GB2603718A - Radiation scanning inspection apparatus - Google Patents

Abstract

A radiation scanning inspection apparatus. The apparatus is provided with a working state and a transportation state, and comprises a radiation inspection device, wherein the radiation inspection device comprises a base part and a transverse part (3) arranged above the base part, the base part comprises a first longitudinal part (1) and a second longitudinal part (2) arranged at two ends of the transverse part (3) respectively, the first longitudinal part (1) or the second longitudinal part (2) comprises a cabin body, a radiation source (42), and a position adjusting mechanism (7), the radiation source (42) is arranged in the cabin body in a lifting manner, the position adjusting mechanism (7) is used for lifting the radiation source (42), in the working state, the radiation source (42) is provided with a working position with the bottom lower than the lower edge of the cabin body, and in the transportation state, the radiation source (42) is located inside the cabin body; and a traveling device, wherein the traveling device is detachably connected to the bottom of the first longitudinal part (1) and the bottom of the second longitudinal part (2), in the working state, the traveling device is connected to the first longitudinal part (1) and the second longitudinal part (2), and in the transportation state, the traveling device is separated from the first longitudinal part (1) and the second longitudinal part (2).

Description

RADIATION SCANNING INSPECTION APPARATUS

Cross-Reference to Related Applications

[1] This application claims priority to CN Application No. 201910981861.5, filed on October 16, 2019, entitled "RADIATION SCANNING INSPECTION EQUIPMENT", the contents of which are incorporated herein by reference in its entirety.

Field of the Invention

[2] The present disclosure relates to the field of radiation scanning inspection, io and in particular, to radiation scanning inspection equipment.

Background of the Invention

[3] It is necessary to meet the specified channel height when radiation scanning inspection equipment inspects an inspected object in a working state. However, in this state, the outline dimension of the equipment often cannot meet the requirement of overall transportation during transfer transportation, and it is necessary to reduce the height of the radiation scanning inspection equipment during transportation.

zo Summary of the Invention

[4] The present disclosure provides radiation scanning inspection equipment, having a working state and a transportation state. The radiation scanning inspection equipment includes: [5] a radiation inspection device, including a base portion and a transverse portion arranged above the base portion, wherein the base portion includes a first longitudinal portion and a second longitudinal portion which are arranged at two ends of the transverse portion respectively, the first longitudinal portion or the second longitudinal portion includes a cabin body, a radiation source and a position adjusting mechanism, the radiation source is liftably arranged in the cabin body, the position adjusting mechanism is used to lift and lower the radiation source, the radiation source has a working position with the bottom lower than a lower edge of the cabin body in the working state, and the radiation source is located in the cabin body in the transportation state; and [6] a travelling device, detachably connected to the bottom of first longitudinal portion and the bottom of second longitudinal portion, wherein the travelling device is connected to the first longitudinal portion and the second longitudinal portion in the working state, and the travelling device is separated from the first longitudinal portion and the second longitudinal portion in the transportation state. -2 -

[7] In some embodiments, a height of the transverse portion in the working state is greater than a height in the transportation state. The radiation scanning inspection equipment further includes: [8] a lifting device, arranged on the base portion and used to lift and lower the transverse portion when the working state and the transportation state are switched; and [9] a support body, separable relative to the base portion, wherein in the working state, the support body is arranged between the transverse portion and the base portion and the base portion supports the transverse portion through the support body, and in the transportation state, the support body is separated from the base portion and the transverse portion is directly supported at the top end of the base portion.

[10] In some embodiments, a guide rail slidably connected to the support body is arranged on the transverse portion; and when the transportation state is switched to the working state, the support body slides between the base portion and the transverse portion through the guide rail.

[11] In some embodiments, a guide device is arranged between the transverse portion and the base portion, and the guide device is used to guide the lifting and the lowering of the transverse portion.

[012] In some embodiments, the support body includes a first support arranged between the transverse portion and first longitudinal portion, and a second support between the transverse portion and the second longitudinal portion; and the lifting device includes a first lifting portion arranged on the first longitudinal portion, and a second lifting portion arranged on the second longitudinal portion.

[013] In some embodiments, the radiation scanning inspection equipment further includes a stabilizing beam, wherein in the transportation state, the stabilizing beam is connected to the first longitudinal portion and the second longitudinal portion; and in the working state, the stabilizing beam is separated from the first longitudinal portion and the second longitudinal portion.

[014] In some embodiments, the travelling device includes a plurality of wheel assemblies; in the working state, the plurality of wheel assemblies are arranged at the bottom of the first longitudinal portion and the bottom of the second longitudinal portion respectively; the radiation scanning inspection equipment further includes a deviation correcting device; and the deviation correcting device is used to make the travelling device keep linear travelling in the working state.

[15] In some embodiments, [16] each of the wheel assemblies includes a travelling wheel and a driving motor for driving the travelling wheel to walk; -3 - [17] the deviation correcting device includes a linear travelling detection device for detecting whether the travelling device keeps linear travelling in the working state, and a control device; the control device is in signal connection with each driving motor and the travelling detection device; and the control device is configured to: in the working state, when the linear travelling detection device detects that the travelling route of the travelling device deviates from the straight line, the rotating speed of each driving motor is adjusted according to the detection result of the linear travelling detection device, so that the travelling device can continue linear travelling.

[18] In some embodiments, each of the wheel assemblies includes a travelling io wheel; the deviation correcting device includes a linear travelling detection device, a control device and at least one deflection device arranged corresponding to the travelling wheel; the deflection device is used to deflect the travelling direction of the corresponding wheel; the linear travelling detection device is used to detect whether the travelling device keeps linear travelling in the working state; the control device is in signal connection with the deflection device and the linear travelling detection device; and the control device is configured to: in the working state, when the linear travelling detection device detects the travelling route of the travelling device deviates from the straight line, the deflection device is controlled to deflect the corresponding travelling wheel according to the detection result of the linear travelling detection device, so that the travelling device can continue linear travelling.

[19] In some embodiments, the linear travelling detection device includes a laser sensor in signal connection with the control device, and a laser guide line arranged along a preset linear travelling direction of the travelling device.

[20] In some embodiments, the derivation correcting device includes: [021] a guide wheel, connected to the first longitudinal portion or the second longitudinal portion; and [22] a linear guide rail, used to cooperate with the guide wheel and arranged along a linear travelling direction of the travelling device.

[23] In some embodiments, [024] the wheel assembly includes a rubber wheel travelling on the ground in the [25] the wheel assembly includes a steel wheel travelling on a guide rail in the working state.

[26] In some embodiments, the guide rail on which the steel wheel walks is the linear guide rail.

[27] In some embodiments, [28] the transverse portion is rigidly connected to the first longitudinal portion and the second longitudinal portion; -4 - [29] the travelling device includes a first wheel assembly, a second wheel assembly, a third wheel assembly and a fourth wheel assembly; each of the wheel assemblies includes a wheel seat and a travelling wheel rotatably mounted on the wheel seat; in the working state, the wheel seat of the first wheel assembly and the wheel seat of the second wheel assembly are fixedly mounted at the front and rear ends of the first longitudinal portion respectively, and the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly are hinged with the front and rear ends of the second longitudinal portion respectively; [30] the radiation scanning inspection equipment further includes an equalizing io beam; and the front and rear ends of the equalizing beam are hinged with the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly respectively.

[31] In some embodiments, the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly are hinged with the second longitudinal portion in a pivoted connection manner, and the hinged axes are along a parallel direction and parallel with each other; and the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly are hinged with the equalizing beam in a spherical hinge connection manner.

[32] In some embodiments, the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly are hinged with the second longitudinal portion and hinged with the equalizing beam in a pivoted connection manner, and the hinged axes are all along a horizontal direction and parallel with each other.

[33] In some embodiments, a line connected to and perpendicular to the hinged axis of the equalizing beam and the wheel seat of the third wheel assembly and connected to and perpendicular to the hinged axis of the equalizing beam and the wheel seat of the fourth wheel assembly is parallel with a line connected to and perpendicular to the hinged axis of the wheel seat of the third wheel assembly and the second longitudinal portion and connected to and perpendicular to the hinged axis of the wheel seat of the fourth wheel assembly and the second longitudinal portion.

[34] In some embodiments, a distance between the hinged axis of the equalizing beam and the wheel seat of the third wheel assembly and the hinged axis of the equalizing beam and the wheel seat of the fourth wheel assembly is equal to a distance between the hinged axis of the wheel seat of the third wheel assembly and the second longitudinal portion and the hinged axis of the wheel seat of the fourth wheel assembly and the second longitudinal portion.

[35] In some embodiments, the radiation scanning inspection equipment further includes an elastic device arranged between at least two of the travelling device, the -5 -equalizing beam and the second longitudinal portion, and the elastic device is used to provide an elastic force for preventing the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly from swinging relative to the second longitudinal portion.

[036] In some embodiments, the elastic device includes at least one of a first elastic device, a second elastic device and a third elastic device; [37] the first elastic device is arranged between the wheel seat of the third wheel assembly and the second longitudinal portion; [38] the second elastic device is arranged between the wheel seat of the fourth io wheel assembly and the second longitudinal portion; and [39] the third elastic device is arranged between the equalizing beam and the second longitudinal portion.

[40] In some embodiments, the swinging range of the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly relative to the is second longitudinal portion is limited.

[41] Based on the radiation scanning inspection equipment provided by the present disclosure, a detachably connected travelling device is arranged at the bottoms of the first longitudinal portion and the second longitudinal portion, and the radiation source which can be lifted and lowered by the position adjusting mechanism is zo arranged on the cabin body, so that when the state is switched to the working state, the travelling device can be dismounted; meanwhile, the radiation source is lifted above the lower edge of the cabin body through the position adjusting mechanism, so that the height of the radiation scanning inspection equipment is reduced, and the transfer transportation of the radiation scanning inspection equipment is facilitated.

In addition, the radiation source can be lifted or lowered on the cabin body, even can descend to be lower than the lower edge of the cabin body, so that when the radiation scanning inspection equipment inspects an inspected object, the inspected object can be subjected to radiation scanning inspection from different angles for many times, and the accuracy of the radiation scanning inspection can be improved.

[042] Other features and advantages of the present disclosure will become apparent by the detailed description for exemplary embodiments of the present disclosure with reference to the following accompany drawings.

Brief Description of the Drawings

[043] The accompanying drawings described herein are used to provide further understanding of the present disclosure and constitute a part of the present application. The schematic embodiments of the present disclosure and the description thereof are used to explain the present disclosure, but do not constitute -6 -an inappropriate limitation to the present disclosure. In the accompanying drawings: [044] FIG. 1 is a structural schematic diagram of radiation scanning inspection equipment according to some embodiments of the present disclosure in a working state; [045] FIG. 2 is a structural schematic diagram of a first longitudinal portion of the radiation scanning inspection equipment shown in FIG. 1; [46] FIG. 3 is a structural schematic diagram of the radiation scanning inspection equipment shown in FIG. 1; [47] FIG. 4 is a structural schematic diagram of the radiation scanning inspection io equipment shown in FIG. 1; [48] FIG. 5 is a schematic diagram of a section structure in an AA direction of a connecting structure of the wheel seat, the second longitudinal proportion and the equalizing beam shown in FIG. 4; [49] FIG. 6 is a partial enlarged diagram of the I portion in FIG. 5; is [050] FIG. 7 is a schematic diagram of a connecting structure of the wheel assembly and the equalizing beam shown in FIG. 4; [51] FIG. 8 is a structural schematic diagram of the wheel assembly shown in FIG. 4; [52] FIG. 9 is a structural schematic diagram of the wheel assembly in FIG. 8 from another angle; [53] FIG. 10 is a structural schematic diagram of a wheel assembly of radiation scanning inspection equipment according to some other embodiments of the present disclosure; [54] FIG. 11 is a structural schematic diagram of the wheel assembly in FIG. 10 from another angle; [55] FIG. 12 is a structural schematic diagram of radiation scanning inspection equipment according to some other embodiments of the present disclosure in a working state; [56] FIG. 13 is a structural schematic diagram of radiation scanning inspection equipment according to some other embodiments of the present disclosure in a [57] FIG. 14 is a structural schematic diagram of a wheel assembly of the radiation scanning inspection equipment shown in FIG. 13; [58] FIG. 15 is a structural schematic diagram of the radiation scanning inspection equipment shown in FIG. 1 in a transportation state; and [59] FIG. 16 is a partial structural schematic diagram of the radiation scanning inspection equipment shown in FIG. 1 in a working state. -7 -

Detailed Description of the Embodiments

[60] The technical solutions in the embodiments of the present disclosure are described clearly with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present disclosure. The following description of the at least one exemplary embodiment is actually merely illustrative and never constitutes any limitation to the present disclosure and application or use thereof. All other embodiments made on the basis of the embodiments of the present disclosure by a person of ordinary skill in the art without paying any creative io effort shall be included in the protection scope of the present disclosure.

[61] Unless otherwise specified, relative arrangement, numerical expressions and values of parts and steps described in the embodiments do not limit the scope of the present disclosure. Meanwhile, it should be understood that for the convenience of description, the dimensions of each part shown in the accompanying drawings are not drawn according to the actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the related field may not be discussed in detail, but, where appropriate, the technologies, methods and devices should be regarded as a part of the authorized specification. In all the examples shown and discussed herein, any specific value should be interpreted as merely exemplary rather than a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the accompanying drawings below. Therefore, once a certain item is defined in one drawing, it is unnecessary to further discuss the item in the subsequent drawings.

[062] The radiation scanning inspection equipment shown in FIG. 1 to FIG. 16 has a working state and a transportation state. The radiation scanning inspection equipment includes a radiation inspection device, a cabin body, a radiation source 42, a position adjusting mechanism 7 and a travelling device.

[063] The radiation inspection device includes a base portion and a transverse portion arranged above the base portion; the base portion includes a first longitudinal portion 1 and a second longitudinal portion 2 which are arranged at two ends of the transverse portion respectively; and the first longitudinal portion 1 or the second longitudinal portion 2 includes a cabin body, a radiation source 42 and a position adjusting mechanism 7. That is, the cabin body, the radiation source 42 and the position adjusting mechanism 7 are arranged on the first longitudinal portion 1 or the second longitudinal portion 2. In the working state, the radiation source 42 has a working position with the bottom lower than a lower edge of the cabin body, that is, in the working state, the radiation source 42 may descend to a working position -8 -which is at least partially lower than a bottom edge of the cabin body to work. The position adjusting mechanism 7 is used to lift and lower the radiation source 42, and the position adjusting mechanism may be some telescopic mechanism, such as a hydraulic cylinder, an air cylinder, a feed screw nut pair and the like.

[064] The travelling device is detachably connected to the bottom of the first longitudinal portion 1 and the bottom of the second longitudinal portion 2; in the working state, the travelling device is connected to the first longitudinal portion 1 and the second longitudinal portion 2; and in the transportation state, the travelling device is separated from the first longitudinal portion 1 and the second longitudinal io portion 2.

[65] According to the radiation scanning inspection equipment provided by this embodiment, a detachably connected travelling device is arranged at the bottoms of the first longitudinal portion 1 and the second longitudinal portion 2, and the radiation source 42 which can be lifted and lowered by the position adjusting is mechanism 7 is arranged on the cabin body, so that when the state is switched to the working state, the travelling device can be dismounted; meanwhile, the radiation source 42 is lifted above the lower edge of the cabin body through the position adjusting mechanism, so that the height of the radiation scanning inspection equipment is reduced, and transfer transportation of the radiation scanning zo inspection equipment is facilitated. In addition, the radiation source 42 can be lifted and lowered on the cabin body, even can descend to be lower than the lower edge of the cabin body, so that when the radiation scanning inspection equipment inspects an inspected object, the inspected object can be subjected to radiation scanning inspection from different angles for many times, and the accuracy of the radiation scanning inspection can be improved.

[66] In some embodiments, the radiation scanning inspection equipment further includes a lifting device 62 and a support body 61. The radiation scanning inspection equipment may be a transmitted radiation scanning inspection device, radiation rays are emitted from the radiation source 42 to an inspected object passing through a portal inspection channel of a gate frame, and after passing through the inspected object, the radiation rays are received by a detector to form a radiation scanning image. The radiation scanning inspection equipment may further be a back-scattered radiation scanning inspection device; a detector and a radiation source 42 of the back-scattered radiation scanning inspection device are located on the same side of the inspected object; and after the radiation source 42 emits radiation rays to the inspected object, part of the radiation rays are scattered back by the inspected object and are received by the detector located on the same side of the radiation source to form a radiation scanning image. In the transmitted radiation scanning -9 -inspection device, one of the first longitudinal portion 1 and the second longitudinal portion 2 may include a cabin body with a radiation source 42, and the other one may include a structure such as a wall body for blocking radiation rays; and the first longitudinal portion 1 and the second longitudinal portion 2 may also be cabin bodies. In the embodiment shown in FIG. 1, the first longitudinal portion 1 is a cabin body including a radiation source 42, the radiation source 42 is a transmitted radiation source, a detector includes a vertical detector 41 arranged on the second longitudinal portion 2 and for receiving the transmitted radiation rays, and a transverse detector fixedly connected below the transverse portion; and the second longitudinal portion further includes a wall body for blocking the radiation rays from radiating outwards. In some embodiments, the radiation source 42 may also be a back-scattered radiation source, and at this time, the radiation source 42 and the detector which is located on the same side of the radiation source 42 are both located on the first longitudinal portion 1.

[067] The transverse portion 3 is arranged above the base portion, and a height of the transverse portion 3 in the working state is greater than a height of the transverse portion 3 in the transportation state; the lifting device 62 is arranged on the base portion and is used to lift and lower the transverse portion 3 when the working state and the transportation state are switched; the transverse portion 3 may include a main beam as shown in FIG. 1 and FIG. 15; the lifting device 62 may be a telescopic rod, an air cylinder, a hydraulic cylinder, a motor-driven feed screw nut and other telescopic mechanisms; and in the embodiments shown in FIG. 1, FIG. 15 and FIG. 16, the lifting device includes a lifting screw rod and lifts and lowers the transverse portion 3 threadedly cooperating with the lifting screw rod 62 through the rotation of the lifting screw rod 62.

[068] The support body 61 is separable relative to the base portion; and the support body 61 may be connected to the base portion through a bolt and can be separated from the base portion after the bolt is dismounted. In the working state, the support body 61 is arranged between the transverse portion 3 and the base portion, and the base portion supports the transverse portion 3 through the support body 61. In the transportation state, the support body 61 is separated from the base portion, and the transverse portion 3 is directly supported at the top end of the base portion. In the working state, the support body 61 is arranged between the transverse portion 3 and the base portion. Since the support body 61 is arranged below the transverse portion 3, the transverse portion 3 has a higher height, in the working state, the support body 61 is only located above the base portion and is not located above an inspection channel of the radiation scanning inspection equipment; therefore, the radiation scanning inspection equipment has a higher inspection channel. When the -10 -working state is switched to the transportation state, the lifting device 62 lifts the transverse portion and makes the support body 61 to be separated from the base portion and be removed from the base portion, and then the lifting device 62 descends the transverse portion 3, so that the transverse portion 3 can be directly connected to the base portion, and the transverse portion 3 has a lower height in the transportation state. When the radiation scanning inspection equipment is switched from the transportation state to the working state, the lifting device 62 lifts the transverse portion again, moves the support body 61 between the base portion and the transverse portion 3, and lowers the transverse portion 3 again.

io [069] According to the radiation scanning inspection equipment in this embodiment, the support body 61 is arranged between the base portion and the transverse portion 3; in the working state, the support body 61 is arranged between the base portion and the transverse portion 3, and the radiation scanning inspection equipment has a sufficient working height; when the state is switched to the transportation state, the lifting device 62 lifts the transverse portion 3 and then separates and removes the support body 61 from the base portion, and the transverse portion 3 is directly supported on the base portion after descending, so that the height of the radiation scanning inspection equipment is reduced, and transportation is facilitated; and when the equipment works again, it is only necessary to move the support body 61 between the transverse portion 3 and the base portion again. Compared with the prior art, the disassembling and assembling work of the equipment is reduced, which is more convenient and simpler; meanwhile, when the state is switched to the working state again, it is no longer necessary to perform various tedious calibration work, and the state is switched more flexibly and conveniently.

[070] In some embodiments, a guide rail slidably connected to the support body 61 is arranged on the transverse portion 3; and when the state is switched to the transportation state, the support body 61 slides to an area between the first longitudinal portion 1 and the second longitudinal portion 2 through the guide rail. As shown in FIG. 1, FIG. 15 and FIG. 16, the guide rail includes a sliding guide rail 64 arranged on a side of the transverse portion 3; when the working state is switched to the transportation state, a connecting base 63 cooperating with the sliding guide rail 64 is arranged on the support body 61, the support body 61 may slide and move on the sliding guide rail 64 to below the transverse portion 3 and move to an area between the first longitudinal portion 1 and the second longitudinal portion 2; and when the transportation state is switched to the working state, the support body 61 may slide between the base portion and the transverse portion 3 through the sliding guide rail 64 from an area between the first longitudinal portion 1 and the second longitudinal portion 2. In this embodiment, the support body 61 slides on the transverse portion 3 to be connected to and separated from the base portion, which is convenient and simple; meanwhile, when the support body 61 moves to be connected to the base portion, due to the guide action of the guide rail, it is also favorable for alignment of the support body 61 and the base portion. Meanwhile, the support body 61 is always connected to the guide rail on the transverse portion 3, so that the support body 61 can be always located on the transverse portion 3, and the transportation of the support body 61 is facilitated.

[71] In some embodiments, as shown in FIG. 1, FIG. 15 and FIG. 16, a fixing io device is arranged on a part of the guide rail located on an area between the first longitudinal portion 1 and the second longitudinal portion 2; and in the transportation state, the fixing device fixes the support body 61. In some embodiments, the fixing device includes a fixing rod 65, and the fixing device may also be a fixing block or a fixing plate; when the support body 61 slides to an area between the first longitudinal portion 1 and the second longitudinal portion 2, the fixing device may fix the support body 61, for example, a locking hole is formed on the support body 61, and the fixing rod 65 is a telescopic rod cooperating with the locking hole in a locking manner. Through the fixing device, the support body 61 can be fixed during transportation, so that the support body 61 is more stable, and the stability when the equipment is transported is improved.

[72] In some embodiments, a guide device is arranged between the transverse portion 3 and the base portion, and the guide device is used to guide the lifting and the lowering of the transverse portion 3. By this arrangement, the transverse portion 3 can lift and lower more stably and reliably; meanwhile, when the transverse portion 3 is switched from the transportation state to the working state, it is easier to return to the accurate working position.

[73] In some embodiments, as shown in FIG. 1 to FIG. 3, the support body 61 includes a first support 611 arranged between the transverse portion 3 and the first longitudinal portion 1, and a second support 612 arranged between the transverse portion 3 and the second longitudinal portion 2; and the lifting device 62 includes a first lifting portion 621 arranged on the first longitudinal portion 1, and a second lifting portion 622 arranged on the second longitudinal portion 2. In the working state, the transverse portion 3 is supported through the first support and the second support on two sides, so that the transverse portion 3 is more stable and reliable; and during lifting and lowering, the transverse portion 3 is lifted or lowered by the first lifting portion 621 and the second lifting portion 622 at two ends, so that the transverse portion 3 can be lifted more stably and reliably.

[74] In some embodiments, as shown in FIG. 16, the transverse portion 3 is -12 -provided with a first positioning portion 67, and the support body 61 is provided with a second positioning portion 68; and in the working state, the first positioning portion 67 cooperates with the second positioning portion 68. Through the arrangement of the first positioning portion 67 and the second positioning portion 68, when the support body 61 is switched from being separated from the base portion to being connected to the base portion, the support body 61 can continue the working position more quickly and accurately through alignment and cooperation of the first positioning portion 67 and the second positioning portion 68.

[075] In some embodiments, the base portion is provided with a third positioning portion 69; and in the transportation state, the third positioning portion 69 cooperates with the first positioning portion 67. In the transportation state, through the cooperation of the first positioning portion 67 and the third positioning portion 69, the transverse portion 3 can be located at a proper transportation position stably and reliably, and the transportation of the equipment is facilitated. In some embodiments, the first positioning portion 67 is a telescopic pin shaft arranged on the transverse portion 3, the second positioning portion 68 is a first pin hole arranged on the support body 61 for cooperating with the pin shaft in the working state, and the third positioning portion is a second pin hole for cooperating with the pin shaft in the transportation state.

[076] In some embodiments, as shown in FIG. 15, the radiation scanning inspection equipment further includes a stabilizing beam 66; in the transportation state, the stabilizing beam 66 is connected to the first longitudinal portion 1 and the second longitudinal portion 2; and in the working state, the stabilizing beam 66 is separated from the first longitudinal portion 1 and the second longitudinal portion 2. Through the arrangement of the stabilizing beam 66, before the support body 61 is separated from the base portion and/or the travelling device is separated from the first longitudinal portion 1 and the second longitudinal portion 2, the stabilizing beam 66 may be connected to the first longitudinal portion 1 and the second longitudinal portion 2, and the rigidity and stability of the equipment are improved, so that in the process of lifting the transverse portion 3, moving the support body 61 and disassembling the travelling device, the radiation scanning inspection equipment is more stable, and interference to other parts can be further reduced. During transportation, the stabilizing beam 66 may also improve the stability of the radiation scanning inspection equipment.

[077] In some embodiments, as shown in FIG. 1 to FIG. 13, the travelling device includes a plurality of wheel assemblies; in the working state, the plurality of wheel assemblies are arranged at the bottom of the first longitudinal portion 1 and the second longitudinal portion 2 respectively; and the radiation scanning inspection -13 -equipment further includes a deviation correcting device, and the deviation correcting device is used to make the travelling device keep linear travelling in the working state. in some embodiments, when the travelling device deviates from linear travelling, the deviation correcting device is used to make the travelling device eliminate deviation and continue linear travelling. In some other embodiments, the deviation correcting device is used to make the travelling device always keep linear travelling during linear travelling without deviation.

[78] According to the radiation scanning inspection equipment provided by this embodiment, wheel assemblies and deviation correcting devices are arranged below lo the first longitudinal portion 1 and the second longitudinal portion 2 of the rigid gate frame, and the radiation scanning inspection equipment can keep linear travelling, so that the radiation scanning inspection imaging quality and efficiency of the inspected object can be improved.

[79] In some embodiments, as shown in FIG. 1 to FIG. 9, each wheel assembly includes a travelling wheel and a driving motor for driving the travelling wheel to walk; and in some embodiments, each wheel assembly may include two travelling wheels and two driving motors for driving the corresponding travelling wheels respectively. For example, a wheel assembly with a driving motor is arranged below the first longitudinal portion 1, a wheel assembly with a driving motor is arranged below the second longitudinal portion 2, and then wheel assemblies without driving motors are arranged below the first longitudinal portion 1 and the second longitudinal portion 2. In some other embodiments, each wheel assembly may further include a plurality of wheel assemblies with driving motors arranged at the bottoms of the first longitudinal portion 1 and the second longitudinal portion 2 respectively. For example, in the embodiments shown in FIG. 1 to FIG. 9, each wheel assembly includes a first wheel assembly 11 and a second wheel assembly 12 with driving motors arranged at the front and rear ends of the first longitudinal portion 1, and a third wheel assembly 13 and a fourth wheel assembly 14 with driving motors arranged at the front and rear ends of the second longitudinal portion 2. As shown in FIG. 8, the driving motor of the third wheel assembly 13 may be a third wheel driving motor 133 connected to a wheel edge speed-reducing mechanism of the third wheel assembly 13.

[80] The deviation correcting device includes a linear travelling detection device for detecting whether the travelling device keeps linear travelling in the working state, and a control device; the control device is in signal connection with each driving motor and the travelling detection device; and the control device is configured to: in the working state, when the linear travelling detection device detects that the travelling route of the travelling device deviates from the straight line, the rotating -14 -speed of each driving motor is adjusted according to the detection result of the linear travelling detection device so as to continue the linear travelling of the travelling device, that is, when the travelling device deviates from the straight line, the rotating speed difference between the driving motor below the first longitudinal portion 1 and the driving motor below the second longitudinal portion 2 is controlled to realize the correction of the steering deviation of the travelling device.

[81] According to the radiation scanning inspection equipment provided by this embodiment, the wheel assembly realizes steering deviation correction through differential adjustment, and the wheel assembly directly walks on the ground, which io is suitable for occasions without laying tracks and without civil engineering.

[82] In some embodiments, the linear travelling detection device includes a laser sensor in signal connection with the control device, and a laser guide line arranged along a preset linear travelling direction of the travelling device. For example, a laser emitter is arranged in front of the travelling device in the travelling direction to emit a laser line to from a laser guide line; a laser sensor is arranged on the travelling device to receive the laser guide line; and when the position of the laser guide line received by the laser sensor moves in a horizontal direction, it is detected that the travelling route of the travelling device deviates from the straight line.

[83] In some embodiments, each wheel assembly includes a travelling wheel; the deviation correcting device includes a deflection device arranged corresponding to at least one travelling wheel, a linear travelling detection device and a control device; the deflection device is used to change the travelling direction of the corresponding travelling wheel; the linear travelling detection device is used to detect whether the travelling device keep linear travelling in the working state; the control device is in signal connection with the deflection device and the linear travelling device; and the control device is configured to: in the working state, when the linear travelling detection device detects that the travelling route of the travelling device deviates from the straight line, control the deflection device to deflect the travelling wheel according to the detection result of the linear travelling detection device so as to continue the linear travelling of the travelling device. Wheel assemblies may include two or a plurality of deflection wheel assemblies which are arranged below the first longitudinal portion 1 and the second longitudinal portion 2 respectively. The deflection device may include various driving mechanisms with telescopic functions, such as a hydraulic cylinder and an air cylinder, so as to realize the deflection of the travelling wheel of the deflection wheel assembly. According to the radiation scanning inspection equipment provided by this embodiment, through the arrangement of the deflection wheel assembly, deviation correction and linear travelling can be realized through the deflection of the travelling wheel, and the -15 -wheel assembly directly walks on the ground to be suitable for occasions without laying tracks, without civil engineering and without driving motor differential. The linear travelling detection device in this embodiment may adopt the same device as that of the previous embodiment.

[084] In some embodiments, the wheel assembly includes a wheel seat and a travelling wheel rotatably mounted on the wheel seat; as shown in FIG. 10 and FIG. 11, the wheel assembly in this embodiment includes a deflection wheel assembly; the wheel seat of the deflection wheel assembly includes a deflection wheel seat; the deflection wheel seat includes a first wheel portion 201 mounted on the first longitudinal portion 1 or the second longitudinal portion 2, and a second wheel seat portion 204 for mounting the travelling wheel (that is, the deflection travelling wheel 200) of the deflection wheel assembly; the second wheel seat portion 204 is mounted on the first wheel seat portion 201 rotatably around a vertical shaft; a slewing bearing 202 is arranged between the first wheel seat portion 201 and the second wheel seat portion 204; the deflection device includes an electric push rod 203 in signal connection with the control device; the electric push rod 203 may be formed by a motor-driven turbine worm mechanism; and the electric push rod 203 is in driving connection with the second wheel seat portion 204 for pushing the second wheel seat portion 204 to deflect relative to the first wheel seat portion 201.

[085] In some embodiments, the deviation correcting device includes a guide wheel 310 and a linear guide rail 311. The guide wheel 310 is connected to the first longitudinal portion 1 or the second longitudinal portion 2; and the linear guide rail 311 is used to cooperate with the guide wheel 310 and is arranged along a preset linear travelling direction of the travelling device. In this embodiment, the guide wheel 310 and the linear guide rail 311 are provided, and linear travelling of the travelling device can be ensured through guidance. In some embodiments, as shown in FIG. 12, the wheel assembly includes a rubber wheel travelling on the ground; and through the combined action of the rubber wheel and the guide wheel 310, linear travelling can be ensured through the guidance of the guide wheel 310, the rubber wheel can walk on the ground and bear the load, a small amount of civil engineering is only required, and the requirement on the civil engineer is reduced. In some embodiments, as shown in FIG. 13 and FIG. 14, the wheel assembly includes a steel wheel 301 travelling on the guide rail. The steel wheel 301, that is, a travelling wheel box, needs to walk on the guide rail. As shown in the figure, the steel wheel 301 may be driven by a speed-reducing motor 303, and the steel wheel 301 is connected to the first longitudinal portion 1 or the second longitudinal portion 2 through a travelling wheel box connecting frame 302. Through the combination of the guide wheel 310 and the steel wheel 301, deviation correction and travelling of the -16 -radiation scanning inspection equipment are both on the guide rail, and this embodiment is applicable to sites suitable for civil engineering and laying guide rails.

[86] In some embodiments, the guide rail on which the steel wheel 301 walks is the linear guide rail 311, that is, the steel wheel 301 and the guide wheel 310 may share one guide rail.

[87] In some embodiments, the transverse portion 3 is rigidly connected to the first longitudinal portion 1 and the second longitudinal portion 2; the travelling device includes a first wheel assembly 11, a second wheel assembly 12, a third wheel assembly 13 and a fourth wheel assembly 14; and as shown in FIG. 1 to FIG. 12, io each wheel assembly includes a wheel seat and a travelling wheel, a rotating shaft for autorotation of the travelling wheel is arranged on the wheel seat, and the wheel seat is connected to the radiation inspection device. As shown in FIG. 1 and FIG. 2, in the working state, the first wheel assembly 11 and the second wheel assembly 12 are fixedly mounted at the front and rear ends of the first longitudinal portion 1, the travelling direction of the radiation scanning inspection equipment is front, and the backward direction of the radiation scanning inspection equipment is rear. The wheel seats of the first wheel assembly 11 and the second wheel assembly 12 may be directly fixed to the first longitudinal portion 1 through welding and bolting, and as shown in the figure, may also be fixed to the first longitudinal portion 1 through a connecting piece. For example, a first wheel seat 111 of the first wheel assembly in the figure is hinged with the connecting piece respectively through upper and lower ends, and then the connecting piece connected to the upper and lower ends of the first wheel seat 111 is fixed to the first longitudinal portion 1, so that the first wheel seat 111 is fixedly mounted on the first longitudinal portion 1.

[088] As shown in FIG. 1, FIG. 3, FIG. 4, FIG. 5 and FIG. 7, the wheel seats of the third wheel assembly 13 and the fourth wheel assembly 14 are hinged to the second longitudinal portion 2, and the wheel seats may swing relative to the second longitudinal portion 2. For example, the wheel seat of the third wheel assembly is a third wheel seat 131 and the travelling wheel of the third wheel assembly is a third travelling wheel 132, the third travelling wheel 132 can rotate relative to the third wheel seat 131, the third wheel seat 131 is hinged with a third wheel connecting piece 21, and then the third wheel connecting piece 21 is fixed to the second longitudinal portion 2, so that the third wheel seat 131 is hinged with the second longitudinal portion 2.

[089] The front and rear ends of the equalizing beam 15 are hinged with the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14.

[090] In this embodiment, the first wheel assembly 11 and the second wheel -17 -assembly 12 of four wheel assemblies of the travelling device at the bottom of the radiation inspection device are fixedly mounted at the bottom of one side of a gate frame, the third wheel assembly 13 and the fourth wheel assembly 14 are hinged to the bottom of the other side of the gate frame, and the third assembly 13 and the fourth wheel assembly 14 are connected through the hinged equalizing beam 15, so that the third wheel assembly 13 and the fourth wheel assembly 14 can swing in a small range relative to the gate frame. When encountering an uneven road surface, the two wheel assemblies can swing adaptively in a small range. In addition, the equalizing beam 15 hinged with the third wheel assembly 13 and the fourth wheel assembly 14 can make a small movement through hinging at two ends to adjust the load of the third wheel assembly 13 and the load of the fourth wheel assembly 14, thereby improving the load uniformity of the third wheel assembly 13 and the load of the fourth wheel assembly 14, better adapting for the unevenness of the road surface, ensuring the travelling stability of the radiation scanning inspection equipment and ensuring the inspection effect of radiation scanning inspection.

Meanwhile, the radiation inspection device includes a rigid gate frame, and the wheel seat of the first wheel assembly 11 and the wheel seat of the second wheel assembly 12 are fixedly connected to the first longitudinal portion 1, so that when the radiation inspection device walks, the first wheel assembly 11 and the second wheel assembly 12 can support the rigid gate frame to make the second longitudinal portion 2 be more stably supported by the third wheel assembly 13 and the fourth wheel assembly 14 through the rigid gate frame in the adaptive swing process.

[91] In some embodiments, the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 are hinged with the second longitudinal portion 2 in a pivoted connection manner, and the hinged axes are along a horizontal direction and parallel with each other; and the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 are hinged with the equalizing beam 15 in a spherical hinge connection manner. The equalizing beam 15 is connected to the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 through spherical hinge and can make a small movement at more angles, so that the load uniformity of the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 can be better adjusted.

[92] In some embodiments, the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 are hinged with the second longitudinal portion 2 and are hinged with the equalizing beam 15 in a pivoted connection manner, and the hinged axes are all along a horizontal direction and parallel with each other. For example, the wheel seat of the third wheel assembly 13 may be -18 -pivoted by a third wheel hinge pin shaft 211. As shown in FIG. 5 and FIG. 6, the equalizing beam 15 may be rod-shaped, and the equalizing beam 15 and the wheel seat may be hinged in a pivoted connection manner by setting an equalizing beam hinge pin shaft 151.

[093] In some embodiments, a line connected to and perpendicular to the hinged axis of the equalizing beam 15 and the wheel seat of the third wheel assembly 13 and connected to and perpendicular to the hinged axis of the equalizing beam 15 and the wheel seat of the fourth wheel assembly 14, is parallel with a line connected to and perpendicular to the hinged axis of the wheel seat of the third wheel assembly 13 and the second longitudinal portion 2 and connected to and perpendicular to the hinged axis of the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2. That is, a connecting line of the hinge points at two ends of the equalizing beam 15 is parallel with a connecting line of the hinge point of the second longitudinal portion 2 and the third wheel assembly 13 and the hinge point of the second longitudinal portion 2 and the fourth wheel assembly 14.

By this arrangement, the linkage property of the third wheel assembly 13 and the fourth wheel assembly 14 can be improved; and in a case of an uneven road surface, the uniformity of load distribution of the third wheel assembly 13 and the fourth wheel assembly 14 by the equalizing beam 15 is improved, and the travelling stability of the radiation scanning inspection equipment is further improved.

[94] In some embodiments, a height of the hinged axis of the wheel seat of the third wheel assembly 13 and the second longitudinal portion 2 is as same as a height of the hinged axis of the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2. By this arrangement, the third wheel assembly 13 and the fourth wheel assembly 14 can support the radiation inspection device more uniformly and stably; and during swinging adjustment, in a case of an uneven road surface, it is easier to realize uniform adjustment of the load.

[95] In some embodiments, a distance between the hinged axis of the equalizing beam 15 and the wheel seat of the third wheel assembly 13 and the hinged axis of the equalizing beam 15 and the wheel seat of the fourth wheel assembly 14 is equal to a distance between the hinged axis of the wheel seat of the third wheel assembly 13 and the second longitudinal portion 2 and the hinged axis of the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2. That is, the hinge points between the equalizing beam 15 and the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14, and the hinge points between the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2 can form a parallelogram. In a case of an uneven road surface, when the equalizing beam -19 -manke a small movement to adjust and distribute the load of the wheel assemblies at two ends, higher height adaptivity and load uniformity of the third wheel assembly 13 and the fourth wheel assembly 14 can be achieved, and the third wheel assembly 13 and the fourth wheel assembly 14 can support the second longitudinal portion 2 more stably.

[96] In some embodiments, a height of the hinged axis of the equalizing beam 15 and the wheel seat of the third wheel assembly 13 and a height of the hinged axis of the equalizing beam 15 and the wheel seat of the fourth wheel assembly 14 are both less than a height of the hinged axis of the wheel seat of the third wheel assembly 13 and the second longitudinal portion 2 and a height of the hinged axis of the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2.

[97] In some embodiments, the radiation scanning inspection equipment further includes an elastic device arranged between at least two of the travelling device, the equalizing beam 15 and the second longitudinal portion 2, the elastic device is used to provide an elastic force for preventing the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 from swinging relative to the second longitudinal portion 2, and the elastic device may be a spring or other structures. In a case of an uneven road surface, when the third wheel assembly 13 and the fourth wheel assembly 14 adaptively adjust and swing relative to the second longitudinal portion 2, this arrangement contributes to preventing the third wheel assembly 13 and the fourth wheel assembly 14 from swinging excessively when encountering a large obstacle on the road surface, and the stability of supporting the second longitudinal portion 2 can be improved while adaptive adjustment is performed.

[098] In some embodiments, as shown in FIG. 3, a first elastic device 51 is arranged between the wheel seat of the third wheel assembly 13 and the second longitudinal portion 2; and/or a second elastic device 52 is arranged between the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2; and/or a third elastic device 53 is arranged between the equalizing beam 15 and the second longitudinal portion 2. The arrangement of the elastic devices contributes to preventing the third wheel assembly 13 and the fourth wheel assembly 14 from swinging excessively when encountering a large obstacle and improving the stability of the equipment; meanwhile, a certain restoring force can be provided to the third wheel assembly 13 and the fourth wheel assembly 14, and the radiation scanning inspection equipment can be reset quickly when restoring to walk on an even road surface.

[099] In some embodiments, the swinging range of the wheel seat of the third wheel assembly relative to the second longitudinal portion and the swinging range of -20 -the wheel seat of the fourth wheel assembly relative to the second longitudinal portion are limited. For example, a limiting plate may be arranged within the swinging range of the wheel seat to limit the swing of the wheel seat, and the swinging range of the wheel seat may be limited by limiting a distance between the wheel seat of the third wheel assembly 13, the wheel seat of the fourth wheel assembly 14 and/or the equalizing beam 15 and the second longitudinal portion 2.

[0100] In some embodiments, the first longitudinal portion 1 is a cabin body with a radiation source, and the second longitudinal portion 2 is a wall body.

[0101] In some embodiments, the control device described above may be a general-purpose processor for performing the function described by the present disclosure, a programmable logic controller (Programmable Logic Controller, PLC), a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, a discrete gate or a transistor logic device, a discrete hardware disassembly or any appropriate combination.

[0102] Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present disclosure, but not to limit thereto. Although the present disclosure is described in detail with reference to preferred embodiments, those of ordinary skill in the art should understand: the specific embodiments of the present disclosure still can be modified or part of technical features can be equivalently substituted, which should be included in the scope of the technical solutions claimed by the present disclosure.

Claims (21)

1. -21 -Claims 1. A radiation scanning inspection equipment, having a working state and a transportation state, and comprising: a radiation inspection device, comprising a base portion and a transverse portion (3) arranged above the base portion, wherein the base portion comprises a first longitudinal portion (1) and a second longitudinal portion (2) which are arranged at two ends of the transverse portion (3) respectively, the first longitudinal portion (1) or the second longitudinal portion (2) comprises a cabin body, a radiation source and a position adjusting mechanism (7), the radiation source (42) is liftably arranged in the cabin body, the position adjusting mechanism (7) is configured to lift and lower the radiation source, the radiation source (42) has a working position with the bottom lower than a lower edge of the cabin body in the working state, and the radiation source (42) is located in the cabin body in the transportation state; and a travelling device, detachably connected to the bottom of the first longitudinal portion (1) and the bottom of the second longitudinal portion (2), wherein the travelling device is connected to the first longitudinal portion (1) and the second longitudinal portion (2) in the working state, and the travelling device is separated from the first longitudinal portion (1) and the second longitudinal portion (2) in the transportation state.
2. 2. The radiation scanning inspection equipment according to claim 1, wherein a height of the transverse portion (3) in the working state is greater than a height in the transportation state, and the radiation scanning inspection equipment further comprises: a lifting device (62), arranged on the base portion and configured to lift and lower the transverse portion (3) when the working state and the transportation state are switched to each other; and a support body (61), separable relative to the base portion, wherein in the working state, the support body (61) is arranged between the transverse portion (3) and the base portion and the base portion supports the transverse portion (3) through the support body (61), and in the transportation state, the support body (61) is separated from the base portion and the transverse portion (3) is directly supported at the top end of the base portion.
3. -22 - 3. The radiation scanning inspection equipment according to claim 2, wherein a guide rail slidably connected to the support body (61) is arranged on the transverse portion (3); when the working state is switched to the transportation state, the support body (61) is configured to slide to an area between the first longitudinal portion (1) and the second longitudinal portion (2) through the guide rail; and when the transportation state is switched to the working state, the support body (61) slides between the base portion and the transverse portion (3) through the guide rail.
4. 4. The radiation scanning inspection equipment according to claim 2, wherein a guide io device is arranged between the transverse portion (3) and the base portion, and the guide device is configured to guide the lifting and the lowering of the transverse portion (3).
5. 5. The radiation scanning inspection equipment according to claim 2, wherein the support body (61) comprises a first support (611) arranged between the transverse portion (3) and the first longitudinal portion (1), and a second support (612) arranged between the transverse portion (3) and the second longitudinal portion (2); and the lifting device (62) comprises a first lifting portion (621) arranged on the first longitudinal portion (1), and a second lifting portion (622) arranged on the second longitudinal portion (2).
6. 6. The radiation scanning inspection equipment according to claim 1, further comprising a stabilizing beam (66), wherein in the transportation state, the stabilizing beam (66) is connected to the first longitudinal portion (1) and the second longitudinal portion (2); and in the working state, the stabilizing beam (66) is separated from the first longitudinal portion (1) and the second longitudinal portion (2).
7. 7. The radiation scanning inspection equipment according to claim 1, wherein the travelling device comprises a plurality of wheel assemblies; in the working state, the plurality of wheel assemblies are arranged at the bottom of the first longitudinal portion (1) and the bottom of the second longitudinal portion (2) respectively; the radiation scanning inspection equipment further comprises a deviation correcting device; and the deviation correcting device is configured to make the travelling device keep linear travelling in the working state.
8. 8. The radiation scanning inspection equipment according to claim 7, wherein -23 -each of the wheel assemblies comprises a travelling wheel and a driving motor for driving the travelling wheel to walk; the deviation correcting device comprises a linear travelling detection device for detecting whether the travelling device keeps linear travelling in the working state, and a control device; the control device is in signal connection with each driving motor and the travelling detection device; and the control device is configured to: in the working state, when the linear travelling detection device detects that the travelling route of the travelling device deviates from a straight line, the rotating speed of each driving motor is adjusted according to the detection result of the linear travelling detection device, so as to continue linear travelling of the travelling device.
9. 9. The radiation scanning inspection equipment according to claim 7, wherein each of the wheel assemblies comprises a travelling wheel; the deviation correcting device comprises a linear travelling detection device, a control device and at least one deflection device arranged corresponding to the travelling wheel; the deflection device is configured to change the travelling direction of the corresponding wheel; the linear travelling detection device is configured to detect whether the travelling device keeps linear travelling in the working state; the control device is in signal connection with the deflection device and the linear travelling detection device; and the control device is configured to: in the working state, when the linear travelling detection device detects the travelling route of the travelling device deviates from a straight line, the deflection device is controlled to deflect the corresponding travelling wheel according to the detection result of the linear travelling detection device, so that the travelling device is able to continue linear travelling.
10. 10. The radiation scanning inspection equipment according to claim 8 or 9, wherein the linear travelling detection device comprises a laser sensor in signal connection with the control device, and a laser guide line arranged along a preset linear travelling direction of the travelling device.
11. 11. The radiation scanning inspection equipment according to claim 7, wherein the deviation correcting device comprises: a guide wheel (310), connected to the first longitudinal portion (1) or the second longitudinal portion (2); and a linear guide rail (311), configured to cooperate with the guide wheel (310) and arranged along a linear travelling direction of the travelling device.
12. 12. The radiation scanning inspection equipment according to claim 11, wherein -24 -the wheel assembly comprises a rubber wheel travelling on the ground in the working state; or the wheel assembly comprises a steel wheel travelling on a guide rail in the working state.
13. 13. The radiation scanning inspection equipment according to claim 12, wherein the guide rail on which the steel wheel walks is the linear guide rail (311).
14. 14. The radiation scanning inspection equipment according to any one of claims 1 to io 9, wherein the transverse portion (3) is rigidly connected to the first longitudinal portion (1) and the second longitudinal portion (2); the travelling device comprises a first wheel assembly (11), a second wheel assembly (12), a third wheel assembly (13) and a fourth wheel assembly (14); each of the wheel assemblies comprises a wheel seat and a travelling wheel rotatably mounted on the wheel seat; in the working state, the wheel seat of the first wheel assembly (11) and the wheel seat of the second wheel assembly (12) are fixedly mounted at the front and rear ends of the first longitudinal portion (1) respectively, and the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) are hinged with the front and rear ends of the second longitudinal portion (2) respectively; the radiation scanning inspection equipment further comprises an equalizing beam (15); and the front and rear ends of the equalizing beam (15) are hinged with the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) respectively.
15. 15. The radiation scanning inspection equipment according to claim 14, wherein the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) are hinged with the second longitudinal portion (2) in a pivoted connection manner, and the hinged axes are along a parallel direction and parallel with each other; and the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) are hinged with the equalizing beam (15) in a spherical hinge connection manner.
16. 16. The radiation scanning inspection equipment according to claim 14, wherein the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) are hinged with the second longitudinal portion (2) and hinged with -25 -the equalizing beam (15) in a pivoted connection manner, and the hinged axes are all along a horizontal direction and parallel with each other.
17. 17. The radiation scanning inspection equipment according to claim 14, wherein a line connected to and perpendicular to the hinged axis of the equalizing beam (15) and the wheel seat of the third wheel assembly (13) and connected to and perpendicular to the hinged axis of the equalizing beam (15) and the wheel seat of the fourth wheel assembly (14), is parallel with a line connected to and perpendicular to the hinged axis of the wheel seat of the third wheel assembly (13) io and the second longitudinal portion (2) and connected to and perpendicular to the hinged axis of the wheel seat of the fourth wheel assembly (14) and the second longitudinal portion (2).
18. 18. The radiation scanning inspection equipment according to claim 17, wherein a distance between the hinged axis of the equalizing beam (15) and the wheel seat of the third wheel assembly (13) and the hinged axis of the equalizing beam (15) and the wheel seat of the fourth wheel assembly (14) is equal to a distance between the hinged axis of the wheel seat of the third wheel assembly (13) and the second longitudinal portion (2) and the hinged axis of the wheel seat of the fourth wheel assembly (14) and the second longitudinal portion (2).
19. 19. The radiation scanning inspection equipment according to claim 14, further comprising an elastic device arranged between at least two of the travelling device, the equalizing beam (15) and the second longitudinal portion (2), wherein the elastic device is configured to provide an elastic force for preventing the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) from swinging relative to the second longitudinal portion (2).
20. 20. The radiation scanning inspection equipment according to claim 19, wherein the elastic device comprises at least one of a first elastic device (51), a second elastic device (52) and a third elastic device (53); the first elastic device (51) is arranged between the wheel seat of the third wheel assembly (13) and the second longitudinal portion (2); the second elastic device (52) is arranged between the wheel seat of the fourth wheel assembly (14) and the second longitudinal portion (2); and the third elastic device (53) is arranged between the equalizing beam (15) and the second longitudinal portion (2).-26 -
21. 21. The radiation scanning inspection equipment according to claim 14, wherein the swinging range of the wheel seat of the third wheel assembly (13) relative to the second longitudinal portion (2) and the swinging range of the wheel seat of the fourth wheel assembly (14) relative to the second longitudinal portion (2) are limited.