Wheel suspension for a self-propelled transport robot and self-propelled transport robot with such a wheel suspension

Abstract

The invention relates to a wheel suspension (10) for a self-propelled transport robot, comprising a driven wheel (11) with a wheel axle of the driven wheel (DX) and a non-driven wheel (12) with a wheel axle of the non-driven wheel (NX) arranged parallel to the wheel axle of the driven wheel (DX), wherein the driven wheel (11) and the non-driven wheel (12) are connected to one another via a cross member (13) which is pivotally mounted on a pivot joint (14), wherein the pivot joint (14) is arranged between the wheel axle of the driven wheel (DX) and the wheel axle of the non-driven wheel (NX), and the distance of the wheel axle of the driven wheel (DX) from the pivot joint (14) is smaller than the distance of the wheel axle of the non-driven wheel (NX) from the pivot joint (14).

Description

[0001] The invention relates to a wheel suspension for a self-propelled transport robot according to claim 1. Furthermore, the invention relates to a self-propelled transport robot with such a wheel suspension.

[0002] DE 10 2019 111 329 A1 discloses a self-propelled transport robot comprising a base plate, a control unit, and a battery pack for transporting body components from an assembly location to a measurement location. The self-propelled transport robot comprises, in particular, two wheel axles, each with two omnidirectional wheels. A drive unit drives one of the axles. As is known from this prior art, additional wheels can be used with large base plate dimensions to accommodate heavier loads. These additional wheels do not require a drive unit.

[0003] However, increasing the load capacity of such a self-propelled transport robot also results in greater stress on the driven wheels. This can lead to reduced performance of the omnidirectional wheels. Due to their design, these omnidirectional wheels are particularly susceptible to wear under heavy loads.

[0004] The object of the present invention is therefore to provide a wheel suspension that reduces the load on the driven wheel and at the same time increases the load capacity of a self-propelled transport robot.

[0005] This object is achieved by a wheel suspension according to claim 1 and a self-propelled transport robot according to claim 15.

[0006] Accordingly, the invention provides a wheel suspension for a self-propelled transport robot, wherein the wheel suspension has a driven wheel with a wheel axle of the driven wheel and a non-driven wheel with a wheel axle of the non-driven wheel. The wheel axle of the non-driven wheel is arranged parallel to the wheel axle of the driven wheel. The driven wheel and the non-driven wheel are connected to one another via a cross member which is pivotally mounted on a pivot joint. The pivot joint is arranged between the wheel axle of the driven wheel and the wheel axle of the non-driven wheel. According to the invention, the distance of the wheel axle of the driven wheel from the pivot joint is smaller than the distance of the wheel axle of the non-driven wheel from the pivot joint.

[0007] The invention has several advantages. First, by providing a wheel suspension with two wheels connected by a pivoting cross member, the wheels are kept in contact with the ground. Thus, the load applied to the wheels is well absorbed.

[0008] Secondly, it has surprisingly been shown that eccentric positioning of the swivel joint, i.e., reducing the distance between the swivel joint and the wheel axle of the driven wheel compared to the distance of the swivel joint from the wheel axle of the non-driven wheel, promotes a more even distribution of the load between the driven wheel and the non-driven wheel. In general, the thrust force absorbed by the driven wheel due to the propulsive force exerted by the drive unit creates a higher load on the driven wheel. By moving the swivel joint closer to the wheel axle of the non-driven wheel, the higher load created by the thrust force on the driven wheel is compensated. In other words, the driven wheel is partially relieved of the load, preferably by the amount of the thrust force caused by the propulsive force of the drive unit.

[0009] In a preferred embodiment of the invention, the ratio of the distance between the pivot joint and the wheel axle of the driven wheel and the distance of the pivot joint from the wheel axle of the non-driven wheel is selected or adjusted such that the load-induced normal force on the driven wheel and on the non-driven wheel is identical. In other words, the off-center or eccentric position of the pivot joint is adjusted to provide an equal or even distribution of the load between the driven wheel and the non-driven wheel, respectively. Consequently, the driven wheel is partially relieved or freed from the load and is thus less susceptible to wear. The wheel suspension is thus very reliable and durable. Furthermore, unloading the driven wheel also reduces noise and vibration.

[0010] The aforementioned advantages are particularly evident when the driven wheel and / or the non-driven wheel are omnidirectional wheels, in particular Mecanum wheels. Omnidirectional wheels, such as Mecanum wheels, may comprise multiple barrel-shaped rollers arranged around a circumference of the wheel at an angle to the plane of rotation. These rollers enable the wheel to move in multiple directions by varying the rotational speed and direction of at least two independently driven wheels.

[0011] According to a preferred embodiment of the invention, the pivot joint is mounted, in particular in a rotationally fixed manner, on a rocker arm, which is connected to a vehicle connecting member via a spring system. The use of a spring system for connecting the pivot joint to a vehicle connecting member further improves the ground contact of each wheel and thus ensures that the load is well absorbed by the wheels of the wheel suspension. In particular, the spring system contributes to the equal distribution of the load between the driven wheel and the non-driven wheel, as the spring system promotes constant contact of each wheel with the ground. The wheel suspension can be mounted to a body, in particular a base plate or transport platform, via the vehicle connecting member. Since the rocker arm is connected to this vehicle connecting member via the spring system, vertical movement forces resulting from uneven ground are dampened.This protects the load from damage.

[0012] The spring system can comprise an elastomer spring and / or a disc spring assembly. The disc spring assembly preferably comprises a plurality of coaxially arranged disc springs. A combination of an elastomer spring and a disc spring assembly is particularly preferred. It has been shown that a disc spring assembly enables a very cost-effective yet reliable suspension. The elastomer spring is preferably used for damping. A combination of a disc spring assembly and an elastomer spring can have the effect of a spring-damper arrangement.

[0013] The spring system may also include a threaded rod for adjusting the preload of the elastomer spring and / or the disc spring assembly. In a preferred embodiment, the threaded rod extends coaxially through the disc spring assembly. The threaded rod enables simple, reliable, and continuously adjustable adjustment of the preload of the spring system, in particular of the disc spring assembly. Adjusting the preload allows the wheel suspension to be adapted to different load capacities or at least different load ranges.

[0014] In a further embodiment, the rocker arm has a first leg that extends from the pivot joint to a rocker arm bearing connecting the first leg to the vehicle connection member. Furthermore, the rocker arm has a further leg that extends from the pivot joint to a spring bearing. Preferably, the first leg and the second leg are arranged diametrically opposite one another with respect to the pivot joint. The first leg and the second leg can each form a cantilever that has the pivot joint as its central pivot axis. The second leg is preferably shorter than the first leg. Since the first leg is connected to the vehicle connection member, this provides a longer lever arm and can define the amount of travel permitted for the pivot joint and thus indirectly for the wheels. Thus, a relatively long first leg ensures a corresponding travel for the wheels.On the other hand, the relatively short second leg enables a compact design of the wheel suspension.

[0015] In a preferred embodiment, the elastomer spring is arranged between the first leg and the vehicle connecting member. Alternatively or additionally, the disc spring assembly can be attached to a spring support, the spring support being pivotally connected to the spring bearing. Thus, the elastomer spring and the disc spring assembly can be arranged opposite one another with respect to the pivot joint. Thus, in a wheel suspension that uses an elastomer spring and a disc spring assembly, the two can act against each other to provide a spring-damper arrangement. However, the elastomer spring can also be omitted to simplify the design of the wheel suspension.

[0016] Preferred embodiments of the wheel suspension may also comprise a measuring device, in particular a measuring pin, for measuring the load applied to the wheel suspension. The measuring device may also comprise an output interface for measured data. The measured data may be used by any type of display to inform a user about the level of the load. It is also possible for the output interface to be connected to a control unit capable of receiving and processing the measured data. Processing the measured data may comprise outputting a signal to an automatic adjustment unit for adjusting the preload of the spring system, in particular the preload on the disc spring assembly. In other words, the preload on the disc spring assembly can be automatically adjusted by a control unit based on the measured data provided by the measuring device.

[0017] Preferably, the driven wheel is connected to a drive unit. The drive unit can be arranged coaxially with the wheel axle of the driven wheel. It is also possible for the drive unit to be arranged offset from the wheel axle of the driven wheel and connected to the wheel axle of the driven wheel by a belt, chain, or other power transmission device. Most preferably, however, the drive unit is arranged parallel to the pivot joint and opposite the swing arm bearing.

[0018] In a further preferred embodiment, the position of the pivot joint relative to the cross member can be adjustable. For example, the pivot joint can be slidably connected to the cross member, allowing the distance between the pivot joint and the axle of the non-driven wheel, as well as the distance between the pivot joint and the axle of the driven wheel, to adapt the wheel suspension to different applications and / or expected load situations.

[0019] The invention also relates to a self-propelled transport robot, in particular a self-propelled loading platform, with the wheel suspension described above. Preferably, the self-propelled transport robot comprises at least two, more preferably at least four, wheel suspensions. The self-propelled transport robot may also comprise a battery and a control unit for controlling the drive units of each of the driven wheels. The self-propelled transport robot may be remotely controlled or may automatically follow a trail of barcodes or QR codes on the floor. The self-propelled transport robot may also comprise sensors and / or cameras to enable autonomous movement within a facility.

[0020] The invention will be explained in more detail below using exemplary embodiments with reference to the accompanying drawings, in which Fig. 1 is a perspective view of a self-propelled transport robot according to a preferred embodiment of the invention; Fig. Figure 2 is a rear view of a wheel suspension according to a preferred embodiment of the invention; Fig. 3 a perspective front view of the wheel suspension according to Fig. 2 is; Fig. 4 is a perspective rear view of a wheel suspension according to another preferred embodiment of the invention; and Fig. 5 a perspective bottom view of the wheel suspension according to Fig. 4 is.

[0021] Fig. 1 shows an example of a self-propelled transport robot 1. The self-propelled transport robot comprises a loading platform 2 formed by a perforated grid plate 3. The perforated grid plate 3 has several regularly arranged holes for mounting fasteners. Typically, the self-propelled transport robot 1 is used to transport body parts within different stations in a production facility. The most preferred use of the self-propelled transport robot 1 is to transport body parts from a production station to a measuring station, where the body is measured and / or inspected, particularly for quality control.

[0022] The transport robot 1 further comprises side walls 4, which extend substantially vertically, in particular at right angles, to the loading platform 2. The side walls 4 define a space below the loading platform 2, which accommodates the wheels, electronics and / or battery packs for the movement of the transport robot 1. The wheels are connected to the transport robot 1, in particular the loading platform 2, via a wheel suspension 10, which will be described below with reference to the Fig. 2 and Fig. 3 according to a first embodiment and with reference to the Fig. 4 and Fig. 5 according to a second embodiment is described in more detail.

[0023] Fig. Figure 2 shows such a wheel suspension 10 according to a first embodiment. The wheel suspension 10 comprises two wheels, namely a driven wheel 11 and a non-driven wheel 12. The wheels 11, 12 are connected to each other via a cross member 13. The cross member 13 is formed monolithically from a plate. The cross member 13 has two circular holes, each of which receives a hub of the driven wheel 11 or the non-driven wheel 12. The circular holes thus provide the bearing mounts for the wheels 11, 12.

[0024] The wheels 11, 12 are designed as Mecanum wheels or omnidirectional wheels. Thus, each wheel 11, 12 has an outer rim 27 and an inner rim 28. The outer rim 27 and the inner rim 28 each have several receptacles for receiving axles of barrel-shaped rollers 29. The receptacles of the inner rim 28 are offset from the receptacles of the outer rim 27, so that the outer rollers 29 are arranged at an angle to the plane of rotation and around the circumference of the respective wheel 11, 12. The angle between the longitudinal direction of each outer roller 29 and the plane of rotation, which is equally spaced and parallel to the outer rim 27 and the inner rim 28 of the respective wheel 11, 12, is preferably 45 degrees.

[0025] The driven wheel 11 has a driven wheel axis DX that defines the center of rotation of the driven wheel 11. Similarly, the non-driven wheel 12 includes a non-driven wheel axis NX that defines the center of rotation of the non-driven wheel 12. The driven wheel axis DX and the non-driven wheel axis NX are arranged parallel to each other. A drive unit 16 is arranged coaxially with the driven wheel axis DX and attached to the driven wheel 11. That is, the drive unit 16 actively drives the driven wheel 11. The drive unit 16 is preferably an electric motor, for example a stepper motor or a servomotor.

[0026] The cross member 13 is pivotally mounted on a pivot joint 14. The pivot joint 14 can be formed by a pivot pin 15 extending through a rocker arm 20. The rocker arm 20 is preferably formed by two parallel rocker arm parts connected via the pivot pin 15 or a connecting plate or elements of a spring system 30. The pivot pin 15 can be rotationally fixed with respect to the rocker arm 20. Alternatively, the pivot pin 15 can be pivotally mounted in a bearing of the rocker arm 20. The connection between the cross member 13 and the pivot pin 15 can also be pivotable. In particular, the cross member 13 can have a bearing into which the pivot pin 15 is pressed.

[0027] Fig. Figure 2 shows the distribution of the load on the wheel axles DX, NX and thus the driven wheel 11 and the non-driven wheel 12. The load, which includes the loading platform 2 of the transport robot 1 and the load mounted on the loading platform 2, exerts a first non-drive wheel load Fa on the axle NX of the non-driven wheel and a second drive wheel load Fb on the axis DX of the driven wheel. As shown in Fig. As shown in Figure 2, the first non-drive wheel load Fa acting on the non-drive wheel axis NX is identical to the second drive wheel load Fb acting on the driven wheel axis DX. This is the result of the position of the pivot joint 14 with respect to the driven wheel axis DX and the non-drive wheel axis NX.

[0028] The distance La between the pivot 14, which forms the central axis of the pivot pin 15, and the axis NX of the non-driven wheel is smaller than the distance Lb between the pivot 14 and the axis DX of the driven wheel. In other words, the pivot axis 14 is offset off-center with respect to the cross member 14 and, in particular, toward the non-driven wheel 12. This results in a more even load distribution between the driven wheel 11 and the non-driven wheel 12.

[0029] The driven wheel 11 typically has to bear a higher load because it is used to propel the transport robot 1. Due to the drive unit 16 acting on the driven wheel 11, the resulting propulsion results in a thrust force that acts as an additional load on the driven wheel 11. By shifting the position of the pivot joint 14 toward the non-driven wheel 12, the load exerted by the payload on the loading platform 2 is also shifted toward the non-driven wheel 12. Consequently, the driven wheel 11 is partially relieved of the payload, and thus, when acting as a drive wheel, the driven wheel 11 carries a load Fb that is almost identical to the load Fa of the non-driven wheel 12.

[0030] To provide a certain degree of damping during the movement of the transport robot 1, the rocker arm 20 is connected to the vehicle connection member 17 via a spring system 30. The vehicle connection member 17 can be formed by a plate that can be mounted or fastened to the loading platform 2 of the transport robot 1, for example, by bolts or screws.

[0031] The spring system 30 according to the embodiment of the Fig. 2 and Fig. 3 includes a disc spring assembly 32 disposed between the rocker arm 20 and the vehicle connecting member 17. More specifically, the rocker arm 20 may include a first leg 21 and a second leg 22. The first leg 21 and the second leg 22 may be formed monolithically in one piece.

[0032] In the embodiment of the Fig. 2 and Fig. 3, the first leg 21 and the second leg 22 are arranged at an angle to one another. The first leg 21 extends from the pivot pin 15 to a swing arm bearing 24. The swing arm bearing pivotally connects the swing arm 20 to a swing arm bracket 19 of the vehicle connection member 17. The swing arm bracket 19 is fastened, in particular monolithically, to a mounting plate 18 of the vehicle connection member 17. The mounting plate 18 forms a part that can be fastened directly to the loading platform 2, in particular to the underside of the loading platform 2, between the side walls 14. Bolts or screws can establish the connection between the mounting plate 18 and the loading platform 2. The spring system 30 preferably connects the mounting plate 18 to the swing arm 20.

[0033] An elastomer spring 31 of the spring system 30 can be arranged between the first leg 21 and the mounting plate 18 of the vehicle connection member 17. Preferably, the elastomer spring 31 is positioned between the swing arm bearing and the pivot pin 15. For illustrative purposes, the elastomer spring 31 is Fig. 2 not shown. Fig. However, Figure 3 shows the arrangement and position of the elastomer spring 31.

[0034] The disc spring assembly 32 is pivotally attached to the second leg 22 of the rocker arm 20 by a spring bearing 25. In particular, the disc spring assembly 32 can be seated on a spring support 26 extending between the two rocker arm parts of the rocker arm 20. The connection between the rocker arm parts and the rocker arm 20 and the spring support 26 can be established by a pivot joint, for example, using appropriate bearings.

[0035] The disc spring assembly 32 comprises a plurality of disc springs 33 arranged coaxially with one another. Preferably, the disc springs 33 are arranged alternately and inversely with one another. That is, a first disc spring 33 and a second disc spring 33 touch each other with their outer edges, whereas the second disc spring and the adjacent third disc spring touch each other with their inner edges. This pattern is repeated throughout the disc spring assembly 32.

[0036] The disc spring assembly 32 is preferably arranged on a central disc carrier comprising a threaded rod 34. The threaded rod is pivotally connected to the mounting plate 18 of the vehicle connection member 17 via a fastening member. At least one threaded nut 36 is attached to the threaded rod 32 such that the preload on the disc spring assembly 32 can be adjusted by turning the threaded nut 36. Preferably, the threaded nut 36 acts on a preload element 35, which bears against the disc spring assembly 32 and can thus exert a compressive force on the disc spring assembly 32 in order to increase the preload on the disc spring assembly 32 or, if the threaded nut 36 is loosened, to decrease it.

[0037] Fig. 4 and Fig. 5 show a second embodiment of the wheel suspension 10. Similar to the first embodiment according to Fig. 2 and Fig. 4, the wheel suspension 10 comprises a driven wheel 11 and a non-driven wheel 12. The driven wheel 11 and the non-driven wheel 12 are connected to each other via the cross member 13, which is pivotally attached to the pivot pin 15. The position of the pivot pin 15 or the pivot joint 14 is also similar to the embodiment of Fig. 2 and Fig. 3. That is, the pivot joint 14 is displaced in the direction of the non-driven wheel axis NX. In other words, the distance between the non-driven wheel axis NX and the pivot joint axis SX is smaller than the distance between the pivot joint axis SX and the driven wheel axis DX.

[0038] The vehicle connection member 17 is also similar to the embodiment of Fig. 2 and Fig. 3. Accordingly, the vehicle connection member 17 has a mounting plate 18 which can be fastened to the bottom of a loading platform 2, and a swing arm bracket 19 which has a bearing for pivotably receiving the swing arm 20, in particular its first leg 21.

[0039] The rocker arm 20 also has two parallel rocker arms connected by a connecting plate 37. Furthermore, the rocker elements of the rocker arm 20 are also connected via a pivot pin seat 23. The pivot pin seat 23 can be configured as a hollow cylinder that connects both rocker elements and accommodates the pivot pin 15. The pivot pin 15 can be rotationally fixed within the pivot pin seat 23. Alternatively, the pivot pin 15 can be rotatably or pivotably accommodated within the pivot pin seat 23.

[0040] Additionally, the rocker elements of the rocker 20 can be connected via the mounting plate 18, in particular via a cylinder-like element for receiving a bolt formed on the mounting plate 18. The rocker 20 also has a first leg 21 formed by two parallel first leg elements connected by the connecting plate 37, and a second leg 22 formed by two parallel second leg elements.

[0041] In contrast to the design of the Fig. 2 and Fig. 3, the first leg 21 and the second leg 22 are not arranged at an angle to each other, but extend in a common plane. The second leg 22 has a spring bearing 25, which pivotably receives the spring carrier 26. The spring carrier 26 has a U-shape and is pivotally connected to the spring bearing 25. Similar to the embodiment of Fig. 2 and Fig. 3, the spring carrier 26 carries the disc spring assembly 32, which is arranged on the threaded rod 34. In other words, the threaded rod 34 extends through the center of all the disc springs 33, which are arranged coaxially to one another. The disc spring assembly 32 also bears against a preloading element 35, which is movable along the threaded rod 34 by turning a threaded nut 36, which is fastened to the threaded rod 34. In this respect, the disc spring part of the spring system 30 is similar to the disc spring part of the embodiment shown in the Fig. 2 and Fig. 3 is disclosed.

[0042] Another difference between the design of the Fig. 4 and Fig. 5 and the embodiment of the Fig. 2 and Fig. 3 is the fastening element that connects the threaded rod 34 to the mounting plate 18 of the vehicle connection member 17. In contrast to the embodiment of Fig. 2 and Fig. 3 includes the embodiment of the Fig. 4 and Fig. 5 further comprises a measuring device, in particular a measuring pin, which is integrated into the fastening element. The measuring pin is preferably adapted to measure the load applied to the wheel suspension 10. In other words, the measuring device can be configured to measure the load applied to the mounting plate 18. The measuring device can comprise an output interface for transmitting the measurement data to, for example, a control unit. The control unit can then automatically adjust the preload on the disc spring assembly 32.

[0043] Alternatively, the pivot pin 15 can be slidably mounted on the cross member 13, allowing the position of the pivot pin 15 to be adjusted relative to the DX axis of the driven wheel or the NX axis of the non-driven wheel. The adjustment can be automatic and controlled by the control unit in accordance with the measurement data from the measuring device. In this way, the load distribution between the DX axis of the driven wheel and the NX axis of the non-driven wheel can be balanced according to the load carried by the loading platform 2.

[0044] In general, the wheel suspension 10, with the driven wheel 11 and the non-driven wheel 12 pivotally mounted on the pivot pin 15 by the cross member 13, ensures that the driven wheel 11 and the non-driven wheel 12 are always in contact with the ground. The eccentric positioning of the pivot pin 15 further provides an even load distribution on the wheels 11, 12, which is largely independent of the load attached or carried by the loading platform 2. This reduces wear on the driven wheel 11 and also provides greater propulsion efficiency for the transport robot 1. List of reference symbols 1 transport robot 2 loading platform 3 perforated grid plate 4 side wall 10 Wheel suspension 11 driven wheel 12 non-driven wheel 13 cross members 14 Swivel joint 15 pivot pins 16 Drive unit 17 Vehicle connection element 18 Mounting plate 19 Swing arm console 20 swingarm 21 first leg 22 second leg 23 Pivot pin seat 24 swing arm bearings 25 spring bearings 26 spring carriers 27 Outer ring 28 inner ring 29 Outer roller 30 spring system 31 Elastomer spring 32 disc spring package 33 Disc spring 34 threaded rod 35 Preload element 36 threaded nut 37 Connecting plate DX wheel axle of the driven wheel NX wheel axle of the non-driven wheel SX swivel axle Fa Wheel load of the non-driven wheel Fb Wheel load of the driven wheel La wheelbase of the non-driven wheel Lb Wheelbase of the driven wheel QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2019 111 329 A1

[0002]

Claims

[1] Wheel suspension (10) for a self-propelled transport robot comprising a driven wheel (11) with a wheel axle of the driven wheel (DX) and a non-driven wheel (12) with a wheel axle of the non-driven wheel (NX) arranged parallel to the wheel axis of the driven wheel (DX), wherein the driven wheel (11) and the non-driven wheel (12) are connected to one another via a cross member (13) which is pivotally mounted on a rotary joint (14), wherein the rotary joint (14) is arranged between the wheel axle of the driven wheel (DX) and the wheel axle of the non-driven wheel (NX), and the distance of the driven wheel axle (DX) from the rotary joint (14) is smaller than the distance of the wheel axle of the non-driven wheel (NX) from the rotary joint (14). [2] Wheel suspension (10) according to claim 1, characterized by that the driven wheel (11) and / or the non-driven wheel (12) are omnidirectional wheels, in particular Mecanum wheels. [3] Wheel suspension (10) according to claim 1 or 2, characterized by that the swivel joint (14) is mounted, in particular in a rotationally fixed manner, on a rocker (20) which is connected to a vehicle connecting member (17) via a spring system (30). [4] Wheel suspension (10) according to claim 3, characterized by that the spring system (30) comprises an elastomer spring (31) and / or a disc spring assembly (32) with a plurality of coaxially arranged disc springs (33). [5] Wheel suspension (10) according to claim 3 or 4, characterized by that the spring system (30) comprises a threaded rod (34) for adjusting a preload of the elastomer spring (31) and / or the disc spring assembly (32). [6] Wheel suspension (10) according to claim 5, characterized by that the threaded rod (34) extends coaxially through the disc spring assembly (32). [7] Wheel suspension (10) according to one of claims 4 to 6, characterized bythat the rocker arm (20) has a first leg (21) which extends from the pivot joint (14) to a rocker arm bearing (24) connecting the first leg (21) to the vehicle connecting member (17), and a second leg (22) which extends from the pivot joint (14) to a spring bearing (25). [8] Wheel suspension (10) according to claim 7, characterized by that the second leg (22) is shorter than the first leg (21). [9] Wheel suspension (10) according to claim 7 or 8, characterized by that the elastomer spring (31) is arranged between the first leg (21) and the vehicle connecting member (17). [10] Wheel suspension (10) according to one of claims 7 to 9, characterized by that the disc spring assembly (32) is attached to a spring carrier (26), wherein the spring carrier (26) is pivotally connected to the spring bearing (25). [11] Wheel suspension (10) according to one of the preceding claims, characterized bya measuring device, in particular a measuring pin, for measuring the load applied to the wheel suspension (10), in particular the vehicle connecting member (17). [12] Wheel suspension (10) according to one of the preceding claims, characterized by that the driven wheel (11) is connected to a drive unit (16), wherein the drive unit (16) is arranged coaxially to the driven wheel (11). [13] Wheel suspension (10) according to claim 12, characterized by that the drive unit (16) is arranged parallel to the pivot joint (14) and opposite the swing arm bearing (24). [14] Wheel suspension (10) according to one of the preceding claims, characterized by that the position of the swivel joint (14) relative to the cross member (13) is adjustable. [15] Self-propelled transport robot, in particular self-propelled loading platform, with a wheel suspension (10) according to one of the preceding claims.

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