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

Abstract

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

Description

[0001] Wheel suspension for a self-propelled transport robot and self-propelled transport robot comprising such a wheel suspension

[0002] 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 comprising such a wheel suspension.

[0003] DE 10 2019 1 1 1 329 A1 discloses a self-propelled transport robot having a base plate, a control unit and a battery pack to transport vehicle body components from a mounting location to a measurement location. The self-propelled transport robot includes in particular two wheel axles, each of which having two omnidirectional wheels. A drive unit drives one of the axles. As disclosed in this prior art additional wheels may be used to accommodate the higher load capacity when using large baseplate dimensions. These further wheels do not require a drive unit.

[0004] However, enhancing the load capacity of such a self-propelled transport robot also leads to a higher load onto the driven wheels. This may lead to a reduced performance of the omnidirectional wheels. Due to their constructions, these omnidirectional wheels are particularily susceptive to wear when heavily loaded.

[0005] It is thus an object of the present invention to provide for a wheel suspension, which reduces load on the driven wheel and at the same time, enhances the load capacity of a self-propelled transport robot.

[0006] This object is solved by a wheel suspension according to claim 1 and a self-propelled transport robot according to claim 15.

[0007] Accordingly, the invention provides for a wheel suspension for a self-propelled transport robot, the wheel suspension having a driven wheel with a driven wheel axis and a nondriven wheel with a non-driven wheel axis. The non-driven wheel axis is arranged parallel to the driven wheel axis. The driven wheel and the non-driven wheel are connected to one another via a cross member which is mounted pivotally on a swivel joint. The swivel joint is arranged between the driven wheel axis and the non-driven wheel axis. According to the invention, the distance of the driven wheel axis from the swivel joint is shorter than the distance of the non-driven wheel axis from the swivel joint.

[0008] The invention has several advantages. First, by providing a wheel suspension with two wheels connected by a pivotally mounted cross member, the wheels are kept in contact with the ground. Thus, the load applied to the wheels is well absorbed.

[0009] Secondly, it has become surprisingly apparent that positioning the swivel joint off-centre or eccentrically, i.e. reducing the distance between the swivel joint and the driven wheel axis as compared to the distance of the swivel joint to the non-driven wheel axis, promotes a more uniform distribution of the load on the driven wheel and the non-driven wheel. In general, the thrust force that the driven wheel receives due to the propulsion force that is exerted by the drive unit produces a higher load on the driven wheel. By shifting the swivel joint nearer to the non-driven wheel axis, the higher load generated by the thrust force on the driven wheel is compensated. In other words, the driven wheel is relieved in part of the carrying load, preferably in the amount of the thrust force that is caused by the propulsion force of the drive unit.

[0010] In a preferred embodiment of the invention, the ratio of the distance between the swivel joint and the driven wheel axis and the distance of the swivel joint from the non-driven wheel axis is chosen 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-centre position or eccentrical position of the swivel joint is adapted to provide an equal or uniform distribution of the carrying on the driven wheel and the non-driven wheel, respectively. Consequently, the driven wheel is unloaded or relieved in part of the carrying load and thus less susceptible to wear. The wheel suspension thus is very reliable and long-lasting. Moreover, unloading the driven wheel also reduces noise and vibrations.

[0011] The previously mentioned advantages come into play in particular if the driven wheel and / or the non-driven wheel are omnidirectional wheels, in particular mecanum wheels. Omnidirection wheels, like mecanum wheels, may comprise a plurality of barrel-shaped rollers that are arranged in an angle to the plane of rotation around a circumference of the wheel. These rollers allow movement of the wheel in multiple directions by varying the rotational speed and direction of at least two independently driven wheels.

[0012] According to a preferred embodiment of the invention, the swivel joint is mounted, in particular non-rotatably, to a swing arm that is connected to a vehicle connection member via a spring system. Using a spring system to connect the swivel joint with a vehicle connection member further improves the ground contact of each wheel and thus ensures that the carrying load is well absorbed by the wheels of the wheel suspension. In particular, the spring system contributes to the equal distribution of load to the driven wheel and the non-driven wheel since the spring system promotes a constant contact of each wheel to the ground. The wheel suspension may be mounted to a vehicle body, in particular a base plate or transport platform via the vehicle connection member. Since the swing arm is connected to this vehicle connection member via the spring system, vertical movement forces resulting from unevenness of the ground, are dampened. This protects the carrying load from damage.

[0013] The spring system may comprise an elastomer spring and / or a disc spring stack. The disc spring stack preferably comprises a plurality of coaxially arranged disc springs. A combination of an elastomer spring and a disc spring stack is particularly preferred. It has became apparent that a disc spring stack provides for a very cost-efficient and at the same time reliable suspension. The elastomer spring is preferably used for dampening. A combination of a disc spring stack and an elastomer spring may have the effect of a spring damper arrangement.

[0014] The spring system may also include a threaded rod for adjusting a preload of the elastomer spring and / or the disc spring stack. In a preferred embodiment, the threaded rod passes coaxially through the disc spring stack. The threaded rod provides for a simple, reliable and continuously variable adjustment of the preload of the spring system, in particular the disc spring stack. Adjusting the preload allows for adapting the wheel suspension to different carrying loads or at least different carrying load ranges. In a further embodiment, the swing arm includes a first leg extending from the swivel joint to a swing arm bearing connecting the first leg to the vehicle connection member. The spring arm further includes a further leg extending from the swivel joint to a spring bearing. Preferably, the first leg and the second leg are arranged diametrically opposite to each other in relation to the swivel joint. The first leg and the second leg each can form a cantilever having the swivel joint as a 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 for a longer lever arm and may define the amount of vertical travel permitted for the swivel joint and thus indirectly for the wheels. Thus, having a relatively long first leg provides for an appropriate distance of travel for the wheels. The relatively short second leg on the other hand allows for a compact design of the wheel suspension.

[0015] In a preferred embodiment, the elastomer spring is disposed between the first leg and the vehicle connection member. Alternatively or additionally, the disc spring stack may be mounted on a spring support, the spring support being pivotally connected to the spring bearing. Thus, the elastomer spring and the disc spring stack can be disposed opposite to each other in relation to the swivel joint. Thus, in a wheel suspension using an elastomer spring and a disc spring stack, both can act against each other to provide for a spring damper arrangement. However, the elastomer spring may also be omitted to simplify the design of the wheel suspension.

[0016] Preferred embodiments of the wheel suspension may also include a measuring device, in particular a measuring pin, for measuring the carrying load applied to the wheel suspension. The measuring device may also include an output interface for measurement data. The measurement data may be used by any kind of display to inform a user of the amount of carrying load. It is also possible that the output interface connects to a control unit that is able to receive and process the measurement data. Processing the measurement data may include outputting a signal to an automatic adjustment unit for adjusting the preload of the spring system, in particular the preload on the disc spring stack. In other words, the preload on the disc spring stack may be adjusted automatically by a control unit based on the measurement data provided by the measurement device. Preferably, the driven wheel is connected to a drive unit. The drive unit may be arranged coaxially with the driven wheel axis. It is also possible that the drive unit is arranged offset the driven wheel axis and connected to the driven wheel axis by a belt or chain or any other power transmission device. However, it is most preferred that the drive unit is arranged parallel to the swivel joint and opposite to the swing arm bearing.

[0017] In a further preferred embodiment, the position of the swivel joint in relation to the cross member may be adjustable. For example, the swivel joint may be slidably connected to the cross member such that the distance between the swivel joint and the non-driven wheel axis as well as the distance between the swivel joint and the driven wheel axis is adjustable in order to adapt the wheel suspension to different applications and / or expected load carrying situations.

[0018] The invention also relates to a self-propelled transport robot, in particular a self-propelled loading platform, comprising the wheel suspension described above. Preferably, the self- propelled transport robot includes at least two, more preferably at least four, wheel suspensions. The self-propelled transport robot may also include a battery and a control unit for controlling the drive units of each of the driven wheels. The self-propelled transport robot may be remote-controlled or may be able to automatically follow a track of barcodes or QR codes on the ground. The self-propelled transport robot may also include sensors and / or cameras for providing autonomous movement within a facility.

[0019] The invention is explained in more detail below by means of examples of embodiments with reference to the accompanying drawings, wherein

[0020] Fig. 1 is a perspective view of a self-propelled transport robot according to a preferred embodiment of the invention;

[0021] Fig. 2 is a back view of a wheel suspension according to a preferred embodiment of the invention;

[0022] Fig. 3 is a perspective front view of the wheel suspension according to Fig. 2; Fig. 4 is a perspective back view of a wheel suspension according to a further preferred embodiment of the invention; and

[0023] Fig. 5 is a perspective bottom view of the wheel suspension according to Fig. 4.

[0024] Fig. 1 shows, by way of example, a self-propelled transport robot 1 . The self-propelled transport robot comprises a loading platform 2, which is formed by a perforated grid plate 3. The perforated grid plate 3 has a plurality of regularly arranged holes for mounting fixation means. Usually, the self-propelled transport robot 1 is used for transporting vehicle body parts within different stations in a fabrication plant. The most preferred use of the self-propelled transport robot 1 is transporting vehicle body parts from a manufacturing station to a measurement station where the vehicle body is measured and / or inspected, in particular for quality control.

[0025] The transport robot 1 further has sidewalls 4 extending essentially vertical, in particular rectangular, with respect to the loading platform 2. The sidewalls 4 delimit 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 is described in more detail below with regard to Figs. 2 and 3 according to a first embodiment and with regard to Figs. 4 and 5 according to a second embodiment.

[0026] Fig. 2 shows such a wheel suspension 10 according to a first embodiment. The wheel suspension 10 includes two wheels, namely a driven wheel 1 1 and a non-driven wheel 12. The wheels 1 1 , 12 are connected to each other via a cross member 13. The cross member 13 is monolithically formed from a plate. The cross member 13 has two circular holes, each of which accommodates a hub of the driven wheel 1 1 or the non-driven wheel 12.

[0027] The circular holes thus provide the bearing mounts for the wheels 1 1, 12.

[0028] The wheels 1 1 , 12 are formed as mecanum wheels or omnidirectional wheels. Thus, each wheel 1 1, 12 has an outer rim 27 and an inner rim 28. The outer rim 27 and the inner rim 28 each have a plurality of sockets for receiving shafts of barrel-shaped rollers 29. The sockets of the inner rim 28 are arranged offset to the sockets of the outer rim 27 such that the external rollers 29 are arranged in an angle to the plane of rotation and around the circumference of the respective wheel 1 1, 12. The angle between the longitudinal direction of each external roller 29 and the plane of rotation, which is equally distanced and parallel to the outer rim 27 and the inner rim 28 of the respective wheel 1 1, 12, is preferably 45 degrees.

[0029] The driven wheel 1 1 has a driven wheel axis DX that defines the centre of the rotational movement of the driven wheel 1 1 . Similarly, the non-driven wheel 12 includes a non-driven wheel axis NX that forms the centre of the 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 coaxially arranged to the driven wheel axis DX and attached to the driven wheel 1 1 . That is, the drive unit 16 actively propels the driven wheel 1 1 . The drive unit 16 preferably is an electric motor, for example a stepper motor or a servomotor.

[0030] The cross member 13 is pivotally mounted on a swivel joint 14. The swivel joint 14 may be formed by a swivel bolt 15 that extends through a swing arm 20. The swing arm 20 is preferably formed by two parallel swing arm parts connected via the swivel bolt 15 or a connecting plate or elements of a spring system 30. The swivel bolt 15 may be rotationally fixed with regard to the swing arm 20. Alternatively, the swivel bolt 15 may be pivotally arranged in a bearing of the swing arm 20. The connection between the cross member 13 and the swivel bolt 15 may also be pivotable. In particular, the cross member 13 may include a bearing where the swivel bolt 15 is pressed in.

[0031] Fig. 2 shows the distribution of load onto the wheel axis DX, NX and therefore the driven wheel 1 1 and the non-driven wheel 12. The carrying load which includes the loading platform 2 of the transport robot 1 and the load mounted onto the loading platform 2, exerts a first non-driven wheel load Fa onto the non-driven wheel axis NX and a second driven wheel load Fb onto the driven wheel axis DX. As demonstrated in Fig. 2, the first non-driven wheel load Fa on the non-driven wheel axis NX is identical to the second driven wheel load Fb on the driven wheel axis DX. This is the result of the position of the swivel joint 14 in relation to the driven wheel axis DX and the non-driven wheel axis NX.

[0032] The distance La between the swivel joint 14, which is the middle axis of the swivel bolt 15, and the non-driven wheel axis NX is shorter than the distance Lb between the swivel joint 14 and the driven wheel axis DX. In other words, the swivel joint axis 14 is off centre in relation to the cross member 14 and in particular shifted towards the non-driven wheel 12. This causes a more uniform distribution of the load onto the driven wheel 1 1 and the nondriven wheel 12.

[0033] The driven wheel 1 1 usually has to bear a higher load due to the fact that it is used for the propulsion of the transport robot 1. By the drive unit 16 acting on the driven wheel 1 1, the resulting propulsion leads to a thrust force that acts as an additional load to the driven wheel 1 1. By shifting the position of the swivel joint 14 towards the non-driven wheel 12, the load exerted by the carrying load onto the loading platform 2 is also shifted towards the non-driven wheel 12. Consequently, the driven wheel 1 1 is partly unloaded of the carrying load and thus when acting as the driving wheel, the driven wheel 1 1 bears a load Fb which is barely identical to the load Fa of the non-driven wheel 12.

[0034] In order to provide for some dampening during movement of the transport robot 1, the swing arm 20 is connected to the vehicle connection member 17 by a spring system 30. The vehicle connection member 17 may be formed by a plate, which may be mounted or fixed to the loading platform 2 of the transport robot 1 by e.g. bolts or screws.

[0035] The spring system 30 according to the embodiment of Figs. 2 and 3 includes a disc spring stack 32 dispersed between the swing arm 20 and the vehicle connection member 17. More precisely, the swing arm 20 may comprise 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.

[0036] In the embodiment of Figs. 2 and 3, the first leg 21 and the second leg 22 are arranged at an angle to each other. The first leg 21 extends from the swivel bolt 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, in particular monolithically, attached to a mounting plate 18 of the vehicle connection member 17. The mounting plate 18 forms a part that may be directly attached to the loading platform 2, in particular to the bottom of the loading platform 2, between the side walls 14. Bolts or screws may 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.

[0037] An elastomer spring 31 of the spring system 30 may be disposed 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 swivel bolt 15. For reasons of demonstration, the elastomer spring 31 is omitted in Fig. 2. However, Fig. 3 shows the arrangement and position of the elastomer spring 31 .

[0038] The disc spring stack 32 is pivotally attached to the second leg 22 of the swing arm 20 by a spring bearing 25. In particular, the disc spring stack 32 may seat on a spring support 26 that extends between the two swing arm parts of the swing arm 20. The connection between the swing arm parts and the swing arm 20 and the spring support 26 may be established by a swivel joint, for example by using respective bearings.

[0039] The disc spring stack 32 comprises a plurality of disc springs 33 that are arranged coaxially to each other. Preferably, the disc springs 33 are arranged alternately inverted to each other. That is, a first disc spring 33 and a second disc spring 33 contact each other with their outer edges, whereas the second disc spring and the adjacent third disc spring contact each other with their inner edge. This pattern is repeated through the disc spring stack 32.

[0040] The disc spring stack 32 is preferably arranged on a central disc support which comprises a threaded rod 34. The threaded rod is connected pivotally via an attachment member to the mounting plate 18 of the vehicle connection member 17. At least one threaded nut 36 is mounted on the threaded rod 32 such that by rotating the threaded nut 36, the preload on the disc spring stack 32 is adjustable. Preferably, the threaded nut 36 acts on a preload element 35 which abuts the disc spring stack 32 and thus may exert a compression force on the disc spring stack 32 in order to increase or, if the threaded nut 36 is released, decrease the preload on the disc spring stack 32.

[0041] Fig. 4 and 5 show a second embodiment of the wheel suspension 10. Similar to the first embodiment according to Fig. 2 and 4, the wheel suspension 10 includes a driven wheel 1 1 and a non-driven wheel 12. The driven wheel 1 1 and the non-driven wheel 12 are connected to each other via the cross member 13 which is pivotally attached to the swivel bolt 15. Also, the position of the swivel bolt 15 or the swivel joint 14, respectively, is similar to the embodiment of Fig. 2 and 3. That is, the swivel joint 1 , is shifted towards the non-driven wheel axis NX. In other words, the distance between the non-driven wheel axis NX and the swivel joint axis SX is shorter than the distance between the swivel joint axis SX and the driven wheel axis DX.

[0042] The vehicle connection member 17 is similar to the embodiment of Fig. 2 and 3 as well. Accordingly, the vehicle connection member 17 includes a mounting plate 18 to be fixed to the bottom to a loading platform 2 and a swing arm bracket 19 including a bearing for pivotally receiving the swing arm 20, in particular its first leg 21.

[0043] The swing arm 20 also includes two parallel swing arm parts, which are connected by a connecting plate 37. Moreover, the swing arm elements of the swing arm 20 are also connected via a swivel bolt seat 23. The swivel bolt seat 23 may be formed like a hollow cylinder, which connects both swivel arm elements and receives the swivel bolt 15. The swivel bolt 15 may be rotationally fixed within the swivel bolt seat 23. Alternatively, the swivel bolt 15 may be rotatably or pivotably received within the swivel bolt seat 23.

[0044] Additionally, the swing arm elements of the swing arm 20 may be connected via the mounting plate 18, in particular via cylindrical-like element for receiving a bolt that is formed on the mounting plate 18. The swing arm 20 also includes a first leg 21, formed of two parallel first leg elements connected by the connecting plate 37, and a second leg 22, formed by two parallel second leg elements.

[0045] Contrary to the embodiment of Figs. 2 and 3, the first leg 21 and the second leg 22 are not arranged in an angle to each other, but extend in a common plane. The second leg 22 has a spring bearing 25 that pivotally receives the spring support 26. The spring support 26 has a U-shape and hinges to the spring bearing 25. Similar to the embodiment of Figs. 2 and 3, the spring support 26 carries the disc spring stack 32, which is arranged on the threaded rod 34. In other words, the threaded rod 34 extends through the centre of all the disc springs 33 which are arranged coaxially to each other. Also, the disc spring stack 32 abuts a preload element 35 which is movable along the threaded rod 34 by rotation of a threaded nut 36 attached to the threaded rod 34. In this regard, the disc spring part of the spring system 30 is similar to the disc spring part of the embodiment as disclosed in Figs. 2 and 3.

[0046] A further difference between the embodiment of Figs. 4 and 5 and the embodiment of Figs. 2 and 3 is the attachment element which connects the threaded rod 34 to the mounting plate 18 of the vehicle connection member 17. Contrary to the embodiment of Figs. 2 and 3, the embodiment of Figs. 4 and 5 further includes a measuring device, in a particular a measuring pin which is integrated into the attachment element. The measuring pin is preferably adapted to measure the carrying load applied to the wheel suspension 10. In other words, the measuring device may be configured to scale the load deposited on the mounting plate 18. The measuring device may include an output interface for transmitting the measurement data to, e.g. a control unit. The control unit then may adapt the preload on the disc spring stack 32 automatically.

[0047] Alternatively, the pivot bolt 15 may be slidably mounted on the cross member 13 so that the position of the pivot bolt 15 can be adjusted with respect to the driven wheel access DX and the non-driven wheel axis NX, respectively. The adjustment may be automatic and controlled by the control unit in accordance with the measurement data of the measuring device. In this way, the distribution of the carrying load between the driven wheel axle DX and the non-driven wheel axle NX can be balanced according to the load carried by the loading platform 2.

[0048] Generally, the wheel suspension 10 having the driven wheel 1 1 and the non-driven wheel 12 mounted by the cross member 13 in a pivotal manner to the swivel bolt 15, ensures that the driven wheel 1 1 and the non-driven wheel 12 are always in contact with the ground. The eccentrical positioning of the swivel bolt 15 further provides for a uniform load distribution on the wheel 1 1, 12, which is mainly independent of the load attached or carried by the loading platform 2. This reduces wear on the driven wheel 1 1 and also provides for a higher efficiency of the propulsion of the transport robot 1 . Reference signs

[0049] 1 transport robot

[0050] 2 loading platform

[0051] 3 perforated grid plate

[0052] 4 side wall

[0053] 10 wheel suspension

[0054] 1 1 driven wheel

[0055] 12 non-driven wheel

[0056] 13 cross member

[0057] 14 swivel joint

[0058] 15 swivel bolt

[0059] 16 drive unit

[0060] 17 vehicle connection member

[0061] 18 mounting plate

[0062] 19 swing arm bracket

[0063] 20 swing arm

[0064] 21 first leg

[0065] 22 second leg

[0066] 23 swivel bolt seat

[0067] 24 swing arm bearing

[0068] 25 spring bearing

[0069] 26 spring support

[0070] 27 outer rim

[0071] 28 inner rim

[0072] 29 external roller

[0073] 30 spring system

[0074] 31 elastomer spring

[0075] 32 disc spring stack

[0076] 33 disc spring 34 threaded rod

[0077] 35 preload element

[0078] 36 threaded nut

[0079] 37 connecting plate DX driven wheel axis

[0080] NX non-driven wheel axis

[0081] SX swivel joint axis

[0082] Fa non-driven wheel load

[0083] Fb driven wheel load La non-driven wheel distance

[0084] Lb driven wheel distance

Claims

Claims1. Wheel suspension ( 10) for a self-propelled transport robot having a driven wheel ( 1 1) with a driven wheel axis (DX) and a non-driven wheel ( 12) with a non-driven wheel axis (NX) arranged parallel to the driven wheel axis (DX), the driven wheel (1 1) and the non-driven wheel ( 12) being connected to one another via a cross member ( 13) which is mounted pivotally on a swivel joint ( 14), wherein the swivel joint ( 14) is arranged between the driven wheel axis (DX) and the non-driven wheel axis (NX), and the distance of the driven wheel axis (DX) from the swivel joint ( 14) being shorter than the distance of the non-driven wheel axis (NX) from the swivel joint ( 14).

2. Wheel suspension ( 10) according to claim 1 characterized in that the driven wheel ( 1 1) and / or the non-driven wheel ( 12) are omnidirectional, in particular mecanum, wheels.

3. Wheel suspension ( 10) according to claim 1 or 2 characterized in that the swivel joint ( 14) is mounted, in particular non-rotatably, to a swing arm (20) that is connected to a vehicle connection member ( 17) via a spring system (30).

4. Wheel suspension ( 10) according to claim 3 characterized in that the spring system (30) comprises an elastomer spring (31) and / or a disc spring stack (32) comprising a plurality of coaxially arranged disc springs (33).

5. Wheel suspension ( 10) according to claim 3 or 4 characterized in that the spring system (30) includes a threaded rod (34) for adjusting a preload of the elastomer spring (31) and / or the disc spring stack (32).

6. Wheel suspension ( 10) according to claim 5 characterized in that the threaded rod (34) passes coaxially through the disc spring stack (32).

7. Wheel suspension ( 10) according to any of claims 4 to 6 characterized in that the swing arm (20) includes a first leg (21) extending from the swivel joint ( 14) to a swing arm bearing (24) connecting the first leg (21) to the vehicle connection member (17) and a second leg (22) extending from the swivel joint (14) to a spring bearing (25).

8. Wheel suspension ( 10) according to claim 7 characterized in that the second leg (22) is shorter than the first leg (2 1).

9. Wheel suspension ( 10) according to claim 7 or 8 characterized in that the elastomer spring (31) is disposed between the first leg (2 1) and the vehicle connection member (17).

10. Wheel suspension ( 10) according to any of claims 7 to 9 characterized in that the disc spring stack (32) is mounted on a spring support (26), the spring support (26) being pivotally connected to the spring bearing (25).1 1. Wheel suspension ( 10) according to any of the preceding claims characterized by a measuring device, in particular a measuring pin, for measuring the carrying load applied to the wheel suspension ( 10), in particular the vehicle connection member ( 17).

12. Wheel suspension ( 10) according to any of the preceding claims characterized in thatthe driven wheel ( 1 1) is connected to a drive unit ( 16), the drive unit ( 16) being arranged coaxially with the driven wheel ( 1 1).

13. Wheel suspension ( 10) according to claim 12 characterized in that the drive unit ( 16) is arranged parallel to the swivel joint (14) and opposite to the swing arm bearing (24).

14. Wheel suspension ( 10) according to any of the preceding claims characterized in that the position of the swivel joint ( 14) in relation to the cross member ( 13) is adjustable.

15. Self-propelled transport robot, in particular a self-propelled loading platform, comprising a wheel suspension ( 10) according to any of the preceding claims.

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