CN106353830A - Drive system for self-walking vehicle carrying and container/vehicle inspection device - Google Patents

Drive system for self-walking vehicle carrying and container/vehicle inspection device Download PDF

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Publication number
CN106353830A
CN106353830A CN201610788407.4A CN201610788407A CN106353830A CN 106353830 A CN106353830 A CN 106353830A CN 201610788407 A CN201610788407 A CN 201610788407A CN 106353830 A CN106353830 A CN 106353830A
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China
Prior art keywords
wheel
motor
drive
vertical
equipment
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Granted
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CN201610788407.4A
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Chinese (zh)
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CN106353830B (en
Inventor
赵杰
曲海波
黄秋伟
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Beijing Hualixing Sci Tech Development Co Ltd
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Beijing Hualixing Sci Tech Development Co Ltd
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Priority to CN201610788407.4A priority Critical patent/CN106353830B/en
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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01VGEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00Prospecting or detecting by the use of nuclear radiation, e.g. of natural or induced radioactivity
    • G01V5/0008Detecting hidden objects, e.g. weapons, explosives
    • G01V5/0016Active interrogation, i.e. using an external radiation source, e.g. using pulsed, continuous or cosmic rays
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00Investigating materials by wave or particle radiation
    • G01N2223/03Investigating materials by wave or particle radiation by transmission

Abstract

The invention provides a drive system for self-walking vehicle carrying and a container/vehicle inspection device. The drive system comprises a gantry, a fixed beam, a swing beam and at least two drive motors, wherein the gantry comprises a cross beam, a first vertical beam and a second vertical beam; the fixed beam is fixedly connected with the first vertical beam, and a first wheel and a second wheel are mounted at the front end and the rear end of the fixed beam respectively; the swing beam is rotationally connected with the second beam, and a third wheel and a fourth wheel are mounted at the front and back ends of the swing beam respectively; the drive motors are connected with different wheels respectively. According to the drive system provided by the scheme, each drive motor corresponds to one wheel and is mounted nearby the corresponding wheel and used for driving the wheel to rotate, and accordingly, a drive axle between the left wheel and the right wheel can be omitted, and demands of the device are met.

Description

For carrying drive system and the container/vehicle inspection equipment of car from walking
Technical field
The present invention relates to ray scans inspection apparatus field, more specifically, it is related to a kind of drive for carrying car from walking Dynamic system, and a kind of self-travel type container/vehicle inspection equipment with this drive system.
Background technology
Self-travel type container/vehicle inspection equipment generally adopts portal framed structure, and the door frame left and right sides is provided with wheel, In the middle part of door frame, (i.e. position between left and right wheels) needs setting to be available for container to be detected and/or that vehicle to be detected passes through is logical Drive axle cannot be set between road, therefore left and right wheels, and the drive system of conventional truck is in self-travel type container/vehicle inspection equipment Upper and inapplicable, therefore how to provide a kind of rational drive system to become mesh for self-travel type container/vehicle inspection equipment Front problem demanding prompt solution.
Content of the invention
Present invention seek to address that at least one technical problem present in prior art.
For this reason, a kind of it is an advantage of the invention to provide drive system.
It is a further object of the invention to provide a kind of self-travel type container/vehicle inspection equipment, including above-mentioned drive Dynamic system.
For achieving the above object, the embodiment of present invention one side provides a kind of driving for carrying car from walking System, comprising: portal frame, including crossbeam and the first vertical beam and the second vertical beam that are arranged on two ends about described crossbeam;Fixed beam, Arrange along the longitudinal direction and be fixedly connected with described first vertical beam, and the rear and front end of described fixed beam is separately installed with the first car Wheel and the second wheel;Walking beam, is arranged along the longitudinal direction and can be rotationally connected with described second vertical beam, make described walking beam Vertically can rotate relative to described second vertical beam, and the rear and front end of described walking beam be separately installed with the 3rd wheel and 4th wheel;At least two motors, each described motor respectively with described first wheel, the second wheel, described One of three wheels and described 4th wheel connect, and the wheel that each described motor is connected all differs, described drive Galvanic electricity machine is used for driving described wheel rotatable around its axis.
Fixed beam, the first vertical beam, crossbeam and the second vertical beam phase are fixed, and a wheel is respectively installed in the rear and front end of fixed beam, This two wheels are adjacent to ground all the time, and the second vertical beam bottom is rotatably mounted with walking beam, constitute equalizing suspension system, walking beam A wheel is respectively installed in rear and front end, and below equipment during pavement roughness, walking beam can correspondingly rotate relative to the second vertical beam, On walking beam two wheels are made to be close to bottom surface all the time, so that frame uniform stressed, to prevent frame from producing torsional deformation.This In the drive system that scheme provides, each motor corresponds to a wheel, and motor is arranged near its corresponding wheel, For driving this vehicle wheel rotation, such design just can cancel the drive axle between left and right wheels, meets the demand of equipment.And due to voluntarily The deadweight walking formula container/vehicle inspection equipment is very big, and therefore this drive system adopts at least two motors, thinks equipment Enough power, and stationarity when lifting means is advanced are provided.
Wherein it is preferred to, each motor all can rotate and reverse, so that equipment can move forward and backward.
Drive system according to the abovementioned embodiments of the present invention, can also have a following technical characteristic:
It is preferable that described drive system includes two described motors in technique scheme.
In this embodiment, drive system adopts two motors, so can provide enough power for equipment it is ensured that Stationarity when equipment is advanced, and the negligible amounts of such motor of employing, it is possible to decrease the production cost of equipment, and simplify and set Standby structure, reduces the complexity of assembly process, thus lifting production efficiency of assembling.
According to one embodiment of present invention, a described motor is connected with described first wheel, described in another Motor is connected with described 3rd wheel;Or a described motor is connected with described second wheel, described in another Motor is connected with described 4th wheel.
In this embodiment, drive system adopts the type of drive of forerunner/rear-guard, is driven by two front-wheels or two trailing wheels and sets Standby traveling, remaining two-wheeled can be used for connecting steer motor, as deflecting roller, so that equipment can adjust direct of travel and turn To such motor connects different wheels with steer motor, and motor and steer motor will not interfere so that driving Dynamic system structure is simple and reliable.
According to one embodiment of present invention, a described motor is connected with described first wheel, described in another Motor is connected with described 4th wheel;Or a described motor is connected with described second wheel, described in another Motor is connected with described 3rd wheel.
In this embodiment, drive system, using the diagonal type of drive driving, when equipment moves forward and backward, all has one Individual driving wheel " pulls " equipment in equipment one forequarter, and another driving wheel " promotes " equipment at equipment opposite side rear portion, so Can the stationarity advanced of lifting means, and when equipment moves forward and backward, equipment rack stressing conditions unanimously (are equivalent to rotation 180 °) it is ensured that track when equipment is advanced and retreated is always, thus the difficulty of control device direct of travel can be reduced.
According to one embodiment of present invention, described drive system also includes a described motor and described first car Wheel connects, and another described motor is connected with described second wheel.
In this embodiment, drive system adopt the monolateral driving in the first vertical beam side type of drive, fixed beam, first erect Beam, crossbeam and the second vertical beam phase are fixed, and are driven by two wheels of the first vertical beam side and carry out, the second vertical beam side is completely driven, So can ensure that the relative position of the first vertical beam, crossbeam and the second vertical beam is constant, to ensure detector and the spoke being arranged on beam Penetrate the accuracy of source relative position, thus ensureing the effect of self-travel type container/vehicle inspection device scan imaging.And set Standby when moving forward and backward, equipment rack stressing conditions consistent it is ensured that track when equipment is advanced and retreated always, thus can reduce The difficulty of control device direct of travel.
In technique scheme, alternatively, described drive system includes four described motors, four described drivings Motor is connected with described first wheel, described second wheel, described 3rd wheel and described 4th wheel respectively.
In this embodiment, drive system adopts the type of drive of four-wheel drive, to provide maximum power for equipment, On the basis of this, the relatively independent driving of also achievable four wheels of drive system, in running, drive system can be tackled respectively The occurrence of plant, adjusts the running status of each motor according to different road conditions, to ensure the stationarity travelling.
It is preferable that motor includes motor reducer in any of the above-described technical scheme, and described motor and with Be connected described wheel between hub reduction gear is installed.
In this embodiment, the control to vehicle wheel rotational speed can be realized by motor reducer and hub reduction gear, thus Reach the operating more flexibly controlling each wheel it is ensured that traveling comfort.
It is preferable that described drive system also includes in any of the above-described technical scheme: two steer motor, respectively with institute State the first wheel and described 3rd wheel is connected or is connected with described second wheel and described 4th wheel respectively, described steering electricity Machine is used for promoting described wheel to rotate in the horizontal direction relative to described portal frame.
In this embodiment, by arranging two steer motor to drive system, two front-wheels or two trailing wheels can be promoted to enter The rotation of row horizontal direction, with the direct of travel of control device or so that equipment is turned to so that more flexible for different Vehicle or container use inspection equipment, or manipulation self-travel type container/vehicle inspection equipment replacement Active workings.
In any of the above-described technical scheme, alternatively, described drive system also includes: four steer motor, respectively with institute State the first wheel, described second wheel, described 3rd wheel and described 4th wheel to connect, described steer motor is used for promoting institute State wheel to rotate in the horizontal direction relative to described portal frame.
In this embodiment, by four steer motor are arranged to drive system, a steering is all had on each wheel Motor, so can be greatly reduced the radius of turn of equipment, at most can realize the rotation of 0 radius of gyration, can meet at some The less space in region carries out detecting needs during work.
The embodiment of second aspect present invention provides a kind of self-travel type container/vehicle inspection equipment, including this The drive system that bright first aspect any embodiment provides.
Self-travel type container/vehicle inspection equipment that second aspect present invention embodiment provides includes first party of the present invention A kind of drive system that face any embodiment provides, therefore this self-travel type container/vehicle inspection equipment have any of the above-described Whole beneficial effects of the drive system that embodiment provides, will not be described here.
The additional aspect of the present invention and advantage will become obvious in following description section, or by the practice of the present invention Recognize.
Brief description
The above-mentioned and/or additional aspect of the present invention and advantage will become from reference to the description to embodiment for the accompanying drawings below Substantially and easy to understand, wherein:
Fig. 1 is the structural representation of self-travel type container/vehicle inspection equipment that one embodiment of the invention provides;
Fig. 2 is the structural representation of the container of self-travel type shown in Fig. 1/another angle of vehicle inspection equipment.
Wherein, the corresponding relation between the reference in Fig. 1 and Fig. 2 and component names is:
1 portal frame, 11 crossbeams, 12 first vertical beams, 13 second vertical beams, 2 fixed beams, 3 walking beams, 4 first wheels, 5 second Wheel, 6 the 3rd wheels, 7 the 4th wheels, 8 motors, 9 steer motor.
Specific embodiment
In order to be more clearly understood that the above objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specifically real Mode of applying is further described in detail to the present invention.It should be noted that in the case of not conflicting, the enforcement of the application Feature in example and embodiment can be mutually combined.
Elaborate a lot of details in the following description in order to fully understand the present invention, but, the present invention also may be used To be implemented different from mode described here using other, therefore, protection scope of the present invention is not subject to following public tool The restriction of body embodiment.
As depicted in figs. 1 and 2, the embodiment of present invention one side provides a kind of driving for carrying car from walking System, comprising: portal frame 1, including crossbeam 11 and the first vertical beam 12 and the second vertical beam 13 that are arranged on crossbeam 11 about two ends;Gu Determine beam 2, arrange along the longitudinal direction and be fixedly connected with the first vertical beam 12, and the rear and front end of fixed beam 2 is separately installed with first Wheel 4 and the second wheel 5;Walking beam 3, is arranged along the longitudinal direction and can be rotationally connected with the second vertical beam 13, make walking beam 3 Can vertically rotate relative to the second vertical beam 13, and the rear and front end of walking beam 3 is separately installed with the 3rd wheel 6 and the 4th Wheel 7;At least two motors 8, each motor 8 respectively with the first wheel 4, the second wheel 5, the 3rd wheel 6 and One of four wheels 7 connect, and the wheel that each motor 8 is connected all differs, motor 8 be used for driving moment around Its axis rotates.
Fixed beam 2, the first vertical beam 12, crossbeam 11 and the second vertical beam 13 are mutually fixed, and the rear and front end of fixed beam 2 is each to install one Individual wheel, this two wheels are adjacent to ground all the time, and the second vertical beam 13 bottom is rotatably mounted with walking beam 3, constitute balance outstanding Hang, a wheel is respectively installed in the rear and front end of walking beam 3, below equipment during pavement roughness, walking beam 3 can correspondingly relatively Second vertical beam 13 rotates, and makes on walking beam 3 two wheels be close to bottom surface all the time, so that frame uniform stressed, to prevent machine Frame produces torsional deformation.In the drive system that this programme provides, each motor 8 corresponds to a wheel, and motor 8 is installed Near its corresponding wheel, for driving this vehicle wheel rotation, such design just can cancel the drive axle between left and right wheels, and satisfaction sets Standby demand.And because the deadweight of self-travel type container/vehicle inspection equipment is very big, therefore this drive system adopts at least two Individual motor, to provide enough power, and stationarity when lifting means is advanced for equipment.
Generally crossbeam 11 and vertical beam are rectangular steel frame structure, and rectangle steelframe includes two main girder steels be arrangeding in parallel and props up Support steel beam between main girder steel for the support.
Wherein it is preferred to, each motor all can rotate and reverse, so that equipment can move forward and backward.
Embodiment one:
As depicted in figs. 1 and 2, drive system includes two motors 8, and a motor 8 and the first wheel 4 are even Connect, another motor 8 is connected with the 3rd wheel 6;Or a motor 8 is connected with the second wheel 5, another driving Motor 8 is connected with the 4th wheel 7.
In this embodiment, drive system adopts the type of drive of forerunner/rear-guard, is driven by two front-wheels or two trailing wheels and sets Standby traveling, remaining two-wheeled can be used for connecting steer motor 9, as deflecting roller, so that equipment can adjust direct of travel and turn Connect different wheels to, such motor 8 and steer motor 9, motor 8 and steer motor 9 will not interfere, and make Obtain driving system structure simple and reliable.
Embodiment two:
Drive system includes two motors, and a motor is connected with the first wheel, another motor with 4th wheel connects;Or a motor is connected with the second wheel, and another motor is connected with the 3rd wheel.
In this embodiment, drive system, using the diagonal type of drive driving, when equipment is advanced and retreats, all has one Individual driving wheel " pulls " equipment in equipment one forequarter, and another driving wheel " promotes " equipment at equipment opposite side rear portion, so Can the stationarity advanced of lifting means, and when equipment moves forward and backward, equipment rack stressing conditions unanimously (are equivalent to rotation 180 °) it is ensured that track when equipment is advanced and retreated is always, thus the difficulty of control device direct of travel can be reduced.
Embodiment three:
Drive system includes two motors, and drive system is also included a motor and is connected with the first wheel, separately One motor is connected with the second wheel.
In this embodiment, drive system adopt the monolateral driving in the first vertical beam side type of drive, fixed beam, first erect Beam, crossbeam and the second vertical beam phase are fixed, and are driven by two wheels of the first vertical beam side and carry out, the second vertical beam side is completely driven, So can ensure that the relative position of the first vertical beam, crossbeam and the second vertical beam is constant, to ensure detector and the spoke being arranged on beam Penetrate the accuracy of source relative position, thus ensureing the effect of self-travel type container/vehicle inspection device scan imaging.And set Standby when moving forward and backward, equipment rack stressing conditions consistent it is ensured that track when equipment is advanced and retreated always, thus can reduce The difficulty of control device direct of travel.
Example IV:
Drive system includes four motors, four motors respectively with the first wheel, the second wheel, the 3rd wheel Connect with the 4th wheel.
In this embodiment, drive system adopts the type of drive of four-wheel drive, to provide maximum power for equipment, On the basis of this, the relatively independent driving of also achievable four wheels of drive system, in running, drive system can be tackled respectively The occurrence of plant, adjusts the running status of each motor according to different road conditions, to ensure the stationarity travelling.
It is preferable that motor includes motor reducer in any of the above-described embodiment, and motor and being attached thereto Wheel between hub reduction gear is installed.
In this embodiment, the control to vehicle wheel rotational speed can be realized by motor reducer and hub reduction gear, thus Reach the operating more flexibly controlling each wheel it is ensured that traveling comfort.
As shown in Fig. 2 it is preferable that drive system also includes in any of the above-described embodiment: two steer motor 9, respectively It is connected with the first wheel 4 and the 3rd wheel 6 or is connected with the second wheel 5 and the 4th wheel 7 respectively, steer motor 9 is used for promoting Wheel rotates in the horizontal direction relative to portal frame 1.
In this embodiment, by arranging two steer motor 9 to drive system, two front-wheels or two trailing wheels can be promoted to enter The rotation of row horizontal direction, with the direct of travel of control device or so that equipment is turned to so that more flexible for different Vehicle or container use inspection equipment, or manipulation self-travel type container/vehicle inspection equipment replacement Active workings.
In any of the above-described embodiment, alternatively, drive system also includes: four steer motor, respectively with the first wheel, Second wheel, the 3rd wheel and the 4th wheel connect, and steer motor is used for promoting wheel to rotate in the horizontal direction relative to portal frame.
In this embodiment, by four steer motor are arranged to drive system, a steering is all had on each wheel Motor, so can be greatly reduced the radius of turn of equipment, at most can realize the rotation of 0 radius of gyration, can meet at some The less space in region carries out detecting needs during work.
The embodiment of second aspect present invention provides a kind of self-travel type container/vehicle inspection equipment, such as Fig. 1 and Tu Shown in 2, including the drive system of first aspect present invention any embodiment offer.
Self-travel type container/vehicle inspection equipment that second aspect present invention embodiment provides includes first party of the present invention A kind of drive system that face any embodiment provides, therefore this self-travel type container/vehicle inspection equipment have any of the above-described Whole beneficial effects of the drive system that embodiment provides, will not be described here.
In describing the invention it is to be understood that term " top ", " bottom ", " on ", D score, "front", "rear", " left ", The orientation of instructions such as " right " or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of and describe this Bright and simplification describes, rather than the device of instruction or hint indication or element must have specific orientation, with specific orientation Construction and operation, are therefore not considered as limiting the invention.Term " connection ", " installation ", " fixation " etc. all should do broad sense Understand, for example, " connection " can be fixedly connected or be detachably connected, or is integrally connected;It can be direct phase Even it is also possible to be indirectly connected to by intermediary.For the ordinary skill in the art, can manage as the case may be Solve above-mentioned term concrete meaning in the present invention.
In the description of this specification, term " first ", " second ", " the 3rd ", " the 4th " etc. are only used for the purpose describing, And it is not intended that indicating or hint relative importance, unless otherwise clearly defined and limited;Term " embodiment ", The description of " some embodiments ", " specific embodiment " etc. mean with reference to this embodiment or example description specific features, structure, material Material or feature are contained at least one embodiment or the example of the present invention.In this manual, schematic to above-mentioned term Statement is not necessarily referring to identical embodiment or example.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (10)

1. a kind of drive system for carrying car from walking is it is characterised in that include:
Portal frame, including crossbeam and the first vertical beam and the second vertical beam that are arranged on two ends about described crossbeam;
Fixed beam, is arranged along the longitudinal direction and is fixedly connected with described first vertical beam, and the rear and front end of described fixed beam is respectively First wheel and the second wheel are installed;
Walking beam, is arranged along the longitudinal direction and can be rotationally connected with described second vertical beam, enables described walking beam relatively Described second vertical beam vertically rotates, and the rear and front end of described walking beam is separately installed with the 3rd wheel and the 4th car Wheel;
At least two motors, each described motor respectively with described first wheel, the second wheel, described 3rd wheel Connect with one of described 4th wheel, and the wheel that each described motor is connected all differs, described motor For driving described wheel rotatable around its axis.
2. drive system according to claim 1 it is characterised in that
Described drive system includes two described motors.
3. drive system according to claim 2 it is characterised in that
One described motor is connected with described first wheel, and another described motor is connected with described 3rd wheel; Or
One described motor is connected with described second wheel, and another described motor is connected with described 4th wheel.
4. drive system according to claim 2 it is characterised in that
One described motor is connected with described first wheel, and another described motor is connected with described 4th wheel; Or
One described motor is connected with described second wheel, and another described motor is connected with described 3rd wheel.
5. drive system according to claim 2 it is characterised in that
One described motor is connected with described first wheel, and another described motor is connected with described second wheel.
6. drive system according to claim 1 it is characterised in that
Described drive system includes four described motors, four described motors respectively with described first wheel, described Second wheel, described 3rd wheel and described 4th wheel connect.
7. drive system according to claim 1 it is characterised in that
Described motor includes motor reducer, and is provided with wheel side between described motor and the described wheel that is attached thereto Decelerator.
8. drive system according to any one of claim 1 to 7 is it is characterised in that also include:
Two steer motor, be connected with described first wheel and described 3rd wheel respectively or respectively with described second wheel and institute State the 4th wheel to connect, described steer motor is used for promoting described wheel to rotate in the horizontal direction relative to described portal frame.
9. drive system according to any one of claim 1 to 7 it is characterised in that
Four steer motor, respectively with described first wheel, described second wheel, described 3rd wheel and described 4th wheel even Connect, described steer motor is used for promoting described wheel to rotate in the horizontal direction relative to described portal frame.
10. a kind of self-travel type container/vehicle inspection equipment is it is characterised in that include as any one of claim 1 to 9 Described drive system.
CN201610788407.4A 2016-08-30 2016-08-30 For the drive system and container/vehicle inspection equipment from carrier vehicle of walking Active CN106353830B (en)

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Application Number Priority Date Filing Date Title
CN201610788407.4A CN106353830B (en) 2016-08-30 2016-08-30 For the drive system and container/vehicle inspection equipment from carrier vehicle of walking

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Application Number Priority Date Filing Date Title
CN201610788407.4A CN106353830B (en) 2016-08-30 2016-08-30 For the drive system and container/vehicle inspection equipment from carrier vehicle of walking

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CN106353830B CN106353830B (en) 2019-04-16

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020140993A1 (en) * 2019-01-04 2020-07-09 同方威视技术股份有限公司 Walkable safety check device and control method

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US5638420A (en) * 1996-07-03 1997-06-10 Advanced Research And Applications Corporation Straddle inspection system
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CN202022130U (en) * 2011-02-25 2011-11-02 浙江台州市王野动力有限公司 Timber transportation vehicle
CN104760807A (en) * 2014-01-08 2015-07-08 湖北汉唐自动化设备有限公司 Single-side drive trolley device running on fixed arc-shaped rail
CN105475260A (en) * 2016-01-07 2016-04-13 安徽农业大学 Electric four-wheel-driven intelligent sprayer
CN206074830U (en) * 2016-08-30 2017-04-05 北京华力兴科技发展有限责任公司 For the drive system and container/vehicle inspection equipment of car are carried from walking

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5638420A (en) * 1996-07-03 1997-06-10 Advanced Research And Applications Corporation Straddle inspection system
CN1298815A (en) * 1999-12-08 2001-06-13 洛阳高新技术开发区金都农用车开发有限公司 Diagonal drive system for agricultural vehicle with front engine
CN202022130U (en) * 2011-02-25 2011-11-02 浙江台州市王野动力有限公司 Timber transportation vehicle
CN104760807A (en) * 2014-01-08 2015-07-08 湖北汉唐自动化设备有限公司 Single-side drive trolley device running on fixed arc-shaped rail
CN105475260A (en) * 2016-01-07 2016-04-13 安徽农业大学 Electric four-wheel-driven intelligent sprayer
CN206074830U (en) * 2016-08-30 2017-04-05 北京华力兴科技发展有限责任公司 For the drive system and container/vehicle inspection equipment of car are carried from walking

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020140993A1 (en) * 2019-01-04 2020-07-09 同方威视技术股份有限公司 Walkable safety check device and control method

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