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

Abstract

The invention relates to a wheel suspension (1) for a self-propelled transport robot (100), the wheel suspension (1) comprising a support structure (10) and a swing arm (20) carrying an omnidirectional wheel (21), wherein a bearing end (22) of the swing arm (11) is rotatably mounted to the support structure (10), and wherein a lifting mechanism (30) for raising and lowering the wheel (21) is arranged between the swing arm (20) and the support structure (10), the lifting mechanism (30) comprising a self-locking lifting drive (31). The invention further relates to a self-propelled transport robot (100) including such a wheel suspension.

Description

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

[0002] The invention relates to a wheel suspension for a self-propelled transport robot. The invention further relates to a transport robot having such a wheel suspension.

[0003] Self-propelled transport robots such as automated guided vehicles are often used in production plants for transporting a payload between different stations during the production without direct human assistance. A transport robot of this kind is disclosed for example in US 2017 / 0308084 A1. In particular, US 2017 / 0308084 A1 discloses an automated guided vehicle system having four omnidirectional wheels, wherein four of these automated guided vehicles are combined to carry a vehicle body. Due to the omnidirectional wheels, the system of four automated guided vehicles provides a high manoeuvrability. However, the four automated guided vehicles have to be controlled very precisely in combination in order to avoid stresses in the vehicle body. The control system of such an automated guided vehicle system is therefore highly complex.

[0004] Although the known automated guided vehicle system allows for a flexible transport of payloads within a production facility, there are several drawbacks. First of all, the omnidirectional wheels are very stiff and therefore, the ground on which they travel has to be levelled in order to avoid shocks or vibrations to act on the payload. Another disadvantage of the known automated guided vehicles is that they have generally only one function, namely transporting a payload from one place to another place. However, especially in vehicle manufacturing, vehicle bodies often have to be measured very precisely. Therefore, vehicle bodies have to be transported to metrology stations where a precise measurement of the vehicle body takes place. However, in order to do such a high precision measurement, the vehicle body has to be placed very accurately and stable. Therefore, the vehicle body often has to be transferred from the transport robot to a specific fixture system an mounted thereto, which is time-consuming.

[0005] In view of the above, it is an object of the present invention to provide a wheel suspension for a self-propelled transport robot that allows for dampening vibrations during movement of the transport robot and at the same time provide the option of stabilizing a payload such that it can be measured precisely in a measurement station. A further object of the present invention is to provide a self-propelled transport robot, in particular an automated guided vehicle, comprising such a wheel suspension.

[0006] According to the invention, these objects are served by the wheel suspension according to claim 1 and the self-propelled transport robot according to claim 14.

[0007] The inventive wheel suspension for a self-propelled transport robot comprises a support structure and a swing arm carrying an omnidirectional wheel. A bearing end of the swing arm is rotatably mounted to the support structure. A lifting mechanism for raising and lowering the wheel is arranged between the swing arm and the support structure, wherein the lifting mechanism comprises a self-locking lifting drive.

[0008] The wheel suspension according to the present invention has several advantages. On the one hand, it provides for a smooth ride of the self-propelled transport robot, thus avoiding vibrations to act on the payload, in particular a vehicle body or other vehicle parts. Due to the rotatably mounted swing arm, it is possible to compensate unevenness of the ground during movement. Moreover, the lifting mechanism provides for levelling the support structure on an uneven ground or floor. Thus, if the ground or floor in a measurement station is not levelled, the lifting mechanism allows that a control system compensates the unevenness of the floor or ground such that the payload itself is arranged levelled within the measurement area.

[0009] In order for a high precision measurement, for example a tactile measurement or an optical measurement, to be accurate, the lifting mechanism comprises the self-locking lifting drive. By using a self-locking lifting drive, the position of the lifting mechanism can be locked and thus the payload, in particular a vehicle component, is stably fixed. Measurement can take place without any vibrations or movements affecting the precision of the measurement. Moreover, the self-locking functionality also provides a safety feature, because a power failure of the lifting drive will not lead to a movement of the lifting mechanism. The self-locking lifting drive is preferably configured to stay in the locked state without any further power supply.

[0010] In a preferred embodiment of the inventive wheel suspension, the lifting drive comprises a spindle rod connected to the swing arm. In particular, the spindle rod can be connected to the wing arm by an articulated joint. Using a spindle rod for the lifting drive enhances the precision of the lifting and lowering functionality. The height of a transport robot can be adjusted in a very precise manner. Moreover, a spindle rod lifting drive is inexpensive and easy to maintain.

[0011] The lifting drive, in particular the spindle rod, may have an elongated hole. The swing arm may have an eccentrically positioned pivot pin that engages the elongated hole, to allow the swing arm to swing freely between end stops of the pivot pin. The end stops may be defined by the elongated hole. The articulated joint or connection between the swing arm and the spindle rod may be formed by the connection between the pivot pin and the swing arm. The interaction between the elongated hole and the eccentrically positioned pivot pin allows for the swing arm to swing freely in a predefined range, for example, so as to compensate an unevenness of the ground during movement of the transport robot. Thus, even when the lifting drive is locked, a certain movement of the swing arm is allowed. According to an alternative design option, the elongated hole may be arranged eccentrically in or at the swing arm and the pivot pin may be positioned at or integrated in the lifting drive, in particular the spindle rod.

[0012] In case that the pivot pin is arranged eccentrically at the swing arm, it is preferred that the pivot pin is arranged on the swing arm between a driven axle of the omnidirectional wheel and a mounting panel of the support structure. The mounting panel may be detachably mountable to a loading platform of the self-propelled transport robot. By this arrangement of the pivot pin, the overall construction of the wheel suspension is compact. Moreover, positioning the pivot pin between the mounting panel and the driven axle of the omnidirectional wheel also provides for positioning the lifting drive in this area, thus increasing the distance between the lifting drive and a ground or floor. This avoids damage to the lifting drive.

[0013] According to a further preferred embodiment of the invention, a free end of the swing arm is connected to a shock absorber arranged between the swing arm and the support structure, in particular the mounting panel. The shock absorber provides for dampening the transport robot during movement. In particular, the shock absorber allows for a smooth ride of the transport robot even on rough or bumpy floors or grounds.

[0014] In order to allow for sufficient ground clearance of a transport robot, the lifting drive may have a linear adjustment travel that is adapted to raise or lower the wheel in a vertical direction about at least 30 mm, in particular at least 40 mm, in particular at least 50 mm. The linear adjustment travel is preferably measured by the change of distance between the ground-contacting surface of the omnidirectional wheel and the mounting plate. Alternatively, the linear adjustment travel may be measured by the change of distance between the driven axle of the omnidirectional wheel and the mounting plate.

[0015] According to a preferred embodiment of the invention, the spindle rod is guided linearly in a tube of the lifting drive, whereby the tube and the spindle rod are connected to each other in a rotationally fixed manner. The lifting drive, in particular the tube may be connected to the mounting panel in an articulated manner. The articulated connection between the lifting drive and the mounting panels allows for the lifting drive to follow the movement of the swing arm to which the lifting drive, in particular the spindle rod, is also connected.

[0016] A particular advantage of the inventive wheel suspension is that it improves the ease of maintenance of a self-propelled transport robot. Therefore, screws, in particular four screws, can preferably screw the mounting panel of the wheel suspension to the loading platform. The wheel suspension can thus be easily installed to a loading platform and / or uninstalled from it, which significantly contributes to the maintainability of a transport robot. It is generally important for a self-propelled transport robot or automated guided vehicle that it is operational without long interruptions. However, wear or other operative interferences may lead to a decrease of functionality of the wheel suspension, in particular the omnidirectional wheel. Replacement of an omnidirectional wheel usually needs significant effort and time. By using conventional screws to mount the inventive wheel suspension to a loading platform of a self- propelled transport robot, the complete wheel suspension can be replaced easily and in a short amount of time. Thus, the operating time of a self-propelled transport robot is increased.

[0017] In a further embodiment of the invention, the mounting panel has a cutout for the omnidirectional wheel to engage in a raised position. Thus, the omnidirectional wheel can be moved into this cutout, which in turn allows for a loading platform of the transport robot to be lowered to a very low level. This is especially useful, when it is intended to lower the loading platform such that it gets in contact with the ground or rests on the ground. Such a functionality can be advantageous, if the loading platform shall be aligned and fixed to positioning elements on the floor or ground of a measuring area. The lifting drive, in particular the spindle rod may be adapted to exert a lifting force on the swing arm, while the lifting force has a main force component that is arranged horizontally, in particular parallel, to the mounting panel. The lifting drive can thus be arranged near the mounting panel. Consequently, the spindle rod thus travels mainly in a nearly horizontal direction when it moves the swing arm to raise or lower the omnidirectional wheel. This provides for a very compact design and also allows for a good transfer of forces, which leads to a high efficiency of the lifting drive. This design improves the compact design of the wheel suspension and the maintainability of a transport robot.

[0018] The omnidirectional wheel may be connected to an electric drive motor via an angular gear. This also contributes to the compact design of the inventive wheel suspension. By using an angular gear, the electric drive motor can, for example, be installed such that it extends in parallel to the driving direction of the transport robot. In particular, the electric drive motor can be installed in a plane that extends orthogonal to the driven axle of the omnidirectional wheel. The length of the electric drive motor thus does not add up to the width of the wheel suspension.

[0019] The inventive wheel suspension may include at least one load sensor for detecting the load on the wheel suspension, in particular on the shock absorber. Thus, the lifting drive can be controlled based on the load detected at the load sensor. The movement of the lifting drive may thus be controlled depending on the load carried by the self- propelled transport robot.

[0020] According to a further aspect, the present invention also provides for a self-propelled transport robot, in particular an automated guided vehicle, having a loading platform for receiving components, in particular vehicle body components, which are to be measured in a measuring area with optical or tactile measuring devices. The self- propelled transport robot further may comprise at least four wheel suspensions, wherein at least two of the wheel suspensions are wheel suspensions according to the description above.

[0021] As already disclosed in connection with the inventive wheel suspension, such self- propelled transport robots having at least two of the inventive wheel suspensions, are very easy to maintain and thus can be operated at low running costs. In particular, the omnidirectional wheels, which are exposed to high wear, can be easily exchanged by unscrewing the wheel suspensions from the loading platform and installing a new wheel suspension. Thus, the operational times of the self-propelled transport robot are increased. Any further features and advantages discussed in connection with the wheel suspension also apply for the self-propelled transport robot disclosed herein.

[0022] The loading platform of the self-propelled transport robot may have a top panel, a bottom panel and a reinforcement structure between the top panel and the bottom panel. The reinforcement structure and the bottom panel have at least one recess to accommodate a wheel suspension. The reinforcement structure may be a honeycomb structure. Such a reinforcement structure is lightweight and at the same time very stiff. Especially the stiffness of such a reinforcement structure is advantageous for the transport robot and allows for a high precision measurement to be executed on the payload when the transport robot is positioned in a measuring area.

[0023] In a preferred embodiment of the inventive self-propelled transport robot, the wheel suspension, in particular the mounting panel, is detachably mounted to the loading platform, in particular to the top panel. As disclosed further above, the mounting panel may be screwed to the loading platform, in particular the top panel, which allows for rapidly replacing the wheel suspension on the self-propelled transport robot.

[0024] In addition to the above, the self-propelled transport robot may include a control unit connected to positioning sensors, wherein the control unit is suitable for aligning the loading platform with positioning elements, in particular positioning plates and / or positioning holes. The control unit may further be suitable for lowering the loading platform onto these positioning elements, which are preferably installed on the floor of a measuring area. This feature allows the self-propelled transport robot to be automatically arranged in a measuring area, wherein it is positioned in such a way that a high precision measurement, e.g. a tactile or optical measurement, can take place. Preferably, the positioning elements may engage with alignment element, in particular alignment holes or alignment plates, that are mounted at the bottom panel of the loading platform. The engagement may be a form-fit engagement. Thus, the positioning elements and their counterparts provide for aligning the transport robot in an x, y and z direction very precisely, which is a precondition for high precision measurement of the payload transported by the transport robot.

[0025] The invention is described in more detail below by means of preferred embodiments with reference to the accompanying drawings, wherein Fig. 1 is a sideview of a wheel suspension according to a preferred embodiment of the invention; and

[0026] Fig. 2 is a perspective underside view of a self-propelled transport robot according to a preferred embodiment of the invention, wherein the transport robot has six wheel suspensions according to Fig. 1 .

[0027] The wheel suspension 1 according to Fig. 1 has a support structure 10 comprising a mounting panel 11 and a console 13. The console 13 is attached to the mounting panel 11 and extends essentially in a direction orthogonal to the mounting panel 11 . The console 13 may be welded to the mounting panel 11 . Alternatively, the mounting panel 11 and the console 13 may be formed as an integral part. The support structure 10 further includes a holding element 14, which is arranged opposite to the console 13 at the mounting panel 11 . The holding element 14 is designed similar to the console 13 and attached to the same side of the mounting panel 11 and extends in a direction orthogonal to the mounting panel 11 . The holding element 14 may be welded to the mounting panel 11 or formed as an integral part of the mounting panel 11 .

[0028] The wheel suspension 1 further includes a swing arm 20, which is rotatably mounted to the support structure 10, in particular to the console 13. The swing arm 11 has a bearing end 22 which is rotatably mounted to the console 13.

[0029] The swing arm 11 carries an omnidirectional wheel 21 . The omnidirectional wheel 21 forms a so-called mecanum wheel. The omnidirectional wheel is driven individually and has a rim composed of rollers that can be rotated freely about a respective axis that is inclined by 45 degrees with respect to a driven axle of the omnidirectional wheel 21 .

[0030] The swing arm 20 further has a free end 23 opposite the bearing end 22. The free end 23 is connected, in particular in an articulated manner, to a shock absorber 40. The shock absorber 40 is also connected, in particular in an articulated manner, to the holding element 14. In other words, the free end 23 of the swing arm 20 is connected to the holding element 14 of the support structure 10 via the shock absorber 40.

[0031] The omnidirectional wheel 21 is driven by an electric drive motor 25 that is attached to the swing arm 20. The electric drive motor 25 is connected to the driven axle of the omnidirectional wheel 21 via an angular gear 26. The angular gear 26 may be enclosed in a gearbox housing. The swing arm 20 further has a nose 27, which is arranged between the bearing end 22 and the free end 23. The nose 27 is also positioned between the driven axle of the omnidirectional wheel 26 and the mounting panel 11 . The nose 27 carries a pivot pin 24. The pivot pin 24 is positioned eccentrically on the swing arm. In particular, the pivot pin 24 is arranged eccentrically with respect to the articulated joint between the bearing end 22 and the console 13.

[0032] The pivot pin 24 engages an elongated hole 33 which is formed in an extension of a spindle rod 32 of a lifting drive 31 . Generally, the wheel suspension 1 includes a lifting mechanism 30. The lifting mechanism 30 is arranged between the swing arm 20 and the support structure 10. Particularly, the lifting mechanism 30 is formed by the lifting drive 31 , which extends between the pivot pin 24 of the swing arm 20 and the holding element 14 of the support structure 10. The lifting drive preferably includes an electric motor that drives the spindle rod 32. Due to the engagement of the pivot pin 24 into the elongated hole 33 of the extension 35 of the spindle rod 32, a movement of the spindle rod 32 transfers to the swing arm 20, thus allowing for lifting or lowering the omnidirectional wheel 21.

[0033] Fig. 1 shows the wheel suspension 1 in two different situations. In the situation shown in solid lines, the omnidirectional wheel 21 is lowered, meaning that the distance between the omnidirectional wheel 21 and the mounting panel 11 is increased. Dotted lines show a situation in which the omnidirectional wheel 21 is retracted, meaning that the distance between the omnidirectional wheel 21 and the mounting panel 11 is decreased. The retracted position may also be called the lifted position of the omnidirectional wheel 21.

[0034] In order for the spindle rod 32 to be preserved from mud and other environmental effects, the spindle rod 32 is arranged in a tube 34 that is part of the lifting mechanism 30. The spindle rod 32 can be moved out of the tube 34 and / or into the tube 34 by the lifting drive 31 .

[0035] Fig. 2 shows a self-propelled transport robot 100 including six of the wheel suspensions 1 according to Fig. 1 . The self-propelled transport robot 100 includes a loading platform 110 comprising a top panel 111 and a bottom panel 112. A reinforcement structure 113 is arranged between the top panel 111 and the bottom panel 112. Preferably, the reinforcement structure is formed as a honeycomb structure. The reinforcement structure 113 may be encapsulated in box-shaped housing. The box-shaped housing includes the bottom panel 112 and the top panel 111. The top panel 111 may extend beyond either side of the box-shaped housing. Moreover, the top panel 111 may be larger and wider than the bottom panel 112. In this regard, the top panel 111 overlaps the bottom panel 112 or the box-like housing at all sides, thus forming a recess 114. The recess 114 accommodates the wheel suspensions 1 . At the front of the self-propelled transport robot 100 and at the back of the self-propelled transport robot 100, the recess 114 may accommodate batteries and / or a control unit.

[0036] The wheel suspensions 1 are mounted on the either side of the self-propelled transport robot 100 to the top panel 111 , preferably by screws. As the recesses 114 are freely accessible from the sides of the self-propelled transport robot 100, the wheel suspensions 1 are easily exchangeable.

[0037] The bottom panel 112 further has alignment plates 115, in particular six alignment plates 115, which can be aligned to positioning plates or positioning holes in the ground or floor of a measurement area. Two of the alignment plates 115 may have protrusions which also provide for a form-fit alignment of the self-propelled transport robot 100 to the measurement area, in particular respectively formed positioning holes in the floor of the measurement area.

[0038] Generally, the self-propelled transport robot has at least two conditions, namely a driving condition and a measuring condition. In the driving condition, the omnidirectional wheels 21 are lowered so as to raise the loading platform 110 from a ground or floor. This provides for the necessary ground clearance to move the self- propelled transport robot 100. Movement of the transport robot 100 can be achieved by a remote control and / or automatically by a respective controlled guiding system. This guiding system may include reference markers on the floor and / or GPS connections.

[0039] In the measuring condition, the self-propelled transport robot 100 is aligned within a measuring area so as to precisely position the payload, for example a vehicle body part, for measurement. Measurement can be done by tactile measuring systems and / or by optical measuring systems. Furthermore, measurement can be done automatically.

[0040] It is not necessary that the loading platform 110 is lowered for measurement. The omnidirectional wheels 21 may rather be controlled such that the position of the transport robot 100 is stable. Moreover, due to the self-locking lifting drive 31 , even the height of the loading platform 110 and its level is fixed in a manner sufficient for precise measurement of the payload.

[0041] However, to provide a precise positioning of the payload to be measured, the loading platform 1 10 can be lowered to rest on the ground or floor in the measurement area. This is achieved by moving the spindle rod 32 out of the tube 34 by the lifting drive 31 . As shown in Fig. 1 , movement of the spindle rod 32 out of the tube 34 leads to the elongated hole 33 abutting the pivot pin 24 and pushing the pivot pin 24 towards the console 13. In this way, the swing arm 20 rotates around an axis located in the area of the bearing end 22 and the console 13. The lifting drive 31 thus acts against the shock absorber 40.

[0042] Movement of the spindle rod 32 leads to lifting the omnidirectional wheel 21 . The omnidirectional wheel 21 can thereby engage into the cutout 12 in the mounting panel 11 . Due to the lifting of the omnidirectional wheel 21 , the loading platform 110 is lowered. Since the omnidirectional wheel 21 can engage into the cutout 12, the loading platform 1 10 can be lowered down to the floor such that the alignment plates 1 15 contact the floor and in particular some protrusions on several alignment plates 1 15 can engage holes in the floor. The protrusions particularly provide additional positioning in and x- and y-direction, whereas the thickness and evenness of the alignment plates 115 provide for a precise positioning in a z-direction.

[0043] In any of the aforementioned conditions, even in conditions where the omnidirectional wheels 21 are not lifted or lowered fully, but maintained in a position between these maximum retracted or maximum lifted positions, the height of the loading platform 1 10 is locked by the self-locking lifting drive 31 . As the lifting drive is self-locking, the loading platform 110 also maintains its height or level if the lifting drive 31 does not receive any power.

[0044] Reference signs

[0045] 1 wheel suspension

[0046] 10 support structure

[0047] 11 mounting panel

[0048] 12 cutout

[0049] 13 console

[0050] 14 holding element

[0051] 20 swing arm

[0052] 21 omnidirectional wheel

[0053] 22 bearing end

[0054] 23 free end

[0055] 24 pivot pin

[0056] 25 electric drive motor

[0057] 26 angular gear

[0058] 27 nose

[0059] 30 lifting mechanism

[0060] 31 lifting drive

[0061] 32 spindle rod

[0062] 33 elongated hole

[0063] 34 tube

[0064] 35 extension

[0065] 40 shock absorber

[0066] 100 self-propelled transport robot

[0067] 110 loading platform

[0068] 111 top panel

[0069] 112 bottom panel

[0070] 113 reinforcement structure

[0071] 114 recess

[0072] 115 alignment plates

Claims

Claims1 . Wheel suspension (1 ) for a self-propelled transport robot (100), the wheel suspension (1 ) comprising a support structure (10) and a swing arm (20) carrying an omnidirectional wheel (21 ), wherein a bearing end (22) of the swing arm (1 1 ) is rotatably mounted to the support structure (10), and wherein a lifting mechanism (30) for raising and lowering the wheel (21 ) is arranged between the swing arm (20) and the support structure (10), the lifting mechanism (30) comprising a selflocking lifting drive (31 ).

2. Wheel suspension (1 ) according to claim 1 characterized in that the lifting drive (31 ) comprising a spindle rod (32) connected to the swing arm (20).

3. Wheel suspension (1 ) according to claim 1 or 2 characterized in that the lifting drive (31 ), in particular the spindle rod (32), has an elongated hole (33) and the swing arm (20) has an eccentrically positioned pivot pin (24) that engages the elongated hole (33) to allow the swing arm (20) to swing freely between end stops of the pivot pin (24), which are defined by the elongated hole (33).

4. Wheel suspension (1 ) according to any of the preceding claims characterized in that the pivot pin (24) is arranged on the swing arm (1 1 ) between a driven axle of the omnidirectional wheel (21 ) and a mounting panel (1 1 ) of the support structure (10), the mounting panel (1 1 ) being detachably mountable to a loading platform (110) of the self-propelled transport robot (100).

5. Wheel suspension (1 ) according to any of the preceding claims characterized in that a free end (23) of the swing arm (20) is connected to a shock absorber (40) arranged between the swing arm (20) and the support structure (10), in particular the mounting panel (1 1 ).

6. Wheel suspension (1 ) according to any of the preceding claims characterized in that the lifting drive (31 ) has a linear adjustment travel that is adapted to raise or lowerthe wheel (21 ) about at least 30 mm, in particular at least 40 mm, in particular at least 50 mm, in a vertical direction.

7. Wheel suspension (1 ) according to any of claims 2 to 6 characterized in that the spindle rod (32) is guided linearly in a tube (34) of the lifting drive (31 ), whereby the tube (34) and the spindle rod (32) are connected to each other in a rotationally fixed manner.

8. Wheel suspension (1 ) according to any of the preceding claims characterized in that the lifting drive (31 ), in particular the tube (34), is connected to the mounting panel (11 ) in an articulated manner.

9. Wheel suspension (1 ) according to claim 8 characterized in that the mounting panel (11) can be screwed to the loading platform (110), in particular by four screws.

10. Wheel suspension (1 ) according to claim 8 or 9 characterized in that the mounting panel (11 ) has a cut-out (12) for the omnidirectional wheel (21 ) to engage in a raised position.11 . Wheel suspension (1 ) according to any of the preceding claims characterized in that the lifting drive (31 ), in particular the spindle rod (32), is adapted to exert a lifting force on the swing arm (20) with a main force component that is arranged horizontally, in particular parallel, to the mounting panel (11 ).

12. Wheel suspension (1 ) according to any of the preceding claims characterized in that the omnidirectional wheel (21 ) is connected to an electric drive motor (25) via an angular gear (26).

13. Wheel suspension (1 ) according to any of the preceding claims characterized byat least one load sensor for detecting the load on the wheel suspension (1 ), in particular on the shock absorber (40).

14. Self-propelled transport robot (100) with a loading platform (110) for receiving components, in particular vehicle body components, which are to be measured in a measuring area with optical or tactile measuring devices, and with at least four wheel suspensions, wherein at least two of the wheel suspensions being wheel suspensions (1 ) according to any of the preceding claims.

15. Self-propelled transport robot (100) according to claim 14 characterized in that the loading platform (110) has a top panel (111 ), a bottom panel (112) and an reinforcement structure (113) between the top panel (111 ) and the bottom panel (112), wherein the reinforcement structure (113) and the bottom panel (112) have at least one recess (114) to accommodate a wheel suspension (1).

16. Self-propelled transport robot (100) according to claim 14 or 15 characterized in that the wheel suspension (1 ), in particular the mounting panel (11 ), is detachably mounted to the loading platform (110), in particular to the top panel.

17. Self-propelled transport robot (100) according to any of claim 14 to 16 characterized by a control unit connected to positioning sensors, the control unit being suitable for aligning the loading platform (110) with positioning elements, in particular positioning plates and / or holes, and for lowering the loading platform (110) onto these positioning elements, which are installed on the floor of a measuring area.

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