Logistics transport means implementing obstacle movement

Abstract

In the present invention, disclosed is a logistics transport means implementing obstacle movement. The logistics transport means comprises a hubless wheel capable of rolling over an obstacle such as a protruding portion on the ground by means of a bearing structure that forms a sliding contact between an axle coupling position formed at an eccentric position and an inner wheel and an outer wheel that form concentric circles, and thus the logistics transport means can carry out a transport mission while moving over the obstacle with a transport load loaded thereon, without the inconvenience of unloading and loading an object being transported before and after the obstacle or additionally carrying out the work of transporting the logistics transport means itself separately from the object being transported.

Description

Logistics transport means capable of moving obstacles

[0001] The present invention relates to a logistics transport means that implements obstacle movement.

[0002] Logistics transport means for transporting goods or products, such as cargo or products, in courier services, logistics warehouses, and production lines are efficient for transporting goods on flat ground, but they are not designed to move over obstacles such as ledges on the ground. Consequently, inconveniences arise, such as the need to unload and reload goods before and after obstacles, and additional transport tasks for the transport means itself, separate from the goods. Therefore, there is a need for research on logistics transport goods that can overcome obstacles on the ground and perform transport missions while loaded.

[0003] One embodiment of the present invention includes a logistics transport means capable of performing a transport mission while moving over an obstacle with a transport load loaded, by applying a hubless wheel that can roll over an obstacle such as a stopper on the ground through a bearing structure that forms sliding contact between an inner wheel and an outer wheel forming a concentric circle and an axle coupling position formed at an eccentric position. This is achieved without the inconvenience of unloading and loading the transport object back and forth over the obstacle or adding a transport task for the logistics transport means itself separately from the transport object.

[0004] In order to solve the above problems and other problems, a logistics transport means according to one embodiment of the present invention is,

[0005] A vehicle body frame on which the transport load is loaded and released; and

[0006] A wheel conveying means comprising a first conveying wheel, a second conveying wheel, and a third conveying wheel respectively disposed at different first row positions, second row positions, and third row positions along a forward or reverse direction following the direction of movement on the above-mentioned vehicle body frame,

[0007] The first conveyor wheel is positioned at a relatively higher level than the second conveyor wheel and the third conveyor wheel along the upward direction toward the vehicle body frame from the ground where the logistics conveyor is supported, and

[0008] The second conveyor wheel includes an inner wheel and an outer wheel assembled to form concentric circles.

[0009] According to the present invention, a logistics transport means is provided that can perform a transport mission while moving over an obstacle, such as a stopper on the ground, by applying a hubless wheel that can roll over the obstacle through a bearing structure that forms sliding contact between an inner wheel and an outer wheel forming a concentric circle and an axle coupling position formed at an eccentric position. This is achieved without the inconvenience of unloading and loading the transport object back and forth over the obstacle or adding a transport task for the logistics transport means itself separately from the transport object.

[0010] FIGS. 1 and FIGS. 2 illustrate different perspective views of a logistics transport means according to one embodiment of the present invention.

[0011] FIG. 3 is a drawing illustrating a first transport wheel (10), a second transport wheel (100), and a third transport wheel (20) respectively positioned at different first row positions, second row positions, and third row positions along a forward or reverse direction following the movement direction (first direction, z1) of a logistics transport means according to an embodiment of the present invention. Along the upward direction toward the vehicle body frame (F) from the ground (S) where the logistics transport means is supported, the second transport wheel (100) and the third transport wheel (20) are positioned at substantially equal levels and are in contact with the ground (S) to support and lift the vehicle body frame (F), and the first transport wheel (10) is supported on the vehicle body frame (F) in a lifted state from the ground (S) at a level position relatively higher than that of the second transport wheel (100) and the third transport wheel (20).

[0012] FIGS. 4a and 4b are drawings for explaining the movement of an obstacle of a logistics transport means according to an embodiment of the present invention, wherein a first transport wheel (10) positioned in a first row position along the movement direction (first direction, z1) of the logistics transport means passes over a stopper (ST) on the ground (S) as an obstacle in a lifted state, a second transport wheel (100) positioned in a second row position performs a rolling motion along the stopper (ST) through a bearing member (150) (rolling bearing) that forms sliding contact between an axle coupling position (first coupling position (P1)) formed in an eccentric position and the inner wheel (110) and outer wheel (120) of the second transport wheel (100), and a third transport wheel (20) positioned in a third row position passes over the stopper (ST) on the ground (S) as an obstacle in a lifted state, thereby showing sequential steps ((a) to (f)) for implementing the movement of an obstacle of a logistics transport means according to an embodiment of the present invention. The drawings are shown.

[0013] FIG. 5 shows drawings ((a) to (d)) sequentially illustrating the behavior of a second transport wheel (100) moving along a stopper (ST) on the ground (S) as an obstacle while rolling along a stopper (ST) through a bearing member (150) (rolling bearing) that forms sliding contact between an axle coupling position (first coupling position (P1)) formed at an eccentric position in a logistics transport means according to one embodiment of the present invention and between an inner wheel (110) and an outer wheel (120).

[0014] FIG. 6 is a diagram illustrating the configuration of a second transport wheel (100) for implementing obstacle movement in a logistics transport means according to an embodiment of the present invention, and the connection between the second transport wheel (100) and an axle bracket (F1) extending from the bottom of a vehicle body frame (F) toward the second transport wheel (100). An exploded perspective view is shown to explain that the axle (111) and the rotational elastic member (SP) of the second transport wheel (100) are fitted into the axle hole (111') and the rotational elastic member hole (SP') formed in the axle bracket (F1), respectively, and are connected.

[0015] FIG. 7 is a diagram illustrating the configuration of a second transport wheel (100) for implementing obstacle movement in a logistics transport means according to an embodiment of the present invention, and an exploded perspective view illustrating the configuration of the second transport wheel (100) including an inner wheel (110) and an outer wheel (120), and a bearing member (150) (rolling bearing) for forming sliding contact between the inner wheel (110) and the outer wheel (120).

[0016] FIG. 8 is a drawing for explaining the configuration of a second transport wheel (100) for implementing obstacle movement in a logistics transport means according to an embodiment of the present invention, and illustrates the centrifugal (O) of the second transport wheel (100), the axle coupling position (first coupling position (P1)) where an axle (111) is coupled to each, and the second and third coupling positions (P2, P3) where a pair of coupling pins (112) are formed.

[0017] FIG. 9 is a drawing for explaining the configuration of a second conveying wheel (100) for implementing obstacle movement in a logistics conveying means according to an embodiment of the present invention, and is a drawing for explaining a bearing member (150) (rolling bearing) for forming sliding contact between an inner wheel (110) and an outer wheel (120), and is a drawing for explaining a bearing member (150) interposed between an inner wheel (110) and an outer wheel (120) so as to face the inner wheel (110) (e.g., a support block (115) or guide rim (G1) of the inner wheel (110)) through an inner guide rail (G2), and to face the outer wheel (120) through an outer side where a rolling element (151) is formed.

[0018] FIG. 10 is a diagram for explaining the configuration of an inner wheel (110) of a second conveyor wheel (100) in one embodiment of the present invention, and shows an exploded perspective view for explaining a pair of inner wheel covers (110a, 110b) assembled facing each other along a second direction (z2), an axle (111) assembled to the pair of inner wheel covers (110a, 110b), a rotational elastic member (SP) assembled along the circumference of the axle (111), and a sliding bearing (B).

[0019] FIG. 11 is an exploded perspective view illustrating the configuration of an inner wheel (110) of a second conveyor wheel (100) in one embodiment of the present invention, wherein a pair of axles (111) and connecting pins (112) connected at first to third connecting positions (P1, P2, P3), first to third supporting blocks (115a, 115b, 115c) arranged along the circumference of the pair of axles (111) and connecting pins (112), a connecting head (H) for connecting the pair of inner wheel covers (110a, 110b) to face each other while being connected to the pair of connecting pins (112), and a guide rim (G1) formed along the circumference of the inner wheel covers (110a, 110b).

[0020] FIGS. 12 (a) and (b) are drawings for explaining the configuration of the inner wheel (110) of the second conveying wheel (100) in one embodiment of the present invention, and are drawings for explaining the first inner wheel cover (110a) among a pair of inner wheel covers (110a, 110b) assembled facing each other to form the second conveying wheel (100). FIGS. 12 (a) shows a pair of axles (111) and connecting pins (112) formed at first to third connecting positions (P1, P2, P3), and FIGS. 12 (b) shows first to third support blocks (115a, 115b, 115c) fitted around the pair of axles (111) and connecting pins (112) formed at first to third connecting positions (P1, P2, P3).

[0021] FIG. 13 is a drawing for explaining the configuration of the inner wheel (110) of the second conveying wheel (100) in one embodiment of the present invention, and a drawing for explaining the second inner wheel cover (110b) among a pair of inner wheel covers (110a, 110b) assembled facing each other to form the second conveying wheel (100).

[0022] A logistics transport means according to one embodiment of the present invention is,

[0023] A vehicle body frame on which the transport load is loaded and released; and

[0024] A wheel conveying means comprising a first conveying wheel, a second conveying wheel, and a third conveying wheel respectively disposed at different first row positions, second row positions, and third row positions along a forward or reverse direction following the direction of movement on the above-mentioned vehicle body frame,

[0025] The first conveyor wheel is positioned at a relatively higher level than the second conveyor wheel and the third conveyor wheel along the upward direction toward the vehicle body frame from the ground where the logistics conveyor is supported, and

[0026] The second conveyor wheel includes an inner wheel and an outer wheel assembled to form concentric circles.

[0027] For example, the second and third transport wheels are in contact with the ground and support the vehicle body frame, and

[0028] The first conveyor wheel can be supported on the vehicle body frame in a lifted state from the ground at a relatively higher level than the second conveyor wheel and the third conveyor wheel.

[0029] For example, the second conveying wheel, including the inner wheel and the outer wheel, may be formed as a hubless wheel including a central hollow portion.

[0030] For example, the second conveyor wheel mentioned above,

[0031] It may further include a bearing member for forming relative sliding contact between the inner ring wheel and the outer ring wheel.

[0032] For example, the axle of the second conveyor wheel is assembled on the inner wheel, and

[0033] The outer wheel may be formed to surround the outer circumference of the inner wheel.

[0034] For example, the axle of the second conveyor wheel may be assembled at an eccentric axle coupling position deviating from the center of the inner wheel, which includes a central hollow portion.

[0035] For example, the axle connection position of the inner wheel to which the axle of the second conveyor wheel is connected is biased toward a position closest to the ground according to the load transmitted through the axle, and

[0036] Depending on the axle coupling position biased toward the position closest to the ground, the inner wheel including the axle coupling position can perform translational motion following the direction of movement without substantially involving rotational motion with respect to the centrifugal force of the inner wheel.

[0037] For example, the inner wheel can perform translational motion involving a change in position along the direction of movement without substantially involving a change in posture or pose.

[0038] For example, the outer wheel can perform a rolling motion that involves rotational motion along the outer circumference of the inner wheel through a bearing member interposed between it and the inner wheel, depending on the contact force with the ground, while surrounding the outer circumference of the inner wheel.

[0039] For example, the inner wheel and the outer wheel perform an integrated translational motion that follows the direction of movement,

[0040] The outer ring wheel can perform a rolling motion involving rotational motion along the outer circumference of the inner ring wheel through a bearing member interposed between it and the inner ring wheel.

[0041] For example, as the rotation of the outer wheel is forcibly stopped by a catch on the ground, the inner wheel can rotate along the inner circumference of the outer wheel through a bearing member interposed between it and the outer wheel.

[0042] For example, the translational movement in the direction of movement of the outer wheel and the inner wheel is stopped together from the catch on the ground, and

[0043] The inner wheel rotates along the inner circumference of the outer wheel, and as the axle coupling position of the inner wheel passes the apex of the catch on the ground, the second conveying wheel including the inner wheel and the outer wheel can rotate with the apex of the catch as a pivot position and escape from the catch due to the action of the rotational moment between the axle coupling position where the load is transmitted through the axle and the apex of the catch, as well as the load and the reaction force.

[0044] For example, as the axle coupling position of the inner wheel is biased toward the position closest to the ground according to the load transmitted through the axle, a positional deviation may be created between the axle coupling position of the inner wheel and the apex of the locking projection along the rotational direction of the inner wheel that follows the inner circumference of the outer wheel, from which rotation is forcibly stopped at the locking projection.

[0045] For example, the axle connection position of the inner wheel may be biased toward a position closest to the ground according to a rotational elastic member that elastically connects the axle bracket extending from the bottom of the vehicle body frame toward the axle connection position of the inner wheel and the axle bracket together with the inner wheel.

[0046] For example, the axle of the inner wheel is coupled together with the axle bracket extending from the bottom of the vehicle body frame toward the axle coupling position of the inner wheel and the axle coupling position of the inner wheel along an axial direction penetrating the axle coupling position of the inner wheel.

[0047] The above-mentioned rotational elastic member can elastically connect the axle bracket, to which the axle is joined, and the axle joining position of the inner ring wheel.

[0048] For example, the rotational elastic member can elastically bias the axle coupling position of the inner ring wheel toward the position closest to the ground.

[0049] For example, the inner wheel is formed as a hubless wheel including a central hollow portion, and

[0050] The outer wheel is formed to surround the outer circumference of the inner wheel, and

[0051] A bearing member may be arranged along the outer circumference of the inner wheel and the inner circumference of the outer wheel.

[0052] For example, the inner wheel comprises a pair of inner wheel covers assembled to face each other on both sides of the outer wheel, and

[0053] The bearing member may include a guide rail assembled to surround the outer circumference of the guide rim of the pair of inner ring wheel covers.

[0054] For example, the inner wheel cover may extend along the radial direction of the inner wheel to an outer position beyond the guide rim to cover a guide rail assembled to surround the outer circumference of the guide rim.

[0055] For example, the inner wheel cover is a first to third coupling position spaced apart from each other along the rotational direction of the inner wheel cover,

[0056] A first coupling position where the axle is coupled; and

[0057] It may include a second coupling position and a third coupling position in which a pair of coupling pins is formed for coupling with a pair of opposing inner ring wheel covers.

[0058] For example, the first to third coupling positions may be formed at rotation angle positions that are evenly divided into three along the rotation direction of the inner ring wheel cover.

[0059] For example, the above guide rim is,

[0060] At the first coupling position, the first coupling position is bypassed while surrounding the axle to avoid the axle coupled to the first coupling position, and

[0061] At the second and third coupling positions, the second and third coupling positions can be bypassed by surrounding the coupling pins respectively so as to avoid the coupling pins that are coupled to the second and third coupling positions respectively.

[0062] For example, a first support block for supporting a guide rail assembled to surround the outer circumference of a guide rim is coupled to the axle coupled to the first coupling position, and

[0063] On the coupling pins coupled to the second and third coupling positions, second and third support blocks for supporting guide rails assembled to surround the outer circumference of the guide rim may be coupled.

[0064] Hereinafter, a logistics transport means according to a preferred embodiment of the present invention will be described with reference to the attached drawings.

[0065] FIGS. 1 and FIGS. 2 illustrate different perspective views of a logistics transport means according to one embodiment of the present invention.

[0066] FIG. 3 is a drawing illustrating a first transport wheel (10), a second transport wheel (100), and a third transport wheel (20) respectively positioned at different first row positions, second row positions, and third row positions along a forward or reverse direction following the movement direction (first direction, z1) of a logistics transport means according to an embodiment of the present invention. Along the upward direction toward the vehicle body frame (F) from the ground (S) where the logistics transport means is supported, the second transport wheel (100) and the third transport wheel (20) are positioned at substantially equal levels and are in contact with the ground (S) to support and lift the vehicle body frame (F), and the first transport wheel (10) is supported on the vehicle body frame (F) in a lifted state from the ground (S) at a level position relatively higher than that of the second transport wheel (100) and the third transport wheel (20).

[0067] FIGS. 4a and 4b are drawings for explaining the movement of an obstacle of a logistics transport means according to an embodiment of the present invention, wherein a first transport wheel (10) positioned in a first row position along the movement direction (first direction, z1) of the logistics transport means passes over a stopper (ST) on the ground (S) as an obstacle in a lifted state, a second transport wheel (100) positioned in a second row position performs a rolling motion along the stopper (ST) through a bearing member (150) (rolling bearing) that forms sliding contact between an axle coupling position (first coupling position (P1)) formed in an eccentric position and the inner wheel (110) and outer wheel (120) of the second transport wheel (100), and a third transport wheel (20) positioned in a third row position passes over the stopper (ST) on the ground (S) as an obstacle in a lifted state, thereby showing sequential steps ((a) to (f)) for implementing the movement of an obstacle of a logistics transport means according to an embodiment of the present invention. The drawings are shown.

[0068] FIG. 5 shows drawings ((a) to (d)) sequentially illustrating the behavior of a second transport wheel (100) moving along a stopper (ST) on the ground (S) as an obstacle while rolling along a stopper (ST) through a bearing member (150) (rolling bearing) that forms sliding contact between an axle coupling position (first coupling position (P1)) formed at an eccentric position in a logistics transport means according to one embodiment of the present invention and between an inner wheel (110) and an outer wheel (120).

[0069] FIG. 6 is a diagram illustrating the configuration of a second transport wheel (100) for implementing obstacle movement in a logistics transport means according to an embodiment of the present invention, and the connection between the second transport wheel (100) and an axle bracket (F1) extending from the bottom of a vehicle body frame (F) toward the second transport wheel (100). An exploded perspective view is shown to explain that the axle (111) and the rotational elastic member (SP) of the second transport wheel (100) are fitted into the axle hole (111') and the rotational elastic member hole (SP') formed in the axle bracket (F1), respectively, and are connected.

[0070] FIG. 7 is a diagram illustrating the configuration of a second transport wheel (100) for implementing obstacle movement in a logistics transport means according to an embodiment of the present invention, and an exploded perspective view illustrating the configuration of the second transport wheel (100) including an inner wheel (110) and an outer wheel (120), and a bearing member (150) (rolling bearing) for forming sliding contact between the inner wheel (110) and the outer wheel (120).

[0071] FIG. 8 is a drawing for explaining the configuration of a second transport wheel (100) for implementing obstacle movement in a logistics transport means according to an embodiment of the present invention, and illustrates the centrifugal (O) of the second transport wheel (100), the axle coupling position (first coupling position (P1)) where an axle (111) is coupled to each, and the second and third coupling positions (P2, P3) where a pair of coupling pins (112) are formed.

[0072] FIG. 9 is a drawing for explaining the configuration of a second conveying wheel (100) for implementing obstacle movement in a logistics conveying means according to an embodiment of the present invention, and is a drawing for explaining a bearing member (150) (rolling bearing) for forming sliding contact between an inner wheel (110) and an outer wheel (120), and is a drawing for explaining a bearing member (150) interposed between an inner wheel (110) and an outer wheel (120) so as to face the inner wheel (110) (e.g., a support block (115) or guide rim (G1) of the inner wheel (110)) through an inner guide rail (G2), and to face the outer wheel (120) through an outer side where a rolling element (151) is formed.

[0073] FIG. 10 is a diagram for explaining the configuration of an inner wheel (110) of a second conveyor wheel (100) in one embodiment of the present invention, and shows an exploded perspective view for explaining a pair of inner wheel covers (110a, 110b) assembled facing each other along a second direction (z2), an axle (111) assembled to the pair of inner wheel covers (110a, 110b), a rotational elastic member (SP) assembled along the circumference of the axle (111), and a sliding bearing (B).

[0074] FIG. 11 is an exploded perspective view illustrating the configuration of an inner wheel (110) of a second conveyor wheel (100) in one embodiment of the present invention, wherein a pair of axles (111) and connecting pins (112) connected at first to third connecting positions (P1, P2, P3), first to third supporting blocks (115a, 115b, 115c) arranged along the circumference of the pair of axles (111) and connecting pins (112), a connecting head (H) for connecting the pair of inner wheel covers (110a, 110b) to face each other while being connected to the pair of connecting pins (112), and a guide rim (G1) formed along the circumference of the inner wheel covers (110a, 110b).

[0075] FIGS. 12 (a) and (b) are drawings for explaining the configuration of the inner wheel (110) of the second conveying wheel (100) in one embodiment of the present invention, and are drawings for explaining the first inner wheel cover (110a) among a pair of inner wheel covers (110a, 110b) assembled facing each other to form the second conveying wheel (100). FIGS. 12 (a) shows a pair of axles (111) and connecting pins (112) formed at first to third connecting positions (P1, P2, P3), and FIGS. 12 (b) shows first to third support blocks (115a, 115b, 115c) fitted around the pair of axles (111) and connecting pins (112) formed at first to third connecting positions (P1, P2, P3).

[0076] FIG. 13 is a drawing for explaining the configuration of the inner wheel (110) of the second conveying wheel (100) in one embodiment of the present invention, and a drawing for explaining the second inner wheel cover (110b) among a pair of inner wheel covers (110a, 110b) assembled facing each other to form the second conveying wheel (100).

[0077] A logistics conveying means according to one embodiment of the present invention may include a first conveying wheel (10), a second conveying wheel (100), and a third conveying wheel (20) respectively positioned at different first row positions, second row positions, and third row positions along the direction of movement (first direction, z1) of the logistics conveying means, and these first to third conveying wheels (10, 100, 20) may not be connected to a driving motor for providing driving power or a steering motor for providing steering power for changing the direction of movement (first direction, z1), and for example, the first to third conveying wheels (10, 100, 20) respectively positioned at the first row positions, second row positions, and third row positions may form idle rollers that drive and rotate in an idle state with power transmission disconnected, and for example, may be driven and rotated according to the traction force acting on the vehicle body frame (F) and roll on the ground (S). However, in various embodiments of the present invention, some of the first to third transport wheels (10, 100, 20) respectively positioned in the first to third row positions along the direction of movement (first direction, z1) may be formed as driving wheels that provide traction force according to power transmission with a driving motor and / or a steering motor, and the remaining other parts of the first to third transport wheels (10, 100, 20) may be formed as driven wheels that idle to follow the traction force of the driving wheels.

[0078] The first to third conveying wheels (10, 100, 20) can each be formed with a configuration different from one another. For example, a first transport wheel (10) formed in a first row position leading along the direction of movement (first direction, z1) can be supported through a second transport wheel (100) and a third transport wheel (20) formed in a second row position and a third row position following the first transport wheel (10). More specifically, on a flat ground (S) (flat ground, horizontal surface), the first transport wheel (10) can be supported on the vehicle body frame (F) in a lifted state away from the ground (S), and unlike the second and third transport wheels (100, 20), it may not rotate rolling according to the ground (S) and may be supported from the second and third transport wheels (100, 20) through the vehicle body frame (F) while being supported on a self-frame that is lifted from the ground (S) by the second and third transport wheels (100, 20).

[0079] Unlike the first transport wheel (10), the second transport wheel (100) and the third transport wheel (20), respectively supported at the second row position and the third row position on the vehicle body frame (F) along the direction of movement (first direction, z1), can roll and rotate according to the traction force while forming contact with the ground (S) on a flat ground (S) (flat ground, horizontal surface), and, for example, can support the vehicle body frame (F) and the transport load (L) loaded on the vehicle body frame (F) on a flat ground (S) (flat ground, horizontal surface) that can form most of the movement path depending on the condition of the ground (S) on the movement path, and accordingly, the vehicle body frame (F) and the transport load (L) loaded on the vehicle body frame (F) can be stably supported through the second transport wheel (100) and the third transport wheel (20) arranged in double row positions at different second row positions and third row positions along the direction of movement (first direction, z1). It can support and uplift.

[0080] In this way, in one embodiment of the present invention, a first transport wheel (10) (e.g., a pair of first transport wheels (10) formed symmetrically along the second direction (z2), a second transport wheel (100) (e.g., a pair of second transport wheels (100) formed symmetrically along the second direction (z2)), and a third transport wheel (20) (e.g., a pair of third transport wheels (20) formed symmetrically along the second direction (z2)) may be formed at different first, second, and third row positions along the forward or reverse direction following the direction of movement, respectively. Here, the second transport wheel (100) formed at the second row position in the middle position along the forward or reverse direction following the direction of movement may be formed at a position relatively far from the vehicle body frame (F) (e.g., a relatively long axle bracket (F1)), and conversely, the first and third transport wheels (10, 20) formed at the first and third row positions on both sides A logistics conveying means according to one embodiment of the present invention can be stably supported from the ground (S) when moving on a flat ground (S) (flat ground) through a combination of second and third conveying wheels (100, 20) or a combination of first and second conveying wheels (10, 100, 20) formed at different level positions following a third direction (z3) from the vehicle body frame (F) (e.g., a relatively short axle bracket (F1), step (d) see FIG. 3), and through first to third conveying wheels (10, 100, 20) formed at different level positions following a third direction (z3) from the vehicle body frame (F) in this manner, depending on the traction force or the balance of the conveying load (L), and for example, until facing a stop (ST) on the ground (S) as an obstacle along the direction of movement (e.g., before the second conveying wheel (100) faces the stop (ST)) on the flat ground (S) (flat ground) On the upper surface, it can be supported from the ground (S) through a combination of the second and third transport wheels (100, 20) (see (a), (b) of FIG. 4a),From the moment a stopper (ST) on the ground (S) is encountered as an obstacle along the direction of movement (e.g., the moment the second transport wheel (100) encounters the stopper (ST)), the first and second transport wheels (10, 100) can be supported from the ground (S) through a combination of the first and second transport wheels (10, 100) on the flat ground (S) (flat ground) formed by the stopper (ST) itself (see (b) to (f) of FIG. 4a and FIG. 4b). Thus, the logistics transport means according to one embodiment of the present invention can move with the first transport wheel (10) lifted from the ground (S) while being stably supported from the ground (S) through the second and third transport wheels (100, 20) according to the traction force or the balance of the transport load (L), or the third transport wheel (20) can move with the first transport wheel (10) lifted from the ground (S) while being stably supported from the ground (S) through the first and second transport wheels (10, 100), and the second, The ground contact resulting from the combination of the third transport wheel (100, 20) and the ground contact resulting from the combination of the first and second transport wheels (10, 100) can be switched back and forth over a stop (ST) on the ground (S) as an obstacle along the direction of movement, and through the ground contact of the double row of transport wheels over the stop (ST), stable support for the vehicle body frame (F) and / or the transport load (L) can be provided in any situation, such as the flat ground before the stop (ST), the moment of facing the stop (ST), and the flat ground after the stop (ST), through the ground contact of the double row of transport wheels.

[0081] For example, throughout the present specification, the first transport wheel (10) is positioned at a level relatively higher than the second transport wheel (100) and the third transport wheel (20) along the upward direction toward the body frame (F) from the ground (S) where the logistics transport means is supported, or the second transport wheel (100) and the third transport wheel (20) are positioned at substantially equal levels along the upward direction toward the body frame (F) from the ground (S), and the first transport wheel (10) is supported on the body frame (F) in a state of being lifted off the ground (S) at a level relatively higher than the second transport wheel (100) and the third transport wheel (20), and the first transport wheel (10) is supported on the body frame (F) in a state of being lifted off the ground (S) through a combination of the second and third transport wheels (100, 20), which may mean a movement environment in which the first transport wheel (10) is in a state of being lifted off the ground (S) while in contact with the ground.

[0082] In one embodiment of the present invention, a second conveying wheel (100) positioned in a second row position along a movement direction (first direction, z1) may include an inner ring wheel (110) and an outer ring wheel (120) forming concentric circles, and may include a bearing member (150) (rolling element bearing) for forming sliding contact with each other between the inner ring wheel (110) and the outer ring wheel (120). For example, the second conveyor wheel (100) can move along a stopper (ST), such as a step on the ground (S), by means of sliding contact between an inner wheel (110) and an outer wheel (120) assembled in a concentric shape with a rolling bearing (bearing member (150)) interposed between them, and for example, excessive traction force may not be required to overcome a stopper (ST), such as a step on the ground (S), and for example, it can move along a stopper (ST) on the ground (S) according to the moving inertia or moving momentum, which is a factor of the driving speed of the logistics conveyor and the weight of the logistics conveyor at the moment of facing a stopper (ST), such as a step on the ground (S).

[0083] In one embodiment of the present invention, the second transport wheel (100) may include an inner wheel (110) in which an axle (111) of a vehicle body frame (F) is supported, and an outer wheel (120) arranged to surround the outer circumference of the inner wheel (110) by interposing a rolling bearing (bearing member (150)). At this time, the vehicle body frame (F) may be connected through an axle (111) assembled at one side along the inner circumference of the inner wheel (110) opposite to the outer circumference of the inner wheel (110) to which the outer wheel (120) is assembled, and the vehicle body frame (F) and the transport load (L) loaded on the vehicle body frame (F) may be transmitted through the axle (111) assembled at one side of the inner wheel (110).In this way, the inner wheel (110), to which the body frame (F) and the transport load (L) loaded on the body frame (F) are transmitted, can maintain a lowest point position along the inner circumference of the inner wheel (110) under the influence of the load transmitted through the axle (111), and despite the driving of the second transport wheel (100) including the inner wheel (110) and the outer wheel (120), the axle (111) assembled at one side position along the inner circumference of the inner wheel (110) can maintain a lowest level position (lowest level position along the third direction (z3)) along the inner circumference of the inner wheel (110), so that the inner wheel (110) may not substantially rotate, and for example, the rolling motion of the second transport wheel (100) for driving a logistics transport means (rolling, for example, rotational motion with respect to the centrifugal (O) of the second transport wheel (100) and translational motion following the direction of movement (first direction, z1) The combined rolling motion can be implemented from an outer wheel (120) in which traction force acts directly upon contact with the ground (S), and more specifically, the outer wheel (120) can implement a rolling motion in the form of a combination of rotational motion with respect to the centrifugal (O) of the second conveying wheel (100) and translational motion following the direction of movement (first direction, z1), and accordingly, the outer wheel (120) can perform rolling that involves a change in posture or pose due to rotational motion and a change in position due to translational motion. Unlike the outer wheel (120) that performs rolling motion in this manner, the inner wheel (110) may not perform rotational motion with respect to the centrifugal (O) of the second driving wheel and may only perform translational motion following the direction of movement (first direction, z1). In other words, the inner wheel (110) may only undergo a change in position according to translational motion without undergoing a change in posture or pose.More specifically, the fact that the inner wheel (110) undergoes only positional movement according to translational motion while maintaining a posture or pose may mean that the axle (111) position of the inner wheel (110) undergoes only positional movement according to translational motion while maintaining a substantially fixed posture or pose in which the lowest level position (lowest level position along the third direction (z3)) is maintained along the inner circumference of the inner wheel (110). The inner wheel (110) can maintain a fixed posture (a fixed posture in which the axle (111) position maintains the lowest level position along the inner circumference of the inner wheel (110), as previously described, without physical interference due to the rotational movement of the outer wheel (120) despite the rotational movement of the outer wheel (120) due to the bearing action of a rolling bearing (bearing member (150)) that forms sliding contact with the outer wheel (120) surrounding the outer circumference of the inner wheel (110).

[0084] Thus, in one embodiment of the present invention, the second conveying wheel (100) can form a positional displacement (positional displacement following the direction of movement (first direction, z1)) by integrally translating along the direction of movement (first direction, z1) together with an inner wheel (110) that maintains an attitude or pose and an outer wheel (120) that involves rotational movement, and in a driving environment that does not encounter a stopper (ST) such as a step on the ground (S), for example, a driving environment that is driven on a flat ground (S) (flat ground), among the inner wheel (110) and the outer wheel (120) assembled in a concentric shape, the inner wheel (110) can undergo positional displacement through translational movement while maintaining a substantially constant attitude or pose that does not involve rotation, while the position of the axle (111) is fixed at the lowest level position, and the inner wheel (110) includes an axle (111) that transmits the conveying load (L) loaded on the body frame (F) and the body frame. The outer wheel (120) may undergo rolling motion including rotation and translation according to the ground (S) while forming contact with the ground according to the load transmitted through the inner wheel (110). And, differential behavior of the inner wheel (110) and the outer wheel (120) depending on whether or not there is rotational motion can be realized according to the bearing action of a rolling bearing (bearing member (150)) to form sliding contact between the inner wheel (110) and the outer wheel (120).

[0085] For example, in one embodiment of the present invention, the rolling bearing (bearing member (150)) may be formed as a ball bearing comprising a plurality of bearing balls arranged annularly along the inner wheel (110) and the outer wheel (120) or as a roller bearing comprising a plurality of bearing rollers, and may include a plurality of bearing balls or a plurality of rollers as rolling elements (151) to minimize friction between the inner wheel (110) and the outer wheel (120), for example, a spacer (151) may be interposed between the inner wheel (110) and the outer wheel (120) together with the plurality of bearing balls or a plurality of bearing rollers to maintain the position and spacing of the annularly arranged bearing balls or the position and spacing of the annularly arranged bearing rollers, and in various embodiments of the present invention, the spacer (151) may be assembled on the outer circumference of the inner wheel (110) or on the inner circumference of the outer wheel (120), or on the inner wheel It may also be integrally formed on the outer circumference of the wheel (110) or on the inner circumference of the outer wheel (120).

[0086] In one embodiment of the present invention, the rolling bearing (bearing member (150)) may be formed as a load transfer member for transferring a load between the inner wheel (110) and the outer wheel (120) while forming sliding contact between the inner wheel (110) and the outer wheel (120). For example, the inner wheel (110), through which the axle bracket (F1) and the transport load (L) loaded on the axle bracket (F1) are transferred via the axle (111), may transfer the load toward the outer wheel (120) through the rolling bearing (bearing member (150)) interposed between the inner wheel (110) and the outer wheel (120). Accordingly, the rolling bearing (bearing member (150)) can form sliding contact between the inner wheel (110) and the outer wheel (120) while distributing the transmitted load through a plurality of bearing balls or bearing rollers arranged annularly between the inner wheel (110) and the outer wheel (120) as rolling elements (151).

[0087] In one embodiment of the present invention, an array of bearing balls or an array of bearing rollers may be interposed as rolling elements (151) of the rolling bearing (bearing member (150)), and an inner ring wheel (110) and an outer ring wheel (120) may be arranged on the inner side and outer side of the array of bearing balls or the array of bearing rollers, respectively. The bearing member (150) (rolling bearing) may include a spacer (151) for supporting the array of bearing balls or the array of bearing rollers. For example, the spacer (151) may be formed annularly to support the annular array of bearing balls or the annular array of bearing rollers. The spacer (151) for supporting the annular array of bearing balls or the annular array of bearing rollers may be assembled between the inner ring wheel (110) and the outer ring wheel (120). For example, on the outer side of the bearing member (150) (rolling bearing), a rolling element (151) arranged in an annular shape to form sliding contact with the outer ring wheel (120) and a spacer (151) formed in an annular shape to support the arrangement of the rolling element (151) may be arranged. And, on the inner side of the bearing member (150) (rolling bearing), a guide rail (G2) supported by a guide rim (G1) formed on the inner ring wheel (110) or a support block (115) may be formed.For example, in one embodiment of the present invention, the bearing member (150) (rolling bearing) may include an annular arrangement of rolling elements (151) and a spacer (151) forming its outer side, and the bearing member (150) (rolling bearing) may include a guide rail (G2) forming its inner side, and the bearing member (150) (rolling bearing) may not deviate from a pre-set trajectory by following the guidance of a support block (115) or guide rim (G1) formed on the inner wheel (110) through the guide rail (G2) while forming sliding contact between the inner wheel (110) and the outer wheel (120) through the annularly arranged rolling elements (151), and for example, as described below, through mating with a support block (115) including a circumferential surface that is concavely indented from both sides toward the center along the second direction (z2), the pre-set trajectory along the second direction (z2) Relative sliding contact can be formed between the inner wheel (110) and the outer wheel (120) while being guided by the support block (115) so as not to deviate from the trajectory. For reference, throughout this specification, the first to third directions (z1, z2, z3) may each mean directions that intersect perpendicularly with respect to each other, and the first direction (z1) may mean the direction of movement of the logistics transport means according to one embodiment of the present invention or the direction in which the first to third transport wheels (10, 100, 20) are arranged, and the second direction (z2) may mean the direction in which a pair of first transport wheels (10) face each other, the direction in which a pair of second transport wheels (100) face each other, or the direction in which a pair of third transport wheels (20) face each other, and the third direction (z3) may mean the direction in which the logistics transport means and the ground (s) supporting the logistics transport means face each other according to one embodiment of the present invention.

[0088] The inner wheel (110) may include a pair of inner wheel covers (110a, 110b) assembled facing each other on both sides of the outer wheel (120), and a guide rail (G2) of a bearing member (150) may be interposed between the pair of inner wheel covers (110a, 110b). Regarding the assembly of the bearing member (150) including the above-mentioned annular guide rail (G2), the guide rail (G2) may be assembled to surround the outer circumference of a guide rim (G1) formed in an inner wheel cover (110a, 110b), and the inner wheel cover (110a, 110b) is an arrangement of annular rolling elements (151) that form sliding contact on the guide rail (G2) and the guide rail (G2) assembled on the outer circumference of the guide rim (G1) formed in the inner wheel cover (110a, 110b), for example, an arrangement of annular bearing balls or annular bearing rollers sufficiently covering the arrangement to prevent displacement of these (for example, preventing displacement in the second direction (z2) according to the assembly of a pair of inner wheel covers (110a, 110b) assembled facing each other along the second direction (z2), the inner wheel The cover (110a, 110b) can be formed with a sufficient radius to extend outward from the guide rim (G1) along the radial direction of the inner ring wheel (110).

[0089] For example, in one embodiment of the present invention, the inner wheel (110) may include a pair of inner wheel covers (110a, 110b) assembled toward each other along a second direction (z2) at both sides of the outer wheel (120), and the bearing member (150) (rolling bearing) may include a guide rail (G2) assembled between the pair of inner wheel covers (110a, 110b) and assembled on the outer circumference of the guide rim (G1) of the inner wheel (110). For example, a coupling pin (112) may be formed on the inner wheel cover (110a, 110b) (e.g., the first inner wheel cover (110a)) for opposing coupling with a pair of opposing inner wheel cover (110b) (e.g., the second inner wheel cover (110b)), and the pair of inner wheel covers (110a, 110b) may be coupled in a direction facing each other through a coupling head (H) fitted into the coupling pin (112). For example, the coupling pin (112) may include a pair of coupling pieces at the ends spaced apart from each other with a gap between them so as to provide an elastic holding force to the coupling head (H) to which the coupling pin (112) is fitted, and may be formed in an opposing position facing the coupling head (H). For example, at three rotational angle positions that are evenly divided along the guide rim (G1) of the inner wheel cover (110a, 110b), second and third coupling positions (P2, P3) may be formed, in which a coupling pin (112) (first and second coupling pins (112b, 112c)) paired with a first coupling position (P1) with the axle (111) is formed. More specifically, a single first coupling position (P1) and a pair of second and third coupling positions (P2, P3) may be formed at three rotational angle positions that are evenly divided along the guide rim (G1).

[0090] In one embodiment of the present invention, a coupling pin (112) and a coupling head (H) that form a fit with each other may be formed at second and third coupling positions (P2, P3) facing each other along the second direction (z2) of the pair of inner ring wheel covers (110a, 110b). In one embodiment of the present invention, the inner wheel covers (110a, 110b) may have a guide rim (G1) formed thereon to support a rolling bearing (bearing member (150), or a guide rail (G2) of the bearing member (150)) that forms sliding contact between a pair of inner wheel covers (110a, 110b) assembled facing each other. The guide rim (G1) may be bypassed to surround the axle (111) or the pair of coupling pins (112) by moving away from the assembly position of the bearing member (150) or the guide rail (G2) at the first to third coupling positions (P1, P2, P3) to avoid interference with the axle (111) formed at the first coupling position (P1) and interference with the pair of coupling pins (112) formed at the second and third coupling positions (P2, P3). Accordingly, the guide at the first to third coupling positions (P1, P2, P3) A cylindrical support block (115) can be assembled to surround the pair of axles (111) and coupling pins (112) along the circumference of the pair of axles (111) and coupling pins (112) in a configuration for supporting or guiding the guide rail (G2) according to the bypass of the rim (G1). For example, the cylindrical support block (115) (first to third support blocks (115a, 115b, 115c)) can surround the pair of axles (111) and coupling pins (112) and allow rotation with the pair of axles (111) and coupling pins (112) as the center of rotation, and may form relative sliding contact with the guide rail (G2) forming the inner side of the bearing member (150) at an inner position of the bearing member (150).However, in one embodiment of the present invention, sliding contact between the outer ring wheel (120) and the inner ring wheel (110) can be achieved through an arrangement of annular rolling elements (151) forming the outer side of the bearing member (150), and the guide rail (G2) forming the inner side of the bearing member (150) is sufficiently formed to form a match with the support block (115) so as not to deviate from a pre-set trajectory, while including an annular rim that protrudes convexly from the central position along the second direction (z2) so as to form a match with the circumferential surface that is concavely indented from both sides of the cylindrical support block (115) toward the central position, and for example, it is not essential for the support block (115) supporting the guide rail (G2) to be configured to rotate around a pair of axles (111) or coupling pins (112).

[0091] For example, in one embodiment of the present invention, the support block (115) may be formed as a roughly cylindrical block, and more specifically, may form a fit with the guide rail (G2) of the bearing member (150) through a circumferential surface that is concavely indented from both sides toward the inside, and for example, the guide rail (G2) and the support block (115) may form a fit with each other so that the guide rail (G2), which is convexly bent at a central position along a second direction (z2), does not deviate from the support block (115) which includes a circumferential surface that is concavely indented from both sides toward a central position along a second direction (z2).

[0092] According to one embodiment of the present invention, a rolling bearing (bearing member (150)) for forming sliding contact between the inner wheel (110) and the outer wheel (120) may be formed as a load transfer member for transferring load between the inner wheel (110) and the outer wheel (120), for example, the rolling bearing (bearing member (150)) may form sliding contact and pressure contact with the inner wheel (110), and the guide rail (G2) of the rolling bearing (bearing member (150)) forming pressure contact with the inner wheel (110) may be firmly supported from the inner wheel (110) side (for example, so that the guide rail G2 does not deviate from the inner wheel 110 along the second direction z2), for example, the guide of the bearing member (150) at the first to third coupling positions (P1, P2, P3) on the inner wheel (110) side Support blocks (115) (first to third support blocks (115a, 115b, 115c)) can be assembled to pairs of axles (111) and connecting pins (112) formed at the first to third connecting positions (P1, P2, P3) to support the rail (G2).

[0093] In one embodiment of the present invention, the inner wheel cover (110a, 110b) may include a central hollow portion to reduce the load of the entire second transport wheel (100), and a round portion protruding toward the central hollow portion may be formed at the first to third coupling positions (P1, P2, P3) to support a support block (115) formed around a pair of axles (111) and coupling pins (112) formed at the first to third coupling positions (P1, P2, P3).

[0094] In one embodiment of the present invention, an axle (111) may be coupled to the first coupling position (P1) (or axle coupling position (first coupling position (P1)) of the inner wheel (110) by penetrating an axle bracket (F1) that extends from the bottom of the vehicle body frame (F) toward the second carrier wheel (100). In one embodiment of the present invention, one end of the axle bracket (F1) may be fixed to the bottom surface of the vehicle body frame (F), and the axle (111) may be fitted to the other end of the axle bracket (F1). At this time, the axle (111) may be fitted so as to penetrate the other end of the axle bracket (F1) and the inner wheel (110) of the second carrier wheel (100), and may be fitted to the axle coupling position (first coupling position (P1)) formed at an eccentric position of the inner wheel (110). Through the present specification The fact that the axle coupling position (first coupling position (P1)) is fitted at an eccentric position of the inner wheel (110) or that the axle (111) is fitted at an eccentric position of the inner wheel (110) may mean that the inner wheel (110) is formed as a hubless wheel including a central hollow portion, and that the axle (111) is coupled to the axle coupling position (first coupling position (P1)) at an eccentric position deviating from the center (O) of the inner wheel (110). In one embodiment of the present invention, the second conveying wheel (100), which includes the inner wheel (110) and the outer wheel (120) formed to surround the outer circumference of the inner wheel (110), may be formed as a hubless wheel including a central hollow portion.

[0095] In one embodiment of the present invention, the axle bracket (F1) and the inner wheel (110), to which the axle (111) is fitted together, can be elastically connected to each other through a rotational elastic member (SP) that provides an elastic bias. For example, the axle bracket (F1) can maintain a vertical position relative to the ground (S), and regarding a flat ground (S) (flat ground) or an inclined ground (S), the axle bracket (F1) can maintain a vertical position relative to the ground (S). In this way, regarding the rotation of the inner wheel (110) relative to the axle bracket (F1) maintaining a vertical position with respect to the ground (S), for example, the rotation of the inner wheel (110) around an axle (111) penetrating the axle bracket (F1) and the inner wheel (110), the rotational elastic member (SP) can provide an elastic restoring force by being compressed or extended according to the rotational direction of the inner wheel (110); in other words, the rotational elastic member (SP) can provide an elastic bias to the axle coupling position (first coupling position (P1)) of the inner wheel (110), for example, the elasticity for the axle coupling position (first coupling position (P1)) of the inner wheel (110) so as to be directed toward the position closest to the ground (S) where the axle bracket (F1) maintains a vertical position (for example, the lowest level position on a flat ground (S) (flat ground)). A bias can be provided. That is, the rotational elastic member (SP) can provide an elastic bias between the axle bracket (F1) to which the axle (111) is joined and the axle joining position (first joining position (P1)) of the inner wheel (110), and more specifically, the rotational elastic member (SP) can provide an elastic bias to the axle joining position (first joining position (P1)) of the inner wheel (110) so that the axle bracket (F1) is oriented toward a position closest to the ground (S) in which it maintains a vertical position.

[0096] In this way, according to the elastic bias of the rotational elastic member (SP), an elastic restoring force may be applied to the axle coupling position (first coupling position (P1)) of the inner wheel (110) so as to tend toward the position closest to the ground (S). For example, even if the logistics transport means according to one embodiment of the present invention is lifted entirely from the ground (S), the second transport wheel (100) does not fall toward the ground (S) due to the influence of its own weight despite the eccentric position of the axle coupling position (first coupling position (P1)). Instead, it maintains the position closest to the ground (S) according to the elastic bias of the rotational elastic member (SP), thereby maintaining a posture that facilitates the logistics transport means from moving through other transport means. Furthermore, as the logistics transport means according to one embodiment of the present invention is loaded or transferred toward other transport means, posture instability caused by the falling of the second transport wheel (100) may not occur, and the safety of transport, such as loading or transferring of the logistics transport means itself, may be improved.

[0097] In one embodiment of the present invention, the axle coupling position (first coupling position (P1)) of the inner wheel (110) to which the axle (111) to which the vehicle body frame (F) and / or carrying load (L) acts is coupled may maintain the lowest level position closest to the ground (S) due to the influence of the load transmitted through the axle (111), and furthermore, the axle coupling position (first coupling position (P1)) may maintain the lowest level position closest to the ground (S) (e.g., the lowest level position along the third direction (z3)) according to the elastic bias provided by a rotational elastic member (SP) elastically connecting the axle bracket (F1) to which the axle (111) is coupled and the axle coupling position (first coupling position (P1)) of the inner wheel (110), and more specifically, on a flat ground (S) (flat ground), the axle coupling position (first coupling position (P1)) through the axle (111) Depending on the action of the transmitted load and the elastic bias of the rotational elastic member (SP), the lowest level position closest to the ground (S) (e.g., the lowest level position along the third direction (z3)) can be maintained, and accordingly, in a movement situation on the flat ground (S) (flat ground), the inner wheel (110) can undergo translational motion while maintaining a substantially fixed position that does not involve rotational motion, and the outer wheel (120) arranged to surround the outer circumference of the inner wheel (110) can perform rolling motion involving rotational motion and translational motion, for example, even if the inner wheel (110) rotates somewhat along the outer wheel (120) due to the increase in friction of the rolling bearing (bearing member (150)) forming sliding contact between the inner wheel (110) and the outer wheel (120), for example, the axle coupling position (first coupling position (P1)) of the inner wheel (110) Even if it rises slightly from the ground (S), the axle coupling position (first coupling position (P1)) of the inner ring wheel (110) can descend again toward the ground (S) according to the elastic bias of the rotational elastic member (SP), andIt is possible to maintain the lowest level position closest to the ground (S) (e.g., the lowest level position along the third direction (z3)).

[0098] In this way, the rotational elastic member (SP) can elastically connect the axle bracket (F1) to which the axle (111) is joined and the axle joining position (first joining position (P1)). More specifically, the rotational elastic member (SP) may include a main body wound to surround the outer circumference of the axle (111), a one end portion bent from the main body and joined to the axle bracket (rotational elastic member hole (SP') of the axle bracket (F1)), and a other end portion bent from the main body and joined to the axle joining position (first joining position (P1), for example, the rotational elastic member hole (SP'') of the second inner wheel cover (110b), see FIG. 13).

[0099] The above-mentioned rotational elastic member (SP) can provide an elastic bias to the axle coupling position (first coupling position (P1)) while providing an elastic bias to maintain the axle coupling position (first coupling position (P1)) of the inner ring wheel (110) at the lowest level closest to the ground (S) during movement on a flat ground (S) (flat ground). Referring to FIG. 5, in a moving situation where a logistics conveying means according to one embodiment of the present invention moves on a stepping stone (ST) such as a stepped surface (S) (flat ground), unlike a moving situation on a flat surface (S) (flat ground), the inner wheel (110) rotates according to the inertia of movement (e.g., rotational movement in place without translational movement) instead of the outer wheel (120) whose rotation is forcibly stopped from the stepping stone (ST), and the axle coupling position (first coupling position (P1)) of the inner wheel (110) can move toward the stepping stone (ST) (the apex (STa) of the stepping stone (ST)) (see FIG. 5 (b)). At this time, the inner wheel (110) rotates until the axle coupling position (first coupling position (P1)) faces the stepping stone (ST) (the apex (STa) of the stepping stone (ST), and the axle coupling position (first coupling position (P1)) A second transport wheel (100), including an inner wheel (110) and an outer wheel (120), can move away from the stop (ST) by rotating around the stop (ST) (e.g., the apex (STa) of the stop (ST)) while passing over the stop (ST) (the apex (STa) of the stop (ST)) and the load (e.g., the load component of the load transmitted through the axle (111) directed toward the apex (STa) of the stop (ST)) and the rotational moment resulting from the reaction force (e.g., the load component of the load transmitted through the axle (111) directed toward the apex (STa) of the stop (ST)) (see FIG. 5 (c)).For example, in one embodiment of the present invention, the axle coupling position (first coupling position (P1)) through which the load is transmitted via the axle (111) may move toward the stopper (ST) (e.g., the apex (STa) of the stopper (ST)) despite the deadlock state of the outer wheel (120) whose rotation is forcibly stopped from the stopper (ST), and the inner wheel (110) may rotate along the outer wheel (120) which has stopped rotating due to the movement inertia of the logistics conveying means and relative sliding contact with the outer wheel (120) (S), and the axle coupling position (first coupling position (P1)) through which the load is transmitted via the axle (111) may move toward the stopper (ST) (e.g., the apex (STa) of the stopper (ST)) (see FIG. 5 (b)), and as the axle coupling position (first coupling position (P1)) through which the load is transmitted passes beyond the apex (STa) (apex or vertex) of the stopper (ST), the axle coupling position (first coupling) on ​​which the load is applied (first coupling Due to the action of a rotational moment resulting from a load (e.g., a load component directed toward the apex (STa) of the catch (ST)) between position (P1)) and the apex (STa) (apex or vertex) of the catch (ST) and the reaction force, the second conveyor wheel (100) can rotate around the apex (STa) of the catch (ST) as a whole and escape from the catch (ST) (see (c) of FIG. 5), and escape from the catch (ST), such as a step on the ground (S), is possible.In one embodiment of the present invention, the axle coupling position (first coupling position (P1)) of the inner wheel (110) can be elastically biased toward a position closest to the ground (S) through a rotational elastic member (SP) that elastically connects the axle bracket (F1) to which the axle (111) is coupled and the axle coupling position (first coupling position (P1)) of the inner wheel (110). As the rotation of the outer wheel is stopped from the catch (ST) and the inner wheel (110) rotates according to the inertia of movement, the axle coupling position (first coupling position (P1)) of the inner wheel (110) can move toward the apex (STa) of the catch (ST). At the moment when the axle coupling position (first coupling position (P1)) of the inner wheel (110) and the apex (STa) of the catch (ST) face each other (see FIG. 5(b)), the axle coupling of the inner wheel (110) The rotation of the inner ring wheel (110) can be prevented by the influence of the elastic bias (rotational elastic member (SP)) on the position (first coupling position (P1)), and accordingly, the second conveying wheel (100), which includes the outer ring wheel (120) whose rotation is stopped from the locking projection (ST) with the apex (STa) of the locking projection (ST) as the center of rotation (or pivot position forming the center of rotation) and the inner ring wheel (110) whose rotation is prevented according to the elastic bias provided by the rotational elastic member (SP), can escape from the locking projection (ST) while rotating as a whole.

[0100] For example, in one embodiment of the present invention, a mechanism (obstacle moving mechanism) for escaping a stopper (ST), such as a step in the ground (S), can be operated from an eccentric position of an axle coupling position (first coupling position (P1)) where a load is transmitted through the axle (111) and relative sliding contact between the inner wheel (110) and the outer wheel (120). For example, the driving power for operating the mechanism for moving the obstacle can be provided mainly from the movement inertia of the logistics transport means. For example, the momentum of the logistics transport means, which can be expressed in the form of the product of the movement speed of the logistics transport means and the mass (self-weight of the logistics transport means and the transport load (L) loaded on the logistics transport means), can be preserved before and after a collision with the obstacle or stopper (ST) (momentum preservation). For example, the momentum or movement inertia of the logistics transport means before a collision with the stopper (ST) can be converted into the momentum of the logistics transport means after a collision with the stopper (ST). For example For example, the rotational movement of the inner wheel (110) rotating on the inner circumference of the outer wheel (120) which has stopped rotating from the stop (ST), and the rotational movement of the inner wheel (110) can be converted into momentum such as for the second conveyor wheel (100) including the outer wheel (120) and the inner wheel (110) to pivot in an upward direction opposite to gravity, with the axle coupling position (first coupling position (P1)) of the inner wheel (110) moving past the apex (STa) of the stop (ST) as a pivot position (see FIG. 5 (b)).In one embodiment of the present invention, the position of the inner wheel (110) (e.g., the axle coupling position of the inner wheel (110) (first coupling position (P1))) can be initialized in a situation where continuous operation of the locking (ST) escape mechanism is required, such as a staircase where the locking (ST) is repeated, so that further rotational movement of the inner wheel (110) is prevented from the rotational elastic member (SP) and the locking (ST) escape mechanism described above can be repeated (see FIG. 5 (d)). For example, in one embodiment of the present invention, initializing the position of the inner wheel (110) (e.g., the axle coupling position of the inner wheel (110) (first coupling position (P1))) may mean initializing the axle coupling position of the inner wheel (110) (first coupling position (P1)) to a later position than the leading position of For example, at the apex (STa) of the stopper (ST), the second transport wheel (100) including the inner wheel (110) and the outer wheel (120) can pivot in an upward direction opposite to gravity with the apex (STa) of the stopper (ST) as the pivot position (see FIG. 5(b)). For example, the second transport wheel (100) can pivot integrally with the apex (STa) of the stopper (ST) as the pivot position. For example, the second transport wheel (100) pivots integrally with the inner wheel (110) and the outer wheel (120) until it catches on the stopper (ST) of the next step, and the axle coupling position (first coupling position (P1)) of the inner wheel (110) is pushed backward so that the next step follows behind the stopper (ST). It can be pushed to a position (see Fig. 5 (d)).

[0101] Referring to FIG. 6, in one embodiment of the present invention, the axle (111) fitted into the second transport wheel (100) can be fitted along the axial direction (second direction z2) that crosses the axle hole (111') of the axle bracket (F1) positioned at the second coupling position (P2, axle coupling position) of the second transport wheel (100) and on both sides (along both sides along the second direction z2) of the second transport wheel (100), and the axle (111) can be assembled to the second coupling position (P2, axle coupling position) of the second transport wheel (100) via a sliding bearing (B).

[0102] Although the present invention has been described with reference to embodiments illustrated in the attached drawings, this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom.

[0103] The present invention can be applied to transport vehicles or transport carriers for performing transport load operations, or medical devices such as wheelchairs for the movement of disabled persons.

Claims

1. A vehicle body frame on which the transport load is loaded and unloaded; and A wheel conveying means comprising a first conveying wheel, a second conveying wheel, and a third conveying wheel respectively disposed at different first row positions, second row positions, and third row positions along a forward or reverse direction following the direction of movement on the above-mentioned vehicle body frame, The first conveyor wheel is positioned at a relatively higher level than the second conveyor wheel and the third conveyor wheel along the upward direction toward the vehicle body frame from the ground where the logistics conveyor is supported, and A logistics conveying means characterized by the above-mentioned second conveying wheel comprising an inner wheel and an outer wheel assembled to form concentric circles.

2. In Paragraph 1, The above-mentioned second and third transport wheels are in contact with the ground and support the vehicle body frame, and A wheel conveying means characterized in that the first conveying wheel is supported on the vehicle body frame in a lifted state from the ground at a relatively higher level position than the second conveying wheel and the third conveying wheel.

3. In Paragraph 1, A logistics conveying means characterized in that the second conveying wheel, comprising the inner wheel and the outer wheel, is formed as a hubless wheel including a central hollow portion.

4. In Paragraph 1, The above second conveyor wheel is, A wheel conveying means characterized by further including a bearing member for forming relative sliding contact between the inner wheel and the outer wheel.

5. In Paragraph 1, The axle of the second conveyor wheel is assembled on the inner wheel, and A logistics conveying means characterized in that the outer wheel is formed to surround the outer circumference of the inner wheel.

6. In Paragraph 1, A logistics conveying means characterized in that the axle of the second conveying wheel is assembled at an eccentric axle coupling position deviating from the center of the inner wheel, which includes a central hollow portion.

7. In Paragraph 1, The axle connection position of the inner wheel to which the axle of the second conveyor wheel is connected is biased toward a position closest to the ground according to the load transmitted through the axle, and A logistics conveying means characterized in that, according to an axle coupling position biased toward a position closest to the ground, an inner wheel including said axle coupling position performs translational motion following the direction of movement without substantially involving rotational motion with respect to the centrifugal force of said inner wheel.

8. In Paragraph 7, A logistics conveying means characterized by the inner wheel performing translational motion that involves a change in position along the direction of movement without substantially involving a change in posture or pose.

9. In Paragraph 1, A logistics conveying means characterized by the outer wheel surrounding the outer circumference of the inner wheel and performing a rolling motion that involves rotational motion along the outer circumference of the inner wheel through a bearing member interposed between the outer wheel and the inner wheel according to the contact force with the ground.

10. In Paragraph 1, The inner wheel and the outer wheel described above perform an integrated translational motion that follows the direction of movement, and A logistics conveying means characterized in that the outer ring wheel performs a rolling motion accompanied by a rotational motion along the outer circumference of the inner ring wheel through a bearing member interposed between it and the inner ring wheel.

11. In Paragraph 1, A logistics conveying means characterized by the fact that, as the rotation of the outer wheel is forcibly stopped by a catch on the ground, the inner wheel rotates along the inner circumference of the outer wheel through a bearing member interposed between it and the outer wheel.

12. In Paragraph 1, The translational movement of the outer wheel and the inner wheel in the direction of movement is simultaneously stopped from the catch on the ground, and A logistics conveying means characterized in that the inner wheel rotates along the inner circumference of the outer wheel, and as the axle coupling position of the inner wheel passes the apex of the catch on the ground, the second conveying wheel including the inner wheel and the outer wheel rotates with the apex of the catch as a pivot position and moves away from the catch due to the action of the rotational moment between the axle coupling position where the load is transmitted through the axle and the apex of the catch, according to the action of the load and the reaction force.

13. In Paragraph 1, A logistics conveying means characterized by the axle coupling position of the inner wheel being biased toward a position closest to the ground according to the load transmitted through the axle, and a positional deviation being generated between the axle coupling position of the inner wheel and the apex of the locking projection along the rotational direction of the inner wheel that follows the inner circumference of the outer wheel, from which rotation is forcibly stopped at the locking projection.

14. In Paragraph 1, A logistics transport means characterized in that the axle coupling position of the inner wheel is biased toward a position closest to the ground according to a rotational elastic member that elastically connects an axle bracket extended from the bottom of the vehicle body frame toward the axle coupling position of the inner wheel and the axle bracket together with the inner wheel.

15. In Paragraph 14, The axle of the inner wheel is connected together with the axle bracket extending from the bottom of the vehicle body frame toward the axle connection position of the inner wheel and the axle connection position of the inner wheel along an axial direction penetrating the axle connection position of the inner wheel. A logistics transport means characterized by the above-mentioned rotational elastic member elastically connecting the axle bracket, to which the axle is joined, and the axle joining position of the inner ring wheel.

16. In Paragraph 14, A logistics conveying means characterized by the above-mentioned rotational elastic member elastically biasing the axle coupling position of the inner ring wheel toward the position closest to the ground.

17. In Paragraph 1, The inner wheel above is formed as a hubless wheel including a central hollow portion, and The outer wheel is formed to surround the outer circumference of the inner wheel, and A logistics conveying means characterized by having a bearing member arranged along the outer circumference of the inner wheel and the inner circumference of the outer wheel.

18. In Paragraph 17, The inner wheel comprises a pair of inner wheel covers assembled to face each other on both sides of the outer wheel, and A logistics conveying means characterized in that the bearing member comprises a guide rail assembled to surround the outer circumference of the guide rim of the pair of inner ring wheel covers.

19. In Paragraph 18, A logistics conveying means characterized in that the inner wheel cover extends along the radial direction of the inner wheel to an outer position beyond the guide rim to cover a guide rail assembled to surround the outer circumference of the guide rim.

20. In Paragraph 18, The inner ring wheel cover is a first to third coupling position spaced apart from each other along the rotational direction of the inner ring wheel cover, A first coupling position where the axle is coupled; and A logistics transport means characterized by including a second coupling position and a third coupling position in which a pair of coupling pins are formed for coupling with a pair of opposite inner ring wheel covers.

21. In Paragraph 20, A logistics conveying means characterized in that the first to third coupling positions are formed at rotation angle positions that are evenly divided into three along the rotation direction of the inner ring wheel cover.

22. In Paragraph 20, The above guide rim is, At the first coupling position, the first coupling position is bypassed while surrounding the axle to avoid the axle coupled to the first coupling position, and A logistics transport means characterized by bypassing the second and third coupling positions while surrounding the coupling pins to avoid the coupling pins that are respectively coupled to the second and third coupling positions at the second and third coupling positions.

23. In Paragraph 20, A first support block for supporting a guide rail assembled to surround the outer circumference of a guide rim is coupled to the axle coupled to the first coupling position, and A logistics transport means characterized by having a second and third support block coupled to each of the coupling pins coupled to the second and third coupling positions to support a guide rail assembled to surround the outer circumference of the guide rim.

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