CN109597138A - A kind of article detection apparatus - Google Patents
A kind of article detection apparatus Download PDFInfo
- Publication number
- CN109597138A CN109597138A CN201910009043.9A CN201910009043A CN109597138A CN 109597138 A CN109597138 A CN 109597138A CN 201910009043 A CN201910009043 A CN 201910009043A CN 109597138 A CN109597138 A CN 109597138A
- Authority
- CN
- China
- Prior art keywords
- vertical arm
- arm
- detection apparatus
- transverse arm
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 123
- 230000033001 locomotion Effects 0.000 claims abstract description 112
- 230000008859 change Effects 0.000 claims abstract description 16
- 230000003028 elevating effect Effects 0.000 claims description 15
- 230000003068 static effect Effects 0.000 claims description 13
- 238000009987 spinning Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 description 60
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000009781 safety test method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- G01V5/22—
-
- G01V5/222—
Abstract
The invention discloses a kind of article detection apparatus, it include: portal frame, transverse arm including being located at top, and positioned at the transverse arm two sides and two vertical arm connect with the transverse arm, the portal frame passes through the transverse arm and described two vertical arm area defined composition sense channel；Slewing supporting device is connected to the upper end of described two vertical arm, is used to support the transverse arm, and described two vertical arm can be made to rotate rotating around itself vertical axis by the rotary motion of itself；And the Articles detecting component based on radiant image, it is at least partially disposed at the portal frame, for detecting to the article by the portal frame；Wherein, the transverse arm includes telescopic device, can change the length of the transverse arm by the stretching motion of itself.The embodiment of the present invention changes the length of the transverse arm by the stretching motion of the telescopic device, to promote the detection efficiency to different articles to be detected.
Description
Technical field
The present invention relates to safety testing field more particularly to a kind of article detection apparatus.
Background technique
The detection of cargo, combined type cargo, vehicular cargo or vehicle is mostly completed by door frame class detection system at present.Its
In, for can the vehicular cargo of autonomous or the detection of vehicle, can be completed by fixed door frame class detection system；And
For can not autonomous cargo or combined type cargo, then needing non-door frame class detection system, optional equipment conveyer belt etc. is mobile again
Facility.
However, due to type of merchandize multiplicity, especially for combined type cargo, vehicular cargo or vehicle detection and
Speech is needed to be arranged in detection zone and be waited for suitable for different shape, size since the shape of article to be detected, size are difficult to unification
The detection device of article is examined, and article to be checked is classified according to shape, size difference, with current and own form, ruler respectively
Very little corresponding detection device, causes detection efficiency low.
In addition, the size of width direction is much smaller than length for part combined type cargo, vehicular cargo and vehicle
Spend the size in direction.Trafficability requirement for this kind of cargo, when passing through detection device with its width direction, to detection device
It is lower.However, in the detection area, cargo is piled up, vehicle parking is often relatively closer, adjusts the combined type cargo, vehicle-mounted
The angle of formula cargo and vehicle, and it is often higher by the operation difficulty of detection device with its width direction, also result in detection
Under efficiency.
Summary of the invention
At least one purpose of the invention is to propose a kind of article detection apparatus, is able to ascend the detection efficiency of article.This
Invent many technical effects elaboration as detailed below that the optimal technical scheme in many technical solutions provided can be generated.
To achieve the above object, the present invention provides following technical schemes:
A kind of article detection apparatus provided by the invention, comprising: portal frame including the transverse arm positioned at top, and is located at
Transverse arm two sides and two vertical arm connecting with the transverse arm, the portal frame pass through the transverse arm and described two vertical arm
Area defined constitutes sense channel；Slewing supporting device is connected to the upper end of described two vertical arm, is used to support institute
Transverse arm is stated, and described two vertical arm can be made to rotate rotating around itself vertical axis by the rotary motion of itself；And it is based on
The Articles detecting component of radiant image, is at least partially disposed at the portal frame, for by the portal frame
Article is detected；Wherein, the transverse arm includes telescopic device, can change the length of the transverse arm by the stretching motion of itself
Degree.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Telescopic device includes the telescopic oil cylinder of at least one level.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Transverse arm includes: flexible transverse arm, and both ends are respectively connected to described two vertical arm, can be elongated or shortened to change the length of the transverse arm
Degree；With fixed transverse arm, one end is connected at least one of described two vertical arm, is used to support the flexible transverse arm.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: lifting device, described two vertical arm can be made to rise or fall fortune by the elevating movement of itself
It is dynamic.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: running gear system, is separately positioned on the lower end of described two vertical arm, can be by itself walking
Movement makes the article detection apparatus relative to ground running and steering.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: ray cabin, is set to one of described two vertical arm, and the ray cabin includes radiographic source, can
Emission detection ray is scanned the article by the portal frame；Detector is set in described two vertical arm extremely
Few one and/or the transverse arm, can detect transmission signal or scattered signal of the detected ray on the article, so as to
It is scanned imaging；And protecting wall, it is set to another in described two vertical arm.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Transverse arm includes: flexible transverse arm, and both ends are respectively connected to described two vertical arm, and the flexible transverse arm can be elongated or shortened to change
The length of the transverse arm；With fixed transverse arm, one end is connected at least one of described two vertical arm, is used to support described flexible
Vertical arm；Wherein, at least partly described detector is arranged in the flexible transverse arm.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: lifting device, described two vertical arm can be made to rise or fall fortune by the elevating movement of itself
It is dynamic；And running gear system, it is separately positioned on the lower end of described two vertical arm, the object can be made by the walking movement of itself
Product detection device is relative to ground running and steering.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: controller, for elevating movement, the telescopic device to the lifting device stretching motion,
The walking movement of the rotary motion of the slewing supporting device and the running gear system is controlled.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Controller is configured as: controlling stretching motion and/or lifting device execution institute that the telescopic device executes the transverse arm
The elevating movement of portal frame is stated, to change the size of the sense channel.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Controller is configured as: being controlled the slewing supporting device rotation, is kept at least one of described two vertical arm vertical around itself
Axis rotates preset angle, to realize the spinning motion of the vertical arm.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Two vertical arm include the first vertical arm and the second vertical arm, and the slewing supporting device includes the first revolution branch corresponding to the first vertical arm
Support arrangement and the second slewing supporting device corresponding to the second vertical arm, the running gear system include corresponding to the first vertical arm
Running gear system and the second running gear system corresponding to the second vertical arm；The controller is configured as: control described the
One running gear system is static relative to ground, and controls the first slewing supporting device rotation, so that described second is wheeled
Running gear is relative to ground running and steering, so that the transverse arm is made to rotate preset angle relative to first vertical arm,
To realize the divertical motion of the sense channel.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Controller is further configured to: control the second slewing supporting device rotation makes second vertical arm around itself vertical axes
Line rotates preset angle, so that the vertical arm is done rotation movement when the sense channel does divertical motion.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Two vertical arm include the first vertical arm and the second vertical arm, and the slewing supporting device includes the first revolution branch corresponding to the first vertical arm
Support arrangement and the second slewing supporting device corresponding to the second vertical arm, the running gear system include corresponding to the first vertical arm
Running gear system and the second running gear system corresponding to the second vertical arm；The controller is configured as: control described the
One running gear system is static relative to ground, and controls the first slewing supporting device rotation, so that described second is wheeled
Running gear is relative to ground running and steering, so that the transverse arm be made to rotate preset angle relative to first vertical arm；
And further to control second running gear system static relative to ground, and controls the second slewing supporting device rotation
Turn, so that first running gear system is relative to ground running and steering, to make the transverse arm relative to described second
Vertical arm rotates preset angle；So that the portal frame does step type walking movement.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Controller is further configured to: the angle and first vertical arm that second vertical arm is rotated around first vertical arm around
The angle of the second vertical arm rotation is predetermined to be 180 °, so that when the portal frame does step type walking movement, institute
Stating sense channel can be successively toward article to be detected arranged side by side.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: remote controler and telecommand transmitting assembly, and the telecommand transmitting assembly is arranged in the gate-type
On frame, and be electrically connected with the controller, the remote controler can with the telecommand transmitting assembly telecommunication, so as to
Operator remotely controls the lifting device, the telescopic device, the slewing supporting device and the running gear system.
Based on the above-mentioned technical proposal, the embodiment of the present invention changes the transverse arm by the stretching motion of the telescopic device
Length, so that the size according to article to be detected changes the size of the sense channel, to promote article provided by the present invention
Detection efficiency of the detection device to different cargos, combined type cargo, vehicular cargo or vehicle.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 faces angled arrangement schematic diagram for some embodiments of article detection apparatus provided by the embodiment of the present invention；
Fig. 2 is that the angled arrangement of facing of other embodiments of article detection apparatus provided by the embodiment of the present invention is illustrated
Figure；
Fig. 3 is that the angled arrangement of facing of the other embodiment of article detection apparatus provided by the embodiment of the present invention is illustrated
Figure；
Fig. 4 is that the angled arrangement of facing of article detection apparatus still other embodiments provided by the embodiment of the present invention is illustrated
Figure；
Fig. 5 is the depression angle structural schematic diagram of some embodiments of article detection apparatus provided by the embodiment of the present invention；
Fig. 6 is some embodiment depression angle vertical arm spinning motions of article detection apparatus provided by the embodiment of the present invention
Schematic diagram；
Fig. 7 is that some embodiment depression angle sense channels of article detection apparatus provided by the embodiment of the present invention turn to
The schematic diagram of movement；
Fig. 8 is that some embodiment depression angle sense channels of article detection apparatus provided by the embodiment of the present invention turn to
The schematic diagram that vertical arm is done rotation movement while movement；
Fig. 9 is some embodiment depression angle portal frame step types of article detection apparatus provided by the embodiment of the present invention
The movement schematic diagram of walking；
Appended drawing reference: 1, transverse arm, 11, telescopic device, 12, fixed transverse arm, 13, flexible transverse arm, 2, vertical arm, 2 (a) first is perpendicular
Arm, 2 (b) second vertical arm, 21, lifting device, 22, slewing supporting device, 23, running gear system, 3, Articles detecting component,
31, ray cabin, 32, radiographic source, 33, detector, 34, protecting wall.
Specific embodiment
It is referred to attached drawing below and word content understands between the contents of the present invention and the present invention and the prior art
Distinctive points.Hereafter attached drawing and by way of enumerating some alternative embodiments of the invention, to technical solution of the present invention
(including optimal technical scheme) is described in further detail.
It should be understood that any technical characteristic, any technical solution in the present embodiment are the technologies of plurality of optional
One or more of feature or optional technical solution, in order to describe it is succinct need it is impossible to exhaust of the invention in this document
All alternative technical characteristics and alternative technical solution, the embodiment for being also not easy to each technical characteristic are emphasized
It is one of for optional numerous embodiments, so those skilled in the art will appreciate that can will be provided by the invention any
Technological means is replaced or any two or more technical means or technical features provided by the invention is carried out mutually group
It closes and obtains new technical solution.
Any technical characteristic and any technical solution in the present embodiment do not limit the scope of the invention, this hair
Bright protection scope should include that those skilled in the art do not make the creative labor the thinkable any alternate embodiments of institute
And any two or more technical means or technical features provided by the invention are carried out mutually group by those skilled in the art
New technical solution obtained from conjunction.
1~9 pair of technical solution provided by the invention is illustrated in more detail with reference to the accompanying drawing.
As shown, a kind of article detection apparatus provided by the invention, comprising: portal frame, the cross including being located at top
Arm 1, and positioned at the transverse arm two sides and two vertical arm 2 (including the first vertical arm 2 (a) and the second vertical arm 2 that are connect with the transverse arm
(b)), the portal frame constitutes sense channel by the transverse arm and described two vertical arm area defined；Revolving support
Device 22 is connected to the upper end of described two vertical arm (including the first vertical arm 2 (a) and the second vertical arm 2 (b)), is used to support
The transverse arm, and described two vertical arm can be made to rotate rotating around itself vertical axis by the rotary motion of itself；And base
In the Articles detecting component 3 of radiant image, it is at least partially disposed at the portal frame, is used for by the portal frame
Article detected；Wherein, the transverse arm 1 includes telescopic device 11, can change the cross by the stretching motion of itself
The length of arm 1.
The slewing supporting device 22 can be while have the shaft of revolute function and supporting role, or respectively
Integral structure made of combined by shaft with revolute function and the frame with supporting role.The revolving support dress
Set 22 can by the rotary motion of motor driven itself, can also by other means, such as artificial or hydraulic mode into
Row driving.
In addition, the slewing supporting device 22 is connected to the upper end of described two vertical arm, so that the rotary motion of itself
Described two vertical arm can be made to rotate rotating around itself vertical axis.The vertical axis of the vertical arm itself is with the revolving support
Subject to vertical straight line where the centre of gyration of device 22.The vertical axis can be with erecting where the vertical arm geometric center
Straight straight line coincides, so that the vertical arm obtains more stable rotational movement process；The vertical axis can be with the vertical arm
Vertical straight line where geometric center does not coincide, so that the vertical arm has different revolution half in rotational movement process
Diameter.
Wherein, the radius of gyration different possessed by the vertical arm can be improved the adaptability of the article detection apparatus.
Such as stacking more intensive detection zone for article to be detected, the vertical arm can be biggish by itself radius of gyration
Direction goes to the position where sense channel, to keep the overall profile range of the portal frame smaller, is convenient for the article
Mutual passage between detection device and other articles to be detected.
Also, when the slewing supporting device of described two vertical arm synchronously rotates identical angle to identical direction
When (less than 180 °), opposite positional relationship is still remain between the Articles detecting component 3.In the slewing supporting device
Synchronous rotary during, the Articles detecting component can be with different detection angles to the article to be detected in sense channel
It is detected, to obtain the scan image of the article to be detected of different angle, operator is helped more accurately comprehensively to sentence
Break the type and ingredient of article to be detected.
The Articles detecting component 3 based on radiant image can use axial observation interior of articles.The Articles detecting
Component 3 can obtain the information such as structure and the density of interior of articles in the case where not destroying object, be widely applied at present
Safety check in station, harbour and airport.
Situations such as being cargo, combined type cargo, vehicular cargo or vehicle for article to be detected, it is with combined type cargo
Example, article detection apparatus provided by the present invention can change the length of transverse arm 1 by the stretching motion of itself, and then to combination
Different sizes and shapes possessed by formula cargo are adaptively adjusted, and the detection channels is enable to allow combined type cargo logical
It crosses.
And to those skilled in the art, pass through cargo to be detected by the detection channels a variety of existing
Mode, including but not limited to conveyer belt, travelling bogie etc., this will not be detailed here.Correspondingly, by having article detection apparatus
Certain locomotivity, such as assembly with wheel or configure the feelings that can not also move in the article to be detected with pulley sliding rail
Under condition, make the detection channels of the article detection apparatus by article to be detected.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Telescopic device includes the telescopic oil cylinder of at least one level.
The telescopic oil cylinder can connect to control hydraulic circuit in, and then can be convenient operator pass through control
The stretching motion of hydraulic circuit adjustment telescopic oil cylinder；Telescopic oil cylinder also can be configured as and be manually entered pressure, described in reducing
The cost of telescopic device, and obtain relatively simple control mode.
The telescopic oil cylinder can be level-one, or it is multistage, when the telescopic oil cylinder is multistage, can make to stretch
Oil cylinder has larger range of stretching motion.And for multi-stage expansion oil cylinder, by being carried out to every level-one telescopic oil cylinder
Control, can make the stretching motion of telescopic oil cylinder more fast, operation response speed is faster.
As shown in Fig. 2, technical solution after any technical solution or any optimization that are provided above or hereinafter as the present invention
Optimization, the transverse arm includes: flexible transverse arm 13, and both ends are respectively connected to described two vertical arm, can be elongated or shortened to change
Become the length of the transverse arm；With fixed transverse arm 12, one end is connected at least one of described two vertical arm, is used to support described
Flexible transverse arm.
The fixed transverse arm can play the role of support to the flexible transverse arm, and then improve the whole strong of the transverse arm
Degree and rigidity.Particularly with when the transverse arm under the action of telescopic device have biggish length when, the fixed transverse arm energy
The amount of deflection of the transverse arm is enough effectively reduced, so that the component being arranged on the transverse arm, by minor impact, raising is treated
Detect the detection effect of article.
In addition, the fixation transverse arm of setting is also used as the guide rail that the flexible transverse arm does stretching motion, make the transverse arm
It is more steady during flexible transverse arm elongates or shortens, make using radiant image principle, the article more sensitive to vibration
Detection components are less influenced by the transverse arm stretching motion, and then make to be at least partially disposed on the portal frame
Articles detecting component reduce failure rate, improve service life.
As shown in figure 3, technical solution after any technical solution or any optimization that are provided above or hereinafter as the present invention
Optimization, the article detection apparatus includes: lifting device 21, described two vertical arm can be made to do by the elevating movement of itself
Rise or fall movement.Telescopic oil cylinder can be used in the lifting device, also can be used other can be promoted or be reduced it is described
The device of vertical arm, such as jack or other mechanisms.
And as shown in figure 3, lifting device is located at the top of the Articles detecting component 3 in the vertical arm 2, institute can be made
Articles detecting component 3 is stated when the lifting device 21 moves up and down, continues to be supported by vertical arm and ground face contact, thus
It is less subject to the influence of elevating movement.It will be understood by those skilled in the art that the lifting device may be located on it is described
The lower section of Articles detecting component 3 or other can change the position of the vertical arm length.
The adjusting risen or fallen by the lifting device to vertical arm, the transverse arm can have different height positions
It sets.For the article to be detected with high height, by improving the height and position of transverse arm, the present invention is enabled to be mentioned
The Articles detecting component of confession continues to be applicable in；And for the article to be detected with lower height, can also by compared with
The height and position of low transverse arm makes transverse arm be close to the upside of the article to be detected, improves the article being arranged on the transverse arm
The detection accuracy of detection components.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: running gear system 23, is separately positioned on described two vertical arm (including the first vertical arm 2 (a) and second
Vertical arm 2 (b)) lower end, the article detection apparatus can be made relative to ground running and steering by the walking movement of itself.
The running gear system 23 can be configured as the machinery of the wheel body with autonomous ability, can also be configured
For with preset sliding rail to matched pulley machinery component.The running gear system 23 can be such that the article detection apparatus has
There is locomotivity, to facilitate the transition of the article detection apparatus, position adjustment and the detection to static article to be detected.
Component of the running gear system 23 as the portal frame and ground touching, should be under detecting state
With stronger stability, thus can be mating with fixed supporting leg or other component, to provide the article detection apparatus quiet
Stability when only under state.
As shown in figure 4, technical solution after any technical solution or any optimization that are provided above or hereinafter as the present invention
Optimization, the article detection apparatus includes: ray cabin, be set to one of described two vertical arm (i.e. the first vertical arm 2 (a) or
Second vertical arm 2 (b)), the ray cabin includes radiographic source, can emission detection ray to passing through the article of the portal frame
It is scanned；Detector is set at least one of described two vertical arm and/or the transverse arm, can detect the detection
Transmission signal or scattered signal of the ray on the article, to be scanned imaging；And protecting wall, it is set to described two
Another (i.e. corresponding second vertical arm 2 (b) or first vertical arm 2 (a)) in vertical arm.
The ray cabin, the detector and the protecting wall further can pivotally be set to described two
Vertical arm, to realize the flexible control to the ray cabin, the detector and the protecting wall.At this point, described two perpendicular
To there are two rotation supporting structures 22 being set between described two vertical arm and the transverse arm simultaneously on arm, and is set to
More than one revolving structure between the ray cabin, the detector and the protecting wall and described two vertical arm.With
When making to make the scanning channel do divertical motion by the rotation supporting structure 22, the ray cabin, the detector with
And the protecting wall can carry out the adjustment of relative position with its revolving structure between described two vertical arm, to guarantee to sweep
Retouching channel can be arranged with ray cabin relative to the direction of the detector always.
The position of the detector setting includes vertical arm identical as the vertical arm where the radiographic source, opposite, Yi Jishe
It is placed in three kinds of positions of transverse arm.It is corresponding, when the detector be set to the vertical arm opposite with the vertical arm where the radiographic source and/
Or when being set to transverse arm, the signal of the detector detection is based on superframe signal；And when the detector be set to it is described
When the identical vertical arm of vertical arm where radiographic source, the signal of the detector detection is based on scattered signal.The superframe signal
It is able to reflect the different information of article to be detected from the scattered signal, thus there is different image-forming principles to stress with detection
Point can be selectively arranged according to the type of article to be detected or the operative scenario of the article detection apparatus.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Transverse arm includes: flexible transverse arm, and both ends are respectively connected to described two vertical arm, and the flexible transverse arm can be elongated or shortened to change
The length of the transverse arm；With fixed transverse arm, one end is connected at least one of described two vertical arm, is used to support described flexible
Vertical arm；Wherein, at least partly described detector is arranged in the flexible transverse arm.
The detector for being at least partially disposed in the flexible transverse arm can guarantee the mistake extended in the transverse arm
Cheng Zhong, the detector can be than more fully detecting the detectable signal of the sense channel upper area, so as to treat spy
Survey the scanning imagery more complete and accurate of article.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: lifting device, described two vertical arm can be made to rise or fall fortune by the elevating movement of itself
It is dynamic；And running gear system, it is separately positioned on the lower end of described two vertical arm, the object can be made by the walking movement of itself
Product detection device is relative to ground running and steering.
(dotted outline shows the portal frame and does state before corresponding sports, solid line in figure as shown in Fig. 5~9
Profile shows the portal frame and does state after corresponding sports), pass through the telescopic device, the lifting device, institute
The setting of slewing supporting device and the running gear system is stated, the portal frame can correspondingly realize multi-motion shape
Formula, including but not limited to:
The spinning motion of two vertical arm as shown in FIG. 6, i.e., by control be arranged in described two vertical arm described in return
Turn support device rotation, described two vertical arm is made to rotate preset angle rotating around itself vertical axis, it is described two to realize
The spinning motion of vertical arm；
One of described two vertical arm are arranged in by control in the divertical motion of the sense channel as shown in Figure 7
The slewing supporting device rotation, the running gear system are static relative to ground, and control setting is another in described two vertical arm
One running gear system relative to ground running and steering, make described two vertical arm another around described two perpendicular
One of arm rotates preset angle, to realize the divertical motion of the sense channel；
It is as shown in Figure 8 while the sense channel does divertical motion, the vertical arm is done rotation movement, that is, passes through control
Set up set described two vertical arm another the slewing supporting device rotation, make described two vertical arm another around described
While one of two vertical arm rotate preset angle, another of described two vertical arm is preset around the rotation of itself vertical axis
Angle, to realize while the sense channel does divertical motion, the vertical arm is done rotation movement；
And the step type walking movement of the portal frame as shown in Figure 9, i.e., it is arranged by control described two
The slewing supporting device rotation of one of vertical arm, the running gear system are static relative to ground, and control is arranged described
Another the running gear system of two vertical arm relative to ground running and steering, make described two vertical arm another around
One of described two vertical arm rotate preset angle；And further control is arranged in described two vertical arm and returns described in another
It is static relative to ground to turn support device rotation, the running gear system, the institute of one of described two vertical arm is arranged in control
Running gear system is stated relative to ground running and steering, makes another rotation of one of described two vertical arm around described two vertical arm
Turn preset angle；So that the portal frame does step type walking movement.
During the sense channel does divertical motion or step type walking movement, due to described two as shaft
One of a vertical arm is fixed, and described two vertical arm another then rotated about certain angle, at this point, being set to described
The Articles detecting component 3 based on radiant image in two vertical arm is no longer able to corresponding setting.Specifically, being set to
The detection direction of the part objects detection components 3 of one of described two vertical arm does not change also, is directed to the sense channel and turns
To movement or step type walking movement before sense channel, and be set to described two vertical arm another part objects detection
The detection direction of component 3 is then directed to after movement with the divertical motion of the sense channel or step type walking movement
Sense channel.
At this point, should adjust during the sense channel does divertical motion or step type walking movement as shaft
One of described two vertical arm, do rotation movement it, so that 3 energy of Articles detecting component corresponding to post exercise sense channel
It is enough to work normally.
Correspondingly, can also be arranged in described two vertical arm can control the device that the Articles detecting component 3 rotates,
In the various movements of the sense channel and movement combination, to remain that the Articles detecting component is in opposite position
It sets, and is able to maintain the lasting normal work of sense channel.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Article detection apparatus includes: controller, for elevating movement, the telescopic device to the lifting device stretching motion,
The walking movement of the rotary motion of the slewing supporting device and the running gear system is controlled.
The controller can be constructed by hydraulic control system, can also be constructed by electric control system, specifically according to
According to the operation principles of the controller control object.By the controller, operator can be relatively labor-saving and easily right
The article detection apparatus carries out multi-motion control, so that the article detection apparatus be made to can adapt in various applied fields
Scape.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Controller is configured as: controlling stretching motion and/or lifting device execution institute that the telescopic device executes the transverse arm
The elevating movement of portal frame is stated, to change the size of the sense channel.
As it was noted above, the size of the sense channel can flexibly be determined according to the size of article to be detected, and
The size of the sense channel can be made to be just slightly larger than the size of the article to be detected, to obtain more preferably detection effect.Phase
Ying Di, since the telescopic device or the lifting device can be configured to the inspection for treating detection article with multilevel structure
Survey can have certain sequence accordingly.For example, first to need to only carry out that level-one is flexible or the article to be detected of elevating movement into
Row detection, then successively to needing, progress is stretched twice, three times and more times or the article to be detected of elevating movement is examined in turn
It surveys, so that the controller all only need to the telescopic device described in same level-one or lifting device progress in every wheel detection process
Control.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Controller is configured as: being controlled the slewing supporting device rotation, is kept at least one of described two vertical arm vertical around itself
Axis rotates preset angle, to realize the spinning motion of the vertical arm.As it was noted above, the spinning motion of described two vertical arm
Achieved technical effect includes selectively adjusting the revolution range of the portal frame, and treat detection article and carry out
The detection of multi-angle.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Two vertical arm include the first vertical arm and the second vertical arm, and the slewing supporting device includes the first revolution branch corresponding to the first vertical arm
Support arrangement and the second slewing supporting device corresponding to the second vertical arm, the running gear system include corresponding to the first vertical arm
Running gear system and the second running gear system corresponding to the second vertical arm；The controller is configured as: control described the
One running gear system is static relative to ground, and controls the first slewing supporting device rotation, so that described second is wheeled
Running gear is relative to ground running and steering, so that the transverse arm is made to rotate preset angle relative to first vertical arm,
To realize the divertical motion of the sense channel.
The divertical motion of the sense channel can make article detection apparatus provided by the present invention can detecte any side
To article to be detected.This has beneficial technology for the article detection apparatus of fixed position and moveable article to be detected
Effect, specifically, using article to be detected as vehicular cargo for, limited by direction of vehicle movement, such as lane is relatively narrow,
Vehicle turns round in the lesser situation in leeway, needs article detection apparatus to be directed to the vehicle travelled from different directions and is adjusted
It is whole, to accelerate the efficiency of Articles detecting.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Controller is further configured to: control the second slewing supporting device rotation makes second vertical arm around itself vertical axes
Line rotates preset angle, so that the vertical arm is done rotation movement when the sense channel does divertical motion.
For combined type cargo, often due to the splicing of a variety of cargos and have irregular exterior contour, at this time.
Sense channel while doing divertical motion the vertical arm do rotation movement, can do divertical motion by sense channel makes the present invention
Provided article detection apparatus is adapted to the exterior contour of article to be detected, and the vertical arm does rotation movement and can make simultaneously
The Articles detecting component being set in the vertical arm is treated detection article always with preferable observation angle and is detected, such as logical
The rotation angle for controlling the vertical arm relative to the transverse arm is crossed, cuts sense channel with the most narrow detection of article to be detected always
Face coincides, to improve detection effect.
The optimization of technical solution, described after any technical solution or any optimization that provide above or hereinafter as the present invention
Two vertical arm include the first vertical arm and the second vertical arm, and the slewing supporting device includes the first revolution branch corresponding to the first vertical arm
Support arrangement and the second slewing supporting device corresponding to the second vertical arm, the running gear system include corresponding to the first vertical arm
First running gear system and the second running gear system corresponding to the second vertical arm；The controller is configured as: control institute
It is static relative to ground to state the first running gear system, and controls the first slewing supporting device rotation, so that described second
Running gear system is relative to ground running and steering, so that the transverse arm be made to rotate preset angle relative to first vertical arm
Degree；And further to control second running gear system static relative to ground, and controls the second revolving support dress
Rotation is set, so that first running gear system is relative to ground running and steering, to make the transverse arm relative to described
Second vertical arm rotates preset angle；So that the portal frame does step type walking movement.
For example, when the angle preset that second vertical arm rotate around first vertical arm is clockwise 30 °, and described the
One vertical arm around the angle preset that second vertical arm rotates be counterclockwise 30 ° when, the step type walking side of the portal frame
Detection channels direction described in Xiang Weiyu is consistent.Step type walking movement mode in this way, the article detection apparatus can
Not against running gear system, the movement relative to article to be detected is realized, thus with certain observation angle
It is detected.
Certainly, those skilled in the art should expect step type walking movement also, and there are other predetermined angles to rotate, and
Correspondingly there is different technical effects.Such as the as shown in figure 9, any technical solution provided above or hereinafter as the present invention
Or after any optimization technical solution optimization, the controller is further configured to: second vertical arm is perpendicular around described first
The angle and first vertical arm of arm rotation are predetermined to be 180 ° around the angle that second vertical arm rotates, so that in institute
When stating portal frame and doing step type walking movement, the sense channel can successively toward article A to be detected arranged side by side,
B。
In order to realize the remote control to article detection apparatus provided by the present invention, mentioned above or hereinafter as the present invention
The optimization of technical solution after any technical solution or any optimization that supply, the article detection apparatus includes: remote controler and remote control
Transmitting assembly is instructed, the telecommand transmitting assembly setting is electrically connected on the portal frame, and with the controller, institute
State remote controler can with the telecommand transmitting assembly telecommunication, so as to operator remotely control the lifting device,
The telescopic device, the slewing supporting device and the running gear system.
Any technical solution disclosed in aforementioned present invention unless otherwise stated, if it discloses numberical range,
Disclosed numberical range is preferred numberical range, and any it should be appreciated by those skilled in the art preferred numberical ranges
The only obvious or representative numerical value of technical effect in many enforceable numerical value.It, can not since numerical value is more
Exhaustion, so the present invention just discloses technical solution of the component values to illustrate the present invention, also, the above-mentioned numerical value enumerated is not
The limitation to the invention protection scope should be constituted.
If the words such as " first ", " second " are used herein come if limiting components, those skilled in the art are answered
This knows: the use of " first ", " second " is intended merely to facilitate in description and is distinguished components as not having Stated otherwise
Outside, above-mentioned word has no special meaning.
Meanwhile if aforementioned present invention discloses or relates to the components or structural member of connection fastened to each other, except another
There is statement outer, is fixedly connected it is to be understood that connection (such as using bolt or screw connection) can be removedly fixed, it can also be with
Understand are as follows: non-removable to be fixedly connected with (such as riveting, welding), certainly, connection fastened to each other or integral structure
(such as manufacturing using casting technique is integrally formed) is replaced (obviously can not be using except integrally formed technique).
In addition, for indicating the art of positional relationship or shape applied in any technical solution disclosed in aforementioned present invention
Its meaning includes approximate with its, similar or close state or shape to language unless otherwise stated.Either component provided by the invention
Either being assembled by multiple individual component parts, or the separate part that integrally formed technique manufactures.
In the description of the present invention if used term " center ", " longitudinal direction ", " transverse direction ", "front", "rear", " left side ",
" right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" etc., then the orientation or positional relationship of above-mentioned term instruction is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified equipment, mechanism, component or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot
It is interpreted as limiting the scope of the invention.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (16)
1. a kind of article detection apparatus characterized by comprising
Portal frame, the transverse arm including being located at top, and positioned at the transverse arm two sides and two vertical arm being connect with the transverse arm,
The portal frame constitutes sense channel by the transverse arm and described two vertical arm area defined；
Slewing supporting device is connected to the upper end of described two vertical arm, is used to support the transverse arm, and can pass through itself
Rotary motion make described two vertical arm rotating around itself vertical axis rotate；And
Articles detecting component based on radiant image, is at least partially disposed at the portal frame, is used for by the door
The article of formula frame is detected；
Wherein, the transverse arm includes telescopic device, can change the length of the transverse arm by the stretching motion of itself.
2. article detection apparatus according to claim 1, which is characterized in that the telescopic device includes stretching at least one level
Contracting oil cylinder.
3. article detection apparatus according to claim 1, which is characterized in that the transverse arm includes:
Flexible transverse arm, both ends are respectively connected to described two vertical arm, can elongate or shorten to change the length of the transverse arm；With
Fixed transverse arm, one end is connected at least one of described two vertical arm, is used to support the flexible transverse arm.
4. article detection apparatus according to claim 1, which is characterized in that the article detection apparatus includes:
Lifting device can make described two vertical arm rise or fall movement by the elevating movement of itself.
5. article detection apparatus according to claim 1, which is characterized in that the article detection apparatus includes:
Running gear system is separately positioned on the lower end of described two vertical arm, can make the object by the walking movement of itself
Product detection device is relative to ground running and steering.
6. article detection apparatus according to claim 1, which is characterized in that the article detection apparatus includes:
Ray cabin is set to one of described two vertical arm, and the ray cabin includes radiographic source, being capable of emission detection ray pair
It is scanned by the article of the portal frame；
Detector is set at least one of described two vertical arm and/or the transverse arm, can detect the detected ray and exist
Transmission signal or scattered signal on the article, to be scanned imaging；With
Protecting wall is set to another in described two vertical arm.
7. article detection apparatus according to claim 6, which is characterized in that the transverse arm includes:
Flexible transverse arm, both ends are respectively connected to described two vertical arm, and the flexible transverse arm can elongate or shorten described in change
The length of transverse arm；With
Fixed transverse arm, one end is connected at least one of described two vertical arm, is used to support the flexible vertical arm；
Wherein, at least partly described detector is arranged in the flexible transverse arm.
8. article detection apparatus according to claim 6, which is characterized in that the article detection apparatus includes:
Lifting device can make described two vertical arm rise or fall movement by the elevating movement of itself；With
Running gear system is separately positioned on the lower end of described two vertical arm, can make the object by the walking movement of itself
Product detection device is relative to ground running and steering.
9. article detection apparatus according to claim 8, which is characterized in that the article detection apparatus includes:
Controller, stretching motion, the revolving support for elevating movement, the telescopic device to the lifting device fill
The walking movement of the rotary motion and the running gear system set is controlled.
10. article detection apparatus according to claim 9, which is characterized in that the controller is configured as: described in control
Telescopic device executes the stretching motion of the transverse arm and/or the lifting device executes the elevating movement of the portal frame, with
Change the size of the sense channel.
11. article detection apparatus according to claim 9, which is characterized in that the controller is configured as: described in control
Slewing supporting device rotation, makes at least one of described two vertical arm rotate preset angle around itself vertical axis, with reality
The spinning motion of the existing vertical arm.
12. article detection apparatus according to claim 9, which is characterized in that described two vertical arm include the first vertical arm and
Second vertical arm, the slewing supporting device include corresponding to the first slewing supporting device of the first vertical arm and corresponding to the second vertical arm
The second slewing supporting device, the running gear system includes the running gear system corresponding to the first vertical arm and corresponds to the
Second running gear system of two vertical arm；
The controller is configured as:
It is static relative to ground to control first running gear system, and controls the first slewing supporting device rotation, with
Make second running gear system relative to ground running and steering, so that the transverse arm be made to revolve relative to first vertical arm
Turn preset angle, to realize the divertical motion of the sense channel.
13. article detection apparatus according to claim 12, which is characterized in that the controller is further configured to:
The second slewing supporting device rotation is controlled, second vertical arm is made to rotate preset angle around itself vertical axis,
To which when the sense channel does divertical motion, the vertical arm is done rotation movement.
14. article detection apparatus according to claim 9, which is characterized in that described two vertical arm include the first vertical arm and
Second vertical arm, the slewing supporting device include corresponding to the first slewing supporting device of the first vertical arm and corresponding to the second vertical arm
The second slewing supporting device, the running gear system includes the running gear system corresponding to the first vertical arm and corresponds to the
Second running gear system of two vertical arm；
The controller is configured as:
It is static relative to ground to control first running gear system, and controls the first slewing supporting device rotation, with
Make second running gear system relative to ground running and steering, so that the transverse arm be made to revolve relative to first vertical arm
Turn preset angle；And
It is static relative to ground further to control second running gear system, and controls the second slewing supporting device rotation
Turn, so that first running gear system is relative to ground running and steering, to make the transverse arm relative to described second
Vertical arm rotates preset angle；
So that the portal frame does step type walking movement.
15. article detection apparatus according to claim 14, which is characterized in that the controller is further configured to:
What the angle and first vertical arm that second vertical arm is rotated around first vertical arm were rotated around second vertical arm
Angle is predetermined to be 180 °, so that the sense channel can be successively when the portal frame does step type walking movement
Toward article to be detected arranged side by side.
16. article detection apparatus according to claim 9, which is characterized in that the article detection apparatus includes:
Remote controler and telecommand transmitting assembly, the telecommand transmitting assembly are arranged on the portal frame, and with institute
State controller electrical connection, the remote controler can with the telecommand transmitting assembly telecommunication, so that operator is long-range
Control the lifting device, the telescopic device, the slewing supporting device and the running gear system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910009043.9A CN109597138A (en) | 2019-01-04 | 2019-01-04 | A kind of article detection apparatus |
| PCT/CN2020/070488 WO2020141001A1 (en) | 2019-01-04 | 2020-01-06 | Safety inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910009043.9A CN109597138A (en) | 2019-01-04 | 2019-01-04 | A kind of article detection apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109597138A true CN109597138A (en) | 2019-04-09 |
Family
ID=65964984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910009043.9A Pending CN109597138A (en) | 2019-01-04 | 2019-01-04 | A kind of article detection apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109597138A (en) |
| WO (1) | WO2020141001A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020141001A1 (en) * | 2019-01-04 | 2020-07-09 | 清华大学 | Safety inspection device |
| WO2020140992A1 (en) * | 2019-01-04 | 2020-07-09 | 同方威视技术股份有限公司 | Security check device |
| WO2020141000A1 (en) * | 2019-01-04 | 2020-07-09 | 清华大学 | Security inspection device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050157842A1 (en) * | 2002-07-23 | 2005-07-21 | Neeraj Agrawal | Single boom cargo scanning system |
| CN1798970A (en) * | 2003-06-06 | 2006-07-05 | 创新医疗系统技术公司 | Vehicle mounted inspection systems and methods |
| US20070217572A1 (en) * | 2002-07-23 | 2007-09-20 | Andreas Kotowski | Single boom cargo scanning system |
| US20080298545A1 (en) * | 2007-05-31 | 2008-12-04 | General Electric Company | Cargo container inspection system and apparatus |
| CN101933813A (en) * | 2010-09-14 | 2011-01-05 | 中国科学院深圳先进技术研究院 | Adjusting device of X-ray imaging equipment |
| CN101953234A (en) * | 2007-12-19 | 2011-01-19 | 瑞皮斯坎系统股份有限公司 | Rotatable suspension rod goods scanning system |
| WO2011051701A2 (en) * | 2009-10-26 | 2011-05-05 | Fortishield Limited | An inspection apparatus |
| US20120076257A1 (en) * | 2010-09-29 | 2012-03-29 | Josh Star-Lack | Radiation scanning of objects for contraband |
| CN107861165A (en) * | 2017-10-17 | 2018-03-30 | 青岛新前湾集装箱码头有限责任公司 | Portable commodity inspection system |
| CN209765072U (en) * | 2019-01-04 | 2019-12-10 | 清华大学 | Article detection device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7267239B2 (en) * | 2003-08-12 | 2007-09-11 | Toru Takehara | Method for nonintrusive scanning of cargo containers in a buffer operation |
| CN104749649B (en) * | 2013-12-26 | 2019-02-22 | 同方威视技术股份有限公司 | A kind of inspection system for container |
| CN105445288B (en) * | 2014-09-02 | 2019-06-14 | 同方威视技术股份有限公司 | A kind of novel compositions movable type inspection system |
| CN106324693B (en) * | 2016-08-30 | 2019-04-19 | 北京华力兴科技发展有限责任公司 | Self-travel type container/vehicle inspection equipment |
| CN108363112A (en) * | 2018-02-12 | 2018-08-03 | 北京华力兴科技发展有限责任公司 | Container inspection device and container check system |
| CN209765073U (en) * | 2019-01-04 | 2019-12-10 | 清华大学 | article detection device |
| CN109597138A (en) * | 2019-01-04 | 2019-04-09 | 清华大学 | A kind of article detection apparatus |
| CN109444971A (en) * | 2019-01-04 | 2019-03-08 | 清华大学 | A kind of article detection apparatus |
-
2019
- 2019-01-04 CN CN201910009043.9A patent/CN109597138A/en active Pending
-
2020
- 2020-01-06 WO PCT/CN2020/070488 patent/WO2020141001A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050157842A1 (en) * | 2002-07-23 | 2005-07-21 | Neeraj Agrawal | Single boom cargo scanning system |
| US20070217572A1 (en) * | 2002-07-23 | 2007-09-20 | Andreas Kotowski | Single boom cargo scanning system |
| CN1798970A (en) * | 2003-06-06 | 2006-07-05 | 创新医疗系统技术公司 | Vehicle mounted inspection systems and methods |
| US20080298545A1 (en) * | 2007-05-31 | 2008-12-04 | General Electric Company | Cargo container inspection system and apparatus |
| CN101953234A (en) * | 2007-12-19 | 2011-01-19 | 瑞皮斯坎系统股份有限公司 | Rotatable suspension rod goods scanning system |
| WO2011051701A2 (en) * | 2009-10-26 | 2011-05-05 | Fortishield Limited | An inspection apparatus |
| CN101933813A (en) * | 2010-09-14 | 2011-01-05 | 中国科学院深圳先进技术研究院 | Adjusting device of X-ray imaging equipment |
| US20120076257A1 (en) * | 2010-09-29 | 2012-03-29 | Josh Star-Lack | Radiation scanning of objects for contraband |
| CN107861165A (en) * | 2017-10-17 | 2018-03-30 | 青岛新前湾集装箱码头有限责任公司 | Portable commodity inspection system |
| CN209765072U (en) * | 2019-01-04 | 2019-12-10 | 清华大学 | Article detection device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020141001A1 (en) * | 2019-01-04 | 2020-07-09 | 清华大学 | Safety inspection device |
| WO2020140992A1 (en) * | 2019-01-04 | 2020-07-09 | 同方威视技术股份有限公司 | Security check device |
| WO2020141000A1 (en) * | 2019-01-04 | 2020-07-09 | 清华大学 | Security inspection device |
| GB2594653A (en) * | 2019-01-04 | 2021-11-03 | Nuctech Co Ltd | Security check device |
| GB2594653B (en) * | 2019-01-04 | 2022-12-28 | Nuctech Co Ltd | Security check device |
| US11747510B2 (en) | 2019-01-04 | 2023-09-05 | Nuctech Company Limited | Security inspection device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020141001A1 (en) | 2020-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109444971A (en) | A kind of article detection apparatus | |
| CN109597138A (en) | A kind of article detection apparatus | |
| CN105058398B (en) | Spherical-wheel mobile robot and speed measuring method thereof | |
| EP3479062B1 (en) | Method for comparing a laser beam hitting a laser recipient with a rotating laser beam | |
| CN105781153A (en) | Combined dynamic stage capable of making synergic movement with multi-degree of freedom | |
| CN207192736U (en) | A kind of spherical tank inspection workbench that can move freely | |
| DE4237773A1 (en) | Travelling robot with obstacle avoidance system and balance control - has 2 sets of perpendicular longitudinal elements supported by legs which are lengthened and shortened by operating drives | |
| US11312435B2 (en) | Motorized apparatus including articulated body | |
| CN109466795B (en) | Automatic test platform of unmanned helicopter | |
| CN209765072U (en) | Article detection device | |
| CN112033303A (en) | Device for measuring roundness and straightness of deep hole | |
| CN105378818B (en) | Motion platform is configured | |
| CN106403863A (en) | Multi-hole parameter detection system and detection method | |
| CN109703477A (en) | A kind of bracket, support equipment and support system | |
| EP3479061B1 (en) | Method for comparing a laser beam hitting a laser recipient with a rotating laser beam | |
| CN109708930A (en) | A kind of connector arrangement for automobile emission gas analyzer | |
| CN206178470U (en) | Positioner of robot patrols and examines | |
| CN101324449A (en) | Automotive inspection vehicle | |
| KR101724103B1 (en) | Air circulation apparatus having auto moving system | |
| CN108489428B (en) | Device and method for detecting coaxiality of piston cylinder | |
| CN209765071U (en) | Radiation inspection apparatus | |
| CN209273426U (en) | A kind of robot | |
| CN208043711U (en) | A kind of mobile X-ray flaw detection equipment | |
| CN105909234A (en) | Automatic downhole centering detecting device | |
| CN107685324A (en) | A kind of detection platform Three Degree Of Freedom catching robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |