locking engagement additionally provides radial fixation, preferably provided by an interference fit connection.

[0052] In another embodiment of the wheel assembly, the guide support is axially pressed against the axle component.

[0053] Preferably, the component is a corresponding bearing element as described above, and / or

[0054] Preferably, the guide support is arranged between the bearing element and the bolt head or nut of the wheel assembly as described above.

[0055] By axially pressing the guide support against the shaft components, for example, against the bearing elements and / or guide protrusions as described above, defined mechanical references can be automatically achieved, i.e., the tolerance chain remains short, and / or tolerances caused by misalignment due to the assembly process are avoided, or are at least negligible compared to manufacturing tolerances (e.g., tolerances caused by grinding or cutting processes or even injection molding).

[0056] In another embodiment of the wheel assembly, the guide support includes a pin having an axial span, the pin being spaced apart from and arranged parallel to the wheel axle of the wheel body.

[0057] The pin contacts the wheel fork to transmit force in at least two opposite directions.

[0058] Preferably, the pin is supported along its axial span on two or more spaced-apart locations, which are fixed relative to the shaft.

[0059] In one embodiment, the sole function of the pin is to provide the initially mentioned guiding force. Additionally or alternatively, the pin is configured to provide a mechanical limitation on the maximum range of lateral movement of the suspension. In one embodiment, there is a lower limit at contact with the wheel fork, in which the wheel body moves outward to the maximum extent, e.g., away from the base of the wheel fork and / or downward away from the base region of the transport vehicle in use. In one embodiment, there is an upper limit at which the wheel body moves inward to the maximum extent, e.g., closer to the base of the wheel fork and / or upward closer to the base region of the transport vehicle in use. Therefore, the force application distance of the suspension is limited according to the defined location of the wheel fork. This explicit limitation can be provided with low tolerances, for example, by stamping corresponding complementary guide windows on at least one (preferably two) lugs of the wheel fork made of sheet metal.

[0060] In a preferred embodiment, two pins are positioned axially outward of the wheel body and radially overlap the wheel body. This allows for a smaller radial extension, thereby reducing the height of the suspended wheel assembly. Alternatively, only one pin is provided on one axial side, or at least one pin extends axially between two portions of the wheel fork (e.g., the aforementioned lugs) and thus through the wheel body.

[0061] By maintaining a certain distance between the pin and the wheel axis, the mechanical rod is long and therefore the friction between the pin and the wheel fork is low, or conversely, the stabilizing torque provided by the pin is large.

[0062] In one embodiment, the pins interacting with the wheel fork are additionally configured, for example by a guide window in the wheel fork, to provide a torque that resists rotational movement of the shaft and / or bearing elements and / or guide supports.

[0063] In a preferred embodiment, the pin is form-locked at its axial end, most preferably achieved by a guide protrusion of one of the guide supports and the corresponding bearing element. This allows for easy handling and / or safe assembly methods, and can be cost-effectively manufactured by casting the pin with the pin head into the corresponding component (e.g., the guide support, preferably an injection molded part).

[0064] In another embodiment of the wheel assembly, the wheel fork includes a suspension window in which elements of the preloaded suspension device are arranged.

[0065] Preferably, the component is a helical spring.

[0066] Similar to, but generally independent of, the aforementioned guide window, the suspension window is an opening in the wheel fork, preferably a hole stamped into a metal lug of the wheel fork. It can be noted that even in sheet metal materials, this window is not necessarily a through-hole; it can be a recess in the sheet metal or a through-hole closed on one axial side by an additional element to form a recessed shape. Furthermore, stamping is a cost-effective preferred manufacturing method for mass production. However, cutting or casting can also be used to achieve the necessary shape and function of components of the suspended wheel assembly (especially the wheel fork). Preferably, the suspension window is a through-hole, and is received on both axial sides by adjacent components, such as corresponding guide supports and / or bearing elements, most preferably by guide protrusions.

[0067] In a preferred embodiment, the hanging window includes a retaining portion for receiving the main body of the hanging device, such as a trunnion for inserting a central winding opening into which a helical compression spring is inserted or for receiving a hook of a tension spring. The fork or at least one lug thereon is preferably a sheet metal element, and the device for positioning the helical spring is preferably formed by a stamping tool configured to form the hanging window.

[0068] In a preferred embodiment, independent of the aforementioned guide window, the guide support includes devices for the same purpose, such as trunnions or struts, or hooks for inserting into or receiving suspension devices (e.g., the aforementioned coil springs). The guide support is preferably a cast-in-place piece, and the device for positioning the coil spring is preferably included within the one-piece body.

[0069] It can be noted that coil springs are particularly cost-effective components for providing suspension force. In a preferred embodiment, damping is not required, and the suspension device comprises only at least one coil spring or any other type of spring. Preferably, the wheel fork includes two suspension windows, one on each axial side of the wheel body, and each suspension window contains a coil spring, preferably configured as a coil compression spring.

[0070] In another embodiment of the wheel assembly, the wheel fork is connected to the base, thereby allowing the wheel fork to rotate relative to the base about a lateral axis.

[0071] Preferably, the rolling element is placed between the base and the wheel fork, and more preferably, it is in direct contact with the base and the wheel fork.

[0072] In many cases, transport vehicles must be able to turn within a very small area, and sometimes even turn in place, i.e., about their own vertical axis. Therefore, it is preferable to provide a suspended wheel assembly that can rotate about its lateral axis. Here, only as an alternative, the anti-friction bearing is a component of the suspended wheel assembly itself. In one embodiment, this bearing is formed on the vehicle or aligned with the lateral force-transmitting surface of the wheel fork and the corresponding part of the vehicle. In a preferred embodiment, the lateral axis does not intersect the wheel axle, but rather the wheel body. By providing this defined trajectory, the reaction force against the rotation of the wheel body about the lateral axis is low, but the turning angle can be reliably set at any time, depending on the vehicle's requirements.

[0073] Rolling elements, such as balls or tapered rollers, are placed between the base and the wheel fork to facilitate rotation, which typically has ideally low friction. In one embodiment, the rolling elements are not housed between individual bearing rings, but rather these bearing rings are integrated into adjacent components, such as the wheel fork and the base. Independently, the rolling elements are preferably not enclosed but exposed to the environment, a cost-effective design that may be sufficient for indoor use. Furthermore, these designs generally allow for a very low height of the suspended wheel assembly.

[0074] According to another aspect of the present invention, an automated guided vehicle for vehicles is provided, comprising at least the following components:

[0075] A drive system having a motor and at least one drive roller driven by the motor;

[0076] At least one wheel assembly as described above; and

[0077] A position guidance device for controlling a drive system based on position guidance information.

[0078] Preferably, the location guidance information is provided by a guide device placed on the ground and is read autonomously by the location guidance device.

[0079] For most textile industrial sites, such as spinning mills, cost savings in order to keep up with global market prices are disadvantageous. Therefore, implementing automated guided vehicles (AGVs) is key to cost savings, simply to ensure that the number of vehicles used in such sites is sufficient to maximize machine capacity. However, without significant investment, the machine arrangement or production layout—specifically, the slope reserved for the transport vehicles—cannot be adjusted. The automated guided vehicle proposed in this paper allows for self-guidance while simultaneously meeting the ramp width requirements of traditional production layouts.

[0080] An automated guided vehicle (AGV) includes a drive system having a motor and at least one drive roller driven by the motor. In one embodiment, one drive roller is sufficient. However, preferably, two drive rollers arranged on mutually driving shafts are configured to rotate in opposite directions for the AGV to rotate in place and drive the AGV in a straight (preferably including backward) direction. Even the narrowest turns can be accomplished with this configuration, and the AGV can be guided to a location, such as a location for loading and unloading and for charging the battery, without needing to ensure correct orientation before reaching the designated location. In one embodiment, at least one (preferably all) drive roller is unsustainable and / or has a rubber (or rubber-like) friction surface to reliably introduce driving torque into the ground.

[0081] The vehicle is equipped with at least one suspended wheel assembly, configured as described above. It can be noted that different configurations of the suspended wheel assembly can also be used. However, the suspended wheel assembly as described previously is ideally suited for the aforementioned purpose, namely, to most reliably guide the self-propelled automated guided vehicle across the site based on provided position guidance information. This is because the lateral suspension force can be precisely configured within a very narrow window, which is necessary for such a lightweight vehicle. Furthermore, this suspended wheel assembly can be produced very cost-effectively and in batches, as it can be used not only for the aforementioned use cases but also for almost any situation requiring easy vehicle movement and high mobility, such as hospital beds, shopping carts, and wheelchairs.

[0082] Position guidance devices are configured to control the direction of the drive system based on position guidance information, and in some cases, also its speed. In one embodiment, the position guidance information is provided temporarily by a central control point, manually, or primarily based on a procedure that maximizes the capacity of each production site while maintaining a buffer. In another embodiment, the position guidance information is implemented within the automated guided vehicles (AGVs), and the actual movement is decentralized, i.e., performed autonomously by each AGV.

[0083] In one implementation, location guidance information is provided wirelessly, such as 5G, WLAN, PAN, or other suitable technologies. In another implementation, this wireless communication is provided, however, not for location guidance information, but only for collecting information such as load weight, load duration, or for stopping in emergency situations or similar circumstances.

[0084] In a preferred embodiment, location guidance information is provided via a guide device placed on the ground and is autonomously read by the location guidance device. In one embodiment, the guide device is visually readable, magnetic, and / or contains more complex information, such as RFID (Radio Frequency Identification) or PAN (Personal Area Network). Therefore, the location guidance device includes a reading unit for reading the provided information and a processor unit for converting the collected information into appropriate rotation of at least one drive roller.

[0085] In a preferred embodiment, any bulky components, such as sensors and control units, are arranged between the wheels and drive rollers to protrude downwards toward the ground during use. Therefore, available space is utilized without negatively impacting the mobility of the automated guided vehicle (AGV) or reducing the usable height of the container placed on top of the AGV. In one embodiment, the AGV is disc-shaped, with recesses only where the lateral rotation of the respective wheels is required, and has a height that allows for safe pure lateral and tilting suspended movement of the AGV. In most cases, the space provided by this disc shape is not entirely necessary, or is too costly for the chosen manufacturing process (e.g., injection molding or sheet metal forming); therefore, the recesses are larger than required for the wheels and drive rollers.

[0086] In another embodiment of the automated guided vehicle, the automated guided vehicle also includes at least one unsustainable wheel assembly that can rotate about its lateral axis and one or more wheel assemblies as described above.

[0087] In a preferred embodiment, a total of four or six wheels are provided, including two of the aforementioned (preferably unsustainable) drive rollers, wherein at least one additional wheel is a wheel of the unsustainable wheel assembly, while all other additional wheels are suspended, preferably as wheels of the aforementioned suspended wheel assembly. By providing a total of three unsustainable wheels, reliable force transmission contact between the drive rollers and the ground is ensured, at least in indoor situations with a generally flat ground, as well as sufficient stability to prevent the vehicle from tipping over. While the arrangement of a total of four wheels can provide sufficient stability, in many cases, the wheels cannot be positioned on the ideal intersection line across the center of gravity. Particularly for transport devices with small diameters, such as the aforementioned small transport vehicle, at least one of the (theoretical) lines of the shortest distance between the wheels is too close to the center of gravity. This makes the transport device unstable during self-driving operation. Therefore, additional wheels are advantageous, thereby placing the (theoretical) line of the shortest distance between the wheels further away from the center of gravity. However, with increased stability, there may be instances where one of the drive rollers loses traction or even loses contact with the ground, thus, at least at that moment, the guidance of the automated guided vehicle is not precise enough. Therefore, using a suspended wheel assembly (preferably as described above) can ensure that the anti-tipping force of the transport device is large enough, while the drive rollers are always in a state of sufficient grip to drive the transport device.

[0088] To provide maximum mobility, i.e., turning in place, all the additional wheels can rotate around their own lateral axis.

[0089] According to another aspect of the invention, a transport vehicle for transporting strips is provided, comprising a container for holding the strips and an automated guided vehicle as described above.

[0090] Preferably, the container has a base region and the automated guided vehicle has a maximum region extension that is at most 10% smaller than the base region.

[0091] Furthermore, the present invention includes a transport vehicle for transporting strips, comprising a container for holding the strips and an automated guided vehicle as described above. This transport vehicle allows for a relatively large volume loaded within its container, preferably the same volume as a conventional manual transport vehicle without an automated guided vehicle. The automated guided vehicle, or at least its wheels, and (preferably) drive rollers, are arranged below the bottom region of the container. In one embodiment, only the bumper and / or charging plug partially overlap with the container laterally.

[0092] In a preferred embodiment, the area extension of the automated guided vehicle has a radial extension (relative to the vertical axis) that is at most 10% [ten percent] smaller than the base area of ​​the container, preferably at most 5% [five percent], and most preferably at most 2% [two percent]. It should be noted that the radial extension is not merely a circular implementation, but rather refers to the vertical axis of the transport vehicle and the corresponding rotational coordinate system, for simplicity's sake. Therefore, the maximum extension radius relative to the vertical axis may differ at each point (i.e., angle). Attached Figure Description

[0093] The invention will now be described in detail with reference to the accompanying drawings illustrating preferred embodiments and in conjunction with relevant technical background. This invention is by no means limited to the purely schematic drawings; it should be noted that these drawings are not precisely to scale and are not intended to define proportional relationships. In the drawings:

[0094] Figure 1 A laterally rotatable suspended wheel assembly is shown in a cross-sectional view through the wheel axle;

[0095] Figure 2 Showing according to Figure 1 A cross-sectional view of the suspended wheel assembly;

[0096] Figure 3 Showing a laterally rotatable suspended wheel assembly;

[0097] Figure 4 The sectional view shows the data based on... Figures 1 to 3 One of the suspended wheel assemblies;

[0098] Figure 5 The automated guided vehicle is shown in the top view;

[0099] Figure 6 A transport vehicle containing containers and an automated guided vehicle is shown from the rear; and

[0100] Figure 7 The supporting triangle of the transport device is shown. Detailed Implementation

[0101] Figure 1 A cross-sectional view is shown, taken along the wheel axis 5 of a preferred embodiment of the suspended wheel assembly 1, such as... Figure 3 As shown, for example, Figure 5 or Figure 6The transport device 2 is shown. The suspended wheel assembly 1 includes a wheel body 3 mounted on an axle 4 at its axial center. Here, the axle 4 defines a wheel axis 5 about which the wheel body 3 rolls on the ground 6. The wheel body 3 is supported by a wheel fork 7, which is connected to a base 25. The wheel fork 7 includes two lugs 46, 47, each lug having a suspension window 24, in which a suspension device 8 with a helical compression spring is mounted. The suspension device 8 preloads the wheel body 3 between the wheel fork 7 and the ground 6.

[0102] Shaft 4 includes a bearing assembly 15, and further includes a first bearing element 16 and a second bearing element 17. Alternatively, the bearing assembly 15 is a single-groove ball bearing, thus having an inner (radial) bearing ring and an outer (radial) bearing ring with a plurality of balls between the bearing rings. Alternatively, the bearing balls are encapsulated, i.e., sealed to protect against harmful influences such as dust, fibers, and water. Regardless of this aspect, the bearing assembly 15 is axially fixed to the wheel body 3 by form-locking, preferably by axial and / or radial press fit and / or transition fit. Bearing elements 16, 17 are fixed between lugs 46, 47 of the wheel fork 7 by bolts 18 extending along the wheel axis 5. Bolts 18 have a bolt head 20 at one axial end and a nut 21 connected to a threaded section 22 at the other axial end. Guide supports 9, 10 are axially pressed between the bearing elements 16, 17 and the bolt head 20 or nut 21, respectively. Furthermore, bearing elements 16 and 17 are pressed together by the inner bearing ring of bearing assembly 15, which is also achieved by reducing the axial force introduced by the distance between nut 21 and bolt head 20. In this embodiment, only as an option, each bearing element 16 and 17 includes a guide protrusion 19 extending above the wheel body 3. The guide protrusion 19 extends from bearing elements 16 and 17 to the area where guide supports 9 and 10 make force-transmitting contact with the wheel fork 7. Unrelated to this aspect, only as an option, each bearing element 16 and 17 includes a protective cover 39 for the aforementioned bearing assembly 15 of the wheel body 3.

[0103] The wheel assembly 1 also includes a first guide support 9 and a second guide support 10, both connected to the axle 4. These guide supports 9 and 10 contact the wheel fork 7 to transmit guide force 11 in two (here, only two pairs are considered as an option) opposite directions 12 and 13. The directions 12 and 13 of the guide force 11 lie in one of two (theoretical) planes 14 shown only as an example, which are spaced from the axle 4 and parallel to the wheel axis 5 of the wheel body 3. In this case, the guide force 11 lies above the wheel axis 5, and therefore spaced a large distance from the axle 4, providing a large mechanical lever or torque (relative to the wheel axis 5). Here, one pair of opposite directions 12 and 13 points towards and away from the plane shown in the figure, which is formed by the pin 23 and the corresponding guide window 40, forming a linear contact pair in the lower of the two shown (theoretical) parallel planes 14. The other pair of opposite directions 12 and 13 lie in the plane shown in the figure and the parallel plane 14 shown above, pointing horizontally to the left and right. The latter guiding force 11 is manifested through a large surface contact pair, namely, the planar contact provided by the guide supports 9, 10 together with the corresponding lugs 46, 47 of the wheel fork 7. Furthermore, on the inner side, i.e., between the lugs 46, 47 of the wheel fork 7, each side has a (optional) guide protrusion 19 configured to introduce the guiding force 11 into the corresponding lugs 46, 47, which counteracts the guiding force 11 introduced by the corresponding guide supports 9, 10, and here additionally overlaps radially and is equidistant from the wheel axis 5. In addition, the guide protrusion 19 also serves as a receiving portion for the pins 23, such that each pin 23 has two support areas, each located at its axial end. Here, only as an option, the pins 23 are axially fixed by an implicit engagement (i.e., form-locking) with the corresponding guide supports 9, 10, for example, by casting the pin head 38 into the guide supports 9, 10 during injection molding.

[0104] The wheel fork 7 is connected to the base 25 and is rotatable about the lateral axis 26. Rolling elements 27 (optionally, balls) are arranged between the base 25 and the wheel fork 7, forming an axial bearing 48 to facilitate this rotation with sufficiently low friction. Here, alternatively, the rolling elements 27 are not encapsulated but exposed to the environment, a cost-effective design that may be sufficient for indoor use. Regardless, alternatively, the rolling elements 27 are arranged above and below the wheel fork 7 to allow for good stability relative to the lateral axis 26. In this embodiment, alternatively, the aforementioned parallel plane 14 is oriented parallel to a bearing plane perpendicular to the lateral axis 26 defined by the axial bearing 48. In an embodiment where rotation about the lateral axis 26 is not possible, alternatively, the aforementioned parallel plane 14 is oriented parallel to the connecting surface 49 of the wheel fork 7, which is provided here by the base 25.

[0105] Furthermore, in the dashed area of ​​the first lug 46 (shown on the right), a portion is marked, which is in Figure 2 The text shows more details in... Figure 2 The central suspension device 8 is fully engaged, that is, fully compressed in this condition.

[0106] Figure 2 Showing according to Figure 1 This is part of the suspended wheel assembly 1, where the suspension device 8 is fully engaged, i.e., fully compressed in this case. As a result, the upper part of the wheel fork 7 and the base 25 are arranged closer to the wheel body 3, that is, the rolling element 27 is relatively closer to the wheel body 3. Here, the pin 23 is in force-transmitting contact with the upper stop 44 of the guide window 40 in the (first) lug 46, unlike... Figure 1 The lower stop 45 in the guide window 40 contacts the lower stop 45. Simultaneously, the hanging window 24 in the (first) lug 46 moves downward relative to the shaft 4, creating a gap below the lowest portion of the bolt 18 and the (first) lug 46. The guide window 40 forming stops 44, 45 is only one option, and in another embodiment, at least one corresponding stop 44, 45 is formed through contact between the shaft 4 and / or the guide support 9 and the hanging window 24. In one embodiment, the suspension device 8 itself is compressed to a stop state, thereby suppressing further movement in the upward direction. The lower stop 45 may also be omitted if self-disassembly is otherwise suppressed, for example, if the downward extension of the hanging window 24 is sufficiently long.

[0107] about Figure 1The force-transmitting contact pair shown has a resultant force direction 12, where the surface contact between the (first) lug 46 and the (first) guide support 9 and the guide protrusion 19 extends on the radial extension of the wheel body 3. Preferably, behind the suspension window 24 and the guide window 40, the (first) guide support 9 and / or the guide protrusion 19 are in surface contact with the (first) lug 46. Furthermore, the pin 23 contacts the vertical wall line of the guide window 40, wherein the contact line lies in a (theoretical) plane 14 parallel to the wheel axis 5, and this plane has a surface normal parallel to the vertical axis 43. The parallel plane 14 of the pin 23 is arranged between the maximum radial extension of the wheel body 3 and the maximum radial extension of the outer bearing ring of the bearing assembly 15 of the wheel body 3.

[0108] Here, as described above, shaft 4 includes bolt 18 and two bearing elements 16, 17. In this embodiment, bearing element 16 defines the maximum radial extension of shaft 4, which is smaller than the vertical extension of the hanging window 24. In this preferred embodiment, the (first) bearing element 16 is part of a one-piece component and also includes a (first side) cover 39 and a (first side) guide protrusion 19. Figure 2 The parts that form these components are separated by dashed lines (see also) Figure 1 ).

[0109] It is important to note that, for in Figure 2 The above description of the component shown also applies to the other side, namely the component near the second lug 47 of the wheel fork 7.

[0110] Figure 3 Shown in isometric view Figure 1 The laterally rotatable suspended wheel assembly 1 is shown. Referring to the above... Figure 1 The description is general in nature. The sectional view is taken perpendicularly to the wheel axis 5. As can be seen here, the base 25 is configured to be mechanically connected to the transport device 2, for example by screws and / or rivets. The transverse axis 26 is vertical and does not intersect the wheel axis 5, but is located behind the wheel axis 5 in this view.

[0111] Figure 4 Shown in sectional view according to Figures 1 to 3One of the suspended wheel assembly 1 is shown. Here, the axle 4 is shown in cross-section on the outer surface of the second lug 47 of the wheel fork 7. The innermost component of the axle 4 is the bolt 18, which defines the wheel axis 5, about which the wheel body 3 can rotate, i.e., while moving on the ground 6. The suspension device 8 presses the wheel body 3 against the ground 6 in the suspension window 24. When encountering an obstacle or when the transport device 2 equipped with the suspended wheel assembly 1 tilts, the wheel body 3 is pushed upward (parallel to the transverse axis 26) relative to the wheel fork 7. Then, the suspension device 8 is compressed within the suspension window 24. At the same time, the pin 23 moves upward (equidistantly) in the guide window 40 because it is fixed to the axle 4 by the (second) guide support 10 (cut off in this view) and the guide protrusion 19 (located behind the second lug 47 in this view). The force in the corresponding parallel plane 14 caused by the contact between the pin 23 and the guide window 40 inhibits the tilting movement of the wheel body 3 relative to the axis parallel to the transverse axis 26. Suppressing or at least limiting this tilting motion of wheel 3 is crucial for maintaining a defined orientation, which is even more important for autonomous vehicles 2, such as automated guided vehicles 28 (see [link]). Figure 5 ).

[0112] However, preferably, the guide supports 9, 10 and the guide protrusions 19 provide another force-transmitting contact with the corresponding lugs 46, 47; in addition to the force exerted by the pin 23 and / or resistance to tilting movement of the axis within a plane parallel to the shown plane 14 and intersecting the wheel axis 5. However, in this embodiment, this is primarily suppressed by providing equal suspension forces to the left and right sides of the suspension device 8. Furthermore, the guide supports 9, 10 and the guide protrusions 19 simultaneously provide force-transmitting contact with the corresponding lugs 46, 47 to suppress axial (relative to wheel axis 5) movement of the shaft 4, thereby suppressing axial movement of the wheel body 3.

[0113] Figure 5 An automated guided vehicle 28 for transport device 2 is shown. The automated guided vehicle 28 includes a drive system 29 with a motor 30, and left drive rollers 31 and 32, with the motor 30 enclosed within a housing in this view. The automated guided vehicle 28 is equipped with a suspended wheel assembly 1 (e.g., three), and a fourth wheel as part of a non-suspended wheel assembly 50. The drive rollers 31 and 32 are located on the same drive axis 42 and can rotate relative to each other in opposite directions. Since the passive drive rollers can rotate about their own lateral axis 26, the automated guided vehicle 28 can rotate in place.

[0114] At the front of the automated guided vehicle 28, a position guidance device 33 (preferably located on the lower side, facing the ground 6) is used to control the drive system 29 based on position guidance information, which in this example is provided by a guide device 34 placed on the ground 6. The guide device 34 can be read by the position guidance device 33. The automated guided vehicle 28 also has a charging plug 41 for charging the battery.

[0115] Figure 6 The diagram shows a transport vehicle 35, having a container 36 and an automated guided vehicle 28 guided on the ground 6. The container is, for example, a spinning sliver can for holding slivers. The container 36 is positioned on top of the automated guided vehicle 28 using its base region 37. A vertical axis 43 is parallel to the transverse axis 26 of the wheel assembly 1, and preferably, the transport vehicle 35 can rotate in place along the vertical axis 43. Therefore, the automated guided vehicle 28 includes a left drive roller 31 and a right drive roller 32. The automated guided vehicle 28 is equipped with at least one (e.g., three) suspended wheel assembly 1 and one unsuspended wheel assembly 50. On the rear side, a charging plug 41 is located on the automated guided vehicle 28 for charging the battery. Figure 6 As shown, the radial extension of the automated guided vehicle 28 is larger than the radial extension of the container 36. However, this is preferably only a bumper or a bumper with a radial extension similar to or the same as the conventional bumper of the passively driven transport vehicle 35.

[0116] Figure 7 The supporting triangle 51 of the transport device 2 is shown in two versions, for example, along the vertical axis 43 (see Figure 6 )from Figure 6 The transport vehicle 35 and / or shown Figure 5 The image shows a lower view of the automated guided vehicle 28. Both the (large) version shown on the left and the (small) version shown on the right are equipped with a left drive roller 31 and a right drive roller 32. Furthermore, both versions are equipped with at least one unsustainable wheel assembly 50, where the (unsustainable) drive rollers 31 and 32 and the unsustainable wheel assembly 50 each form a contact point. These contact points are arranged relative to each other to form a support triangle 51 (shown by dashed lines). It should be noted that the support triangle 51 is merely a concept and not a structural element.

[0117] The support triangle 51 provides precise kinematic constraints on the ground 6, thus providing stable support without excessive contact with the ground. To enhance stability due to obstacles present in the real world, multiple suspended wheel assemblies 1 are provided, wherein the total number of contacts with the ground 6 forms a rectangle or (preferably symmetrical) polygon. Once the transport device 2 tilts, the unsustainable wheels (drive rollers 31, 32 and unsustainable wheel assembly 50) remain in contact with the ground 6 while maintaining a defined (rigid) distance and orientation from the transport device 2. The suspended wheel assembly 1 may lose contact and / or may move relative to the transport device 2, i.e., upward and / or downward along the lateral axis 26 and vertical axis 43, respectively.

[0118] It can be noted that, for the larger version shown on the left, two unsustainable wheel assemblies 50 are provided. Depending on the size of the movement lever, the individual contact points in the two unsustainable wheel assemblies 50 are sufficiently precisely approximated. It can also be noted that, in one embodiment, the unsustainable and / or suspended wheel assemblies 1, 50 can be arranged as a pair of wheels, but rather as a single wheel at each point (here, at the front and rear of the transport device 2), with such a single wheel preferably positioned in the middle between the drive rollers 31, 32. However, for the advantageous locations of the position guide 33, charging plug 41, motor 30 and / or other components, and the low height of the transport device 2, placing two wheels at each point is advantageous, as... Figure 7 As shown. Meanwhile, the use of the suspended wheel assembly 1 enhances the stability of the transport device 2 against tilting.

[0119] Furthermore, it can be noted that the baseline 53 of the supporting triangle 51 is oriented intersecting the shown (preferred but not mandatory) direction of travel 52, with the tip 54 opposite the baseline 53 of the supporting triangle 51 indicating the direction of travel 52. This is an advantageous but not mandatory arrangement to resist tilting stability.

[0120] The proposed wheel assembly is suspended and can provide well-defined suspension force, while being low-cost to produce and exhibiting a very low height.

[0121] List of reference numerals

[0122] 1 Suspension wheel assembly

[0123] 2. Transport equipment

[0124] 3-wheel body

[0125] 4-axis

[0126] 5 wheel axles

[0127] 6. Ground

[0128] 7 wheel forks

[0129] 8. Suspension device

[0130] 9 First guide support

[0131] 10 Second guide support

[0132] 11 Guiding Force

[0133] 12 First Direction

[0134] 13 Second Direction

[0135] 14 Parallel planes

[0136] 15 Bearing Assembly

[0137] 16 First bearing element

[0138] 17 Second bearing element

[0139] 18 bolts

[0140] 19. Guiding protrusion

[0141] 20 Bolt heads

[0142] 21 Nuts

[0143] 22 Threaded section

[0144] 23 Pins

[0145] 24 Hanging windows

[0146] 25 matrix

[0147] 26. Horizontal axis

[0148] 27 Rolling elements

[0149] 28 Automated Guided Vehicle

[0150] 29 Drive System

[0151] 30 motors

[0152] 31 Left drive roller

[0153] 32 Right drive roller

[0154] 33 Position guiding device

[0155] 34 Guiding Devices

[0156] 35 transport vehicles

[0157] 36 containers

[0158] 37. Base Area

[0159] 38 Pin Heads

[0160] 39 Shields

[0161] 40 Guide Window

[0162] 41 Charging plug

[0163] 42 Drive axis

[0164] 43. Vertical axis

[0165] 44 Upper stop section

[0166] 45 Lower stop section

[0167] 46 First protrusion

[0168] 47 Second protrusion

[0169] 48 Axial bearings

[0170] 49 Connecting surfaces

[0171] 50 Unsustainable wheel assembly

[0172] 51 Supporting triangle

[0173] 52. Direction of Progress

[0174] 53 Baselines

[0175] 54. Tip.

Claims

1. A wheel assembly (1) for a transport device (2), comprising at least the following components: A wheel body (3) having an axle (4) that defines a wheel axis (5) for rolling on the ground (6); A wheel fork (7), wherein the axle (4) of the wheel body (3) is fitted in the wheel fork; and A suspension device (8) is used to preload the wheel (3) between the wheel fork (7) and the ground (6) during operation. Its features are, The wheel assembly (1) further includes at least one guide support (9, 10) connected to the axle (4). Wherein, outside the radial extension of the shaft (4), the guide support (9, 10) contacts the wheel fork (7) to prevent torsion. The direction (12, 13) of the resultant force (11) in contact with the wheel fork (7) lies only in a plane (14) that is spaced apart from and parallel to the wheel axis (5) of the wheel body (3).

2. The wheel assembly (1) according to claim 1, wherein, The shaft (4) includes at least one bearing assembly (15) and two bearing elements (16, 17), and The bearing assembly (15) is fixed between the two bearing elements (16, 17). Preferably, the two bearing elements (16, 17) are fixed to each other by bolts (18) extending along the wheel axis (5) and positioned relative to the wheel fork (7), and / or Preferably, at least one of the bearing elements (16, 17) is connected to a guide protrusion (19) that extends into the area where the guide support (9, 10) and the wheel fork (7) are in force transmission contact.

3. The wheel assembly (1) according to claim 2, wherein, The bolt (18) has a bolt head (20), and a nut (21) is connected to a threaded section (22) of the bolt (18), and By tightening the threaded section (22) and the nut (21), the two bearing elements (16, 17) are preferably pressed together axially via the bearing assembly (15) of the shaft (4).

4. The wheel assembly (1) according to any one of the preceding claims, wherein, The guide support (9, 10) is axially pressed against a component of the shaft (4). Preferably, the component is the corresponding bearing element (16, 17) according to claim 2 or claim 3, and / or Preferably, the guide supports (9, 10) are respectively arranged between the bearing elements (16, 17) and the bolt head (20) or the nut (21) of the wheel assembly (1) according to claim 3.

5. The wheel assembly (1) according to any one of the preceding claims, wherein, The guide support (9, 10) includes a pin (23) having an axial span, the pin being spaced apart from and arranged parallel to the wheel axle (5) of the wheel body (3). The pin (23) contacts the wheel fork (7) to transmit force (11) in at least two opposite directions (12, 13). Preferably, the pin (23) is supported at two or more spaced locations along its axial span, these locations being fixed relative to the shaft (4).

6. The wheel assembly (1) according to any one of the preceding claims, wherein, The wheel fork (7) includes a suspension window (24) in which an element of the preloaded suspension device (8) is arranged. Preferably, the element is a helical spring.

7. The wheel assembly (1) according to any one of the preceding claims, wherein, The wheel fork (7) is connected to a base (25), thereby allowing the wheel fork (7) to rotate about a transverse axis (26) relative to the base (25). Preferably, the rolling element (27) is arranged between the base (25) and the wheel fork (7), and more preferably, the rolling element (27) is in direct contact with the base (25) and the wheel fork (7).

8. An automated guided vehicle (28) for a transport device (2), comprising at least the following components: A drive system (29) having a motor (30) and at least one drive roller (31, 32) driven by the motor (30); At least one wheel assembly (1) according to any one of the preceding claims; and A position guidance device (33) is used to control the drive system (29) based on position guidance information. in, Preferably, the location guidance information is provided by a guide device (34) placed on the ground (6) and can be read autonomously by the location guidance device (33).

9. The automated guided vehicle (28) according to claim 8, wherein, The automated guided vehicle (28) also includes at least one unsustainable wheel assembly (50) rotatable about its lateral axis (26) and one or more wheel assemblies (1) according to claim 7.

10. A transport vehicle (35) for transporting strips, comprising: A container (36) for holding the strips and an automated guided vehicle (28) according to claim 8 or 9, Preferably, the container (36) has a base region (37) and the automated guided vehicle (28) has a maximum region extension that is at most 10% smaller than the base region (37).

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