WO2021073216A1 - 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 equipment

Cross-references to related applications

This application is based on a Chinese patent application whose CN application number is 201910981861.5, the filing date is October 16, 2019, and the invention title is "Radiation Scanning Inspection Equipment", and its priority is claimed. The disclosure of this Chinese patent application is in This is incorporated into this application as a whole.

Technical field

The present disclosure relates to the field of radiation scanning inspection, and in particular to a radiation scanning inspection device.

Background technique

Radiation scanning inspection equipment needs to meet the specified channel height in the detection of the detected object under the working state. In this state, the external dimensions of the equipment often cannot meet the requirements of overall transportation during transit transportation, and the height of the radiation scanning inspection equipment needs to be reduced during transportation.

Summary of the invention

The present disclosure provides a radiation scanning inspection device, which has a working state and a transportation state, including:

The radiation inspection device includes a base and a transverse section above the base. The base includes a first longitudinal section and a second longitudinal section separately provided at both ends of the transverse section. The first longitudinal section or the second longitudinal section includes a cabin, a ray source, and a position Adjusting mechanism, the ray source can be raised and lowered in the cabin. The position adjustment mechanism is used to raise and lower the ray source. In the working state, the ray source has a working position with the bottom lower than the lower edge of the cabin. In the transportation state, the ray source is located inside the cabin. ;with

The walking device is detachably connected to the bottom of the first longitudinal portion and the bottom of the second longitudinal portion. In the working state, the walking device is connected to the first longitudinal portion and the second longitudinal portion. In the transportation state, the walking device is connected to the first longitudinal portion. The part and the second longitudinal part are separated.

In some embodiments, the height of the transverse part in the working state is greater than the height in the transport state, and the radiation scanning inspection device further includes:

Lifting device, set on the base, used to lift the transverse part when the working state and the transportation state are switched; and

The support body is separable from the base. In the working state, it is arranged between the transverse part and the base. The base supports the transverse part through the support body. In the transportation state, it is separated from the base, and the transverse part directly supports the top of the base.

In some embodiments, the lateral portion is provided with a guide rail slidably connected to the support body, and when the transportation state is switched to the working state, the support body slides between the base and the lateral portion through the guide rail.

In some embodiments, a guiding device is provided between the lateral portion and the base portion, and the guiding device is used to guide the lifting of the lateral portion.

In some embodiments, the support body includes a first support provided between the transverse portion and the first longitudinal portion, and a second support provided between the transverse portion and the second longitudinal portion, and the lifting device includes a first support provided between the transverse portion and the second longitudinal portion. A first lifting part on a longitudinal part and a second lifting part arranged on the second longitudinal part.

In some embodiments, the radiation scanning inspection equipment further includes a stabilizing beam. In the transportation state, the stabilizing beam is connected to the first longitudinal portion and the second longitudinal portion. In the working state, the stabilizing beam is connected to the first longitudinal portion and the second longitudinal portion. Separate.

In some embodiments, the walking device includes a plurality of wheel assemblies. In the working state, the plurality of wheel assemblies are respectively arranged at the bottom of the first longitudinal portion and the bottom of the second longitudinal portion. The radiation scanning inspection equipment also includes a correction device, which is used for In the working state, the walking device keeps walking in a straight line.

In some embodiments,

Each wheel assembly includes a traveling wheel and a driving motor for driving the traveling wheel to travel;

The correction device includes a linear walking detection device and a control device for detecting whether the walking device maintains a straight line in the working state. The control device is signally connected to each drive motor and the walking detection device. The control device is configured to: in the working state, walking in a straight line When the detection device detects that the walking route of the walking device deviates from a straight line, it adjusts and controls the rotation speed of each drive motor according to the detection result of the straight-line walking detection device, so that the walking device resumes straight walking.

In some embodiments, each wheel assembly includes a traveling wheel, and the correction device includes a linear traveling detection device, a control device, and at least one deflection device corresponding to the traveling wheel. The deflection device is used to deflect the traveling direction of the corresponding traveling wheel to move in a straight line. The detection device is used to detect whether the walking device keeps walking in a straight line in the working state. The control device is signally connected with the deflection device and the straight-line walking detection device. The control device is configured to: in the working state, the straight-line walking detection device detects the walking route of the walking device When deviating from a straight line, the deflection device is controlled to deflection of the corresponding walking wheel according to the detection result of the straight-line walking detection device, so that the walking device can resume straight-line walking.

In some embodiments, the linear walking detection device includes a laser sensor signally connected to the control device and a laser guide line arranged along the preset linear walking direction of the walking device.

In some embodiments, the correction device includes:

The guide wheel is connected to the first longitudinal portion or the second longitudinal portion; and

Linear guide rails are used to cooperate with guide wheels and are set along the linear traveling direction of the traveling device.

In some embodiments,

The wheel assembly includes a rubber wheel that walks on the ground in a working state; or

The wheel assembly includes steel wheels that walk on the guide rails in the working state.

In some embodiments, the guide rail on which the steel wheels travel is a linear guide rail.

In some embodiments,

The transverse part is rigidly connected with the first longitudinal part and the second longitudinal part;

The walking device includes a first wheel assembly, a second wheel assembly, a third wheel assembly, and a fourth wheel assembly. Each wheel assembly includes a wheel base and a traveling wheel rotatably mounted on the wheel base. In the working state, the first wheel assembly The wheel seat of the second wheel assembly and the wheel seat of the second wheel assembly are respectively fixedly installed at the front and rear ends of the first longitudinal part. The wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly are hinged to the front and rear ends of the second longitudinal part respectively. ；

The radiation scanning inspection equipment also includes a balance beam, the front and rear ends of the balance beam are respectively hinged with the wheel base of the third wheel assembly and the wheel base of the fourth wheel assembly.

In some embodiments, the hinge joints of the wheel seat of the third wheel assembly, the wheel seat of the fourth wheel assembly and the second longitudinal part are all pivoted, and the axes of the hinges are all along the horizontal direction and parallel to each other. The hinged connections of the wheel base, the wheel base of the fourth wheel assembly and the equalizing beam are all spherical hinge connections.

In some embodiments, the hinge joints of the wheel seat of the third wheel assembly, the wheel seat of the fourth wheel assembly and the second longitudinal portion, and the equalizing beam are all pivoted, and the axes of the hinges are all along the horizontal direction and parallel to each other.

In some embodiments, the vertical line segment between the axis of the balance beam hinged with the wheel base of the third wheel assembly and the axis of the wheel base hinged with the fourth wheel assembly is parallel to the wheel base of the third wheel assembly and the second longitudinal direction. A vertical line segment between the hinged axis of the fourth wheel assembly and the hinged axis of the second longitudinal portion.

In some embodiments, the distance between the axis of the equalizing beam hinged with the wheel base of the third wheel assembly and the axis of hinged with the wheel base of the fourth wheel assembly is equal to the axis of hinged with the second longitudinal portion of the third wheel assembly And the distance between the wheel seat of the fourth wheel assembly and the axis of the second longitudinal section hingedly.

In some embodiments, the radiation scanning inspection equipment further includes an elastic device arranged between the walking device, the equalizing beam and/or the second longitudinal portion, and the elastic device is used to provide a wheel seat that obstructs the third wheel assembly and the fourth wheel assembly The elastic force of the wheel seat swinging relative to the second longitudinal portion.

In some embodiments, the elastic device includes at least one of a first elastic device, a second elastic device, and a third elastic device, wherein:

The first elastic device is arranged between the wheel seat of the third wheel assembly and the second longitudinal portion;

The second elastic device is arranged between the wheel seat of the fourth wheel assembly and the second longitudinal portion;

The third elastic device is arranged between the equalizing beam and the second longitudinal portion.

In some embodiments, the swing range of the wheel base of the third wheel assembly and the wheel base of the fourth wheel assembly relative to the second longitudinal portion is limited.

Based on the radiation scanning inspection equipment provided by the present disclosure, by arranging a detachable walking device at the bottom of the first longitudinal portion and the second longitudinal portion and installing a radiation source that can be raised and lowered by a position adjustment mechanism on the cabin, it is switched to work In the state, the walking device can be removed, and the radiation source can be raised above the lower edge of the cabin through the position adjustment mechanism, thereby reducing the height of the radiation scanning inspection equipment and facilitating the transfer and transportation of the radiation scanning inspection equipment. In addition, since the ray source can be raised and lowered on the cabin, it can even fall below the lower edge of the cabin, so when the radiation scanning inspection equipment inspects the object, the height of the ray source can be adjusted to perform the inspection. Multiple radiation scanning inspections at different angles improve the accuracy of radiation scanning inspections.

Through the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the present disclosure will become clear.

Description of the drawings

The drawings described here are used to provide a further understanding of the present disclosure and constitute a part of the present application. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the attached picture:

FIG. 1 is a schematic diagram of the structure of the radiation scanning inspection equipment in the working state of some embodiments of the disclosure;

2 is a schematic structural diagram of a first longitudinal portion of the radiation scanning inspection device shown in FIG. 1;

3 is a schematic structural diagram of a second longitudinal portion of the radiation scanning inspection device shown in FIG. 1;

4 is a schematic structural diagram of a second longitudinal portion of the radiation scanning inspection device shown in FIG. 1;

5 is a schematic cross-sectional view of the structure of the wheel base, the second longitudinal portion, and the balance beam shown in FIG. 4 along the AA direction;

Fig. 6 is a partial enlarged view of part I of Fig. 5;

Fig. 7 is a schematic diagram of the connection structure between the wheel assembly and the equalizing beam shown in Fig. 4;

Fig. 8 is a schematic structural diagram of the wheel assembly shown in Fig. 4;

Fig. 9 is a schematic structural view of the wheel assembly shown in Fig. 8 from another angle;

10 is a schematic structural diagram of a wheel assembly of a radiation scanning inspection device according to other embodiments of the present disclosure;

Fig. 11 is a schematic structural view of the wheel assembly shown in Fig. 10 from another angle;

FIG. 12 is a schematic diagram of the structure of the radiation scanning inspection equipment in the working state of still other embodiments of the disclosure; FIG.

FIG. 13 is a schematic diagram of the structure of the radiation scanning inspection equipment in the working state of still other embodiments of the disclosure; FIG.

FIG. 14 is a schematic structural diagram of the wheel assembly of the radiation scanning inspection equipment of FIG. 13;

Fig. 15 is a schematic structural diagram of the radiation scanning inspection device shown in Fig. 1 in a transport state;

FIG. 16 is a schematic diagram of a part of the structure of the radiation scanning inspection device of FIG. 1 in the working state.

Detailed ways

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

Unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn in accordance with actual proportional relationships. The technologies, methods, and equipment known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be regarded as part of the authorization specification. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that similar reference numerals and letters indicate similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

The radiation scanning inspection equipment shown in FIGS. 1 to 16 has a working state and a transportation state. The radiation scanning inspection equipment includes a radiation inspection device, a cabin, a ray source 42, a position adjustment mechanism 7 and a walking device.

The radiation inspection device includes a base part and a transverse part arranged above the base part. The base part includes a first longitudinal part 1 and a second longitudinal part 2 respectively arranged at both ends of the transverse part; the first longitudinal part 1 or the second longitudinal part 2 includes a cabin body and a ray Source 42 and position adjustment mechanism 7. That is, the cabin, the ray source 42 and the position adjustment mechanism 7 are arranged on the first longitudinal portion 1 or the second longitudinal portion 2. In the working state, the ray source 42 has a working position whose bottom is lower than the lower edge of the cabin, that is, in the working state, the ray source 42 can be lowered to a working position at least partly lower than the bottom of the cabin to work. The position adjustment mechanism 7 is used for raising and lowering the radiation source 42, and the position adjustment mechanism may be some telescopic mechanisms, such as hydraulic cylinders, air cylinders, screw nut pairs, and so on.

The walking 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 walking device is connected to the first longitudinal portion 1 and the second longitudinal portion 2, and in the transport state, the walking device It is separated from the first longitudinal portion 1 and the second longitudinal portion 2.

In the radiation scanning inspection equipment of this embodiment, a detachable walking device is provided at the bottom of the first longitudinal portion 1 and the second longitudinal portion 2, and a radiation source 42 that can be raised and lowered by the position adjustment mechanism 7 is provided on the cabin. When switching to the working state, the walking device can be removed, and the ray source 42 can be raised above the lower edge of the cabin through the position adjustment mechanism, thereby reducing the height of the radiation scanning inspection equipment, which is convenient for the radiation scanning inspection equipment Transition transportation. In addition, since the ray source 42 can be raised and lowered on the cabin body, it can even be lowered below the lower edge of the cabin body, so when the radiation scanning inspection equipment inspects the object, the height of the ray source can be adjusted to control the object to be inspected. Perform multiple radiation scan inspections at different angles to improve the accuracy of radiation scan inspections.

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 transmissive radiation scanning inspection device. The radiation source 42 emits radiation rays to the inspected object passing through the door-shaped inspection channel of the door-shaped frame. The radiation rays pass through the inspected object and are received by the detector to form radiation. Scan the image. The radiation scanning inspection equipment may also be a backscattering radiation scanning inspection device. The detector of the backscattering radiation scanning inspection device and the radiation source 42 are located on the same side of the object to be inspected. After the radiation source 42 emits radiation rays to the object to be inspected, part of the The radiation is scattered back by the object to be inspected and received by a detector located on the same side of the radiation source to form a radiation scan image. In the see-through radiation scanning inspection device, one of the first longitudinal portion 1 and the second longitudinal portion 2 may include a cabin with a radiation source 42, and the other may include a structure such as a wall for blocking radiation rays. , The first longitudinal portion 1 and the second longitudinal portion 2 may both be cabins. In the embodiment shown in FIG. 1, the first longitudinal portion 1 is a cabin including a radiation source 42, the radiation source 42 is a transmissive radiation source, and the detector includes a second longitudinal portion 2 that receives transmitted radiation. The ray vertical detector 41 and the horizontal detector fixedly connected below the horizontal portion, the second vertical portion further includes a wall for blocking the radiation rays from radiating outward. In some embodiments, the ray source 42 may also be a backscattered ray source. In this case, the detector and the ray source 42 located on the same side of the ray source 42 are both arranged on the first longitudinal portion 1.

The transverse part 3 is arranged above the base, and the height in the working state is greater than the height in the transportation state; the lifting device 62 is arranged on the base and is used to lift the transverse part 3 when the working state and the transportation state are switched. The transverse part 3 can be shown in Figure 1 And Figure 15 includes the main beam; the lifting device 62 can be a telescopic rod, a cylinder, a hydraulic cylinder, a screw nut driven by a motor and other telescopic mechanisms. In the embodiments shown in Figures 1, 15 and 16, the lifting The device includes a lifting screw 62, and the transverse portion 3 screwed with the lifting screw 62 is lifted and lowered by the rotation of the lifting screw 62.

The support body 61 is separable from the base, and the support body 61 can be connected to the base by bolt connection, and the separation from the base can be realized after the bolt is removed. In the working state, the support body 61 is provided between the lateral portion 3 and the base portion, and the base portion supports the lateral portion 3 through the support body 61. In the transportation state, the support body 61 is separated from the base, and the transverse portion 3 is directly supported on the top of the base. In the working state, the support body 61 is set between the transverse portion 3 and the base. Because the support body 61 is cushioned under the transverse portion 3, the transverse portion 3 has a relatively high height. In the working state, the support body 61 It is only located above the base and not above the inspection passage of the radiation scanning inspection equipment. Therefore, the radiation scanning inspection equipment has a higher inspection passage. When the working state is switched to the transportation state, the lifting device 62 raises the transverse part, and then separates the support body 61 from the base and moves it away from the top of the base, and then the lifting device 62 lowers the transverse part 3, thereby the transverse part 3 It can be directly connected to the base part, and the transverse part 3 has a lower height in the transport state. When the radiation scanning inspection equipment is switched from the transportation state to the working state, the lifting device 62 raises the lateral part again, moves the support body 61 between the base and the lateral part 3, and then lowers the lateral part 3 again.

The radiation scanning inspection equipment of this embodiment is provided with a support body 61 between the base part and the transverse part 3. In the working state, the support body 61 is arranged between the base part and the transverse part 3, and the radiation scanning inspection equipment has sufficient work When switching to the transportation state, the support body 61 is separated and removed from the base after the transverse part 3 is raised by the lifting device 62, so that the transverse part 3 is directly supported on the base after it is lowered, thereby reducing the radiation scanning inspection The height of the equipment is convenient for transportation. When the equipment is working again, only the support body 61 needs to be moved between the lateral part 3 and the base part. Compared with the prior art, the disassembly and assembly work of the equipment is reduced, which is more convenient and simple. At the same time, when switching to the working state again, various tedious calibration work is no longer required, and the state switching is more flexible and convenient.

In some embodiments, the transverse portion 3 is provided with a guide rail that is slidably connected to the support body 61. When switching to the transportation state, the support body 61 slides between the first longitudinal portion 1 and the second longitudinal portion 2 through the guide rail. Area. As shown in Figure 1, Figure 15 and Figure 16, the guide rail includes a sliding guide rail 64 arranged on the side of the transverse portion 3. When the working state is switched to the transport state, the support body 61 is provided with a connecting seat that cooperates with the sliding guide rail 64 63. The support body 61 can be moved to below the transverse portion 3 and to the area between the first longitudinal portion 1 and the second longitudinal portion 2 by sliding on the sliding rail 64. When the transport state is switched to the working state, the support The body 61 can slide from the area between the first longitudinal portion 1 and the second longitudinal portion 2 to between the base portion and the lateral portion 3 through the sliding guide 64. The support body 61 of this embodiment is connected and separated from the base by sliding on the transverse portion 3, which is convenient and simple. At the same time, when the support body 61 moves to connect with the base, it is also more conducive to the guiding effect of the guide rail. Alignment of the support body 61 with the base. At the same time, the support body 61 is always connected with the guide rail on the transverse portion 3, so that the support body 61 is always located on the transverse portion 3, and the transportation of the support body 61 is more convenient.

In some embodiments, as shown in Figure 1, Figure 15 and Figure 16, the guide rail is located in the area between the first longitudinal portion 1 and the second longitudinal portion 2 is provided with a fixing device, in the transport state, the fixing device The support body 61 is fixed. In some embodiments, the fixing device includes a fixing rod 65. The fixing device may also be a fixed block or a fixed plate. When the support body 61 slides to the area between the first longitudinal portion 1 and the second longitudinal portion 2, The fixing device can fix the support body 61, for example, by providing a locking hole on the support body 61, and the fixing rod 65 is a telescopic rod that is locked and matched with the locking hole. By providing a fixing device, the support body 61 can be fixed during transportation, so that the support body 61 is more stable, and the stability of the equipment during transportation is improved.

In some embodiments, a guiding device is provided between the transverse portion 3 and the base portion, and the guiding device is used to guide the elevation of the transverse portion 3. This arrangement can make the lifting and lowering of the transverse part 3 more stable and reliable, and at the same time make it easier to restore the transverse part 3 to an accurate working position when the transverse part 3 is switched back to the working state in the transportation state.

In some embodiments, as shown in FIGS. 1 to 3, the support body 61 includes a first support 611 provided between the lateral portion 3 and the first longitudinal portion 1, and a first support 611 provided between the lateral portion 3 and the second longitudinal portion 2. Between the second support 612, the lifting device 62 includes a first lifting portion 621 provided on the first longitudinal portion 1 and a second lifting portion 622 provided on the second longitudinal portion 2. In the working state, the lateral portion 3 is supported by the first and second supports on both sides, which can make the lateral portion 3 more stable and reliable. When lifting, pass the first lifting portion 621 and the second lifting portion 622 at both ends. The vertical section lifts and lowers the horizontal section 3, which can also make the vertical section 3 lift more stable and reliable.

In some embodiments, as shown in FIG. 16, a first positioning portion 67 is provided on the transverse portion 3, and a second positioning portion 68 is provided on the support body 61. In the working state, the first positioning portion 67 and the second positioning portion 68 Cooperate. The first positioning portion 67 and the second positioning portion 68 are provided. When the support body 61 is switched from the separated state to the base portion, the alignment and cooperation of the first positioning portion 67 and the second positioning portion 68 can be used. The support body 61 can be restored to the working position more quickly and accurately.

In some embodiments, a third positioning portion 69 is provided on the base, and the third positioning portion 69 cooperates with the first positioning portion 67 in the transportation state. 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 stably and reliably placed in a suitable transportation position, which facilitates the transportation of the equipment. In some embodiments, the first positioning portion 67 is a telescopic pin provided on the transverse portion 3, and the second positioning portion 68 is provided on the support body 61 for cooperating with the pin in the working state. The first pin hole and the third positioning part are the second pin holes used to cooperate with the pin shaft in the transportation state.

In some embodiments, as shown in FIG. 15, the radiation scanning inspection equipment further includes a stabilizing beam 66. In the transport 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 It is separated from both the first longitudinal portion 1 and the second longitudinal portion 2. By providing the stabilizing beam 66, the stabilizing beam 66 can be connected to the first longitudinal portion 1 before the pedestal body 61 is separated from the base and/or before the walking device is separated from the first longitudinal portion 1 and the second longitudinal portion 2. It is connected with the second longitudinal part 2 to improve the rigidity and stability of the equipment, so that the radiation scanning inspection equipment can be more stable during the lifting and lowering of the transverse part 3 and the movable support body 61 and the process of disassembling the walking device, and further reduce the need for other components. Interference. During transportation, the stabilizer beam 66 can also improve the stability of the radiation scanning inspection equipment.

In some embodiments, as shown in FIGS. 1 to 13, the walking device includes a plurality of wheel assemblies. In the working state, the plurality of wheel assemblies are respectively arranged at the bottom of the first longitudinal portion 1 and the bottom of the second longitudinal portion 2, and the radiation scanning inspection The equipment also includes a deviation correction device, which is used to keep the walking device walking in a straight line in the working state. In some embodiments, when the walking device deviates in a straight line, the correcting device is used to make the walking device eliminate the deviation and restore the device to walk straight. In other embodiments, the correcting device is used to make the walking device always maintain when the walking device is walking in a straight line. Walk in a straight line without deviation.

In the radiation scanning inspection equipment of this embodiment, by arranging the wheel assembly and the correcting device under the first longitudinal portion 1 and the second longitudinal portion 2 of the rigid door-shaped frame, the radiation scanning inspection equipment can be kept walking in a straight line, which can improve Radiation scanning of the object to be inspected to check the quality and efficiency of the imaging.

In some embodiments, as shown in Figures 1 to 9, each wheel assembly includes a traveling wheel and a drive motor for driving the traveling wheel to travel; in some embodiments, each wheel assembly may include two traveling wheels and two Drive the driving motors corresponding to the walking wheels respectively. For example, a wheel assembly with a drive motor is arranged under the first longitudinal portion 1 and a wheel assembly with a drive motor is arranged under the second longitudinal portion 2, and then under the first longitudinal portion 1 and under the second longitudinal portion 2. Set up a wheel assembly without a drive motor. In other embodiments, each wheel assembly may also include a plurality of wheel assemblies with drive motors respectively provided at the bottom of the first longitudinal portion 1 and the second longitudinal portion 2, such as the embodiment shown in FIGS. 1 to 9 Wherein, each wheel assembly includes a first wheel assembly 11 and a second wheel assembly 12 with drive motors arranged at the front and rear ends of the first longitudinal portion 1, and a first wheel assembly with drive motors arranged at the front and rear ends of the second longitudinal portion 2. For the three-wheel assembly 13 and the fourth-wheel assembly 14, as shown in FIG. 8, the drive motor of the third-wheel assembly 13 may be a third-wheel drive motor 133 connected to the wheel-side reduction mechanism of the third wheel assembly 13.

The correction device includes a linear walking detection device and a control device for detecting whether the walking device maintains a straight line in the working state. The control device is signally connected to each drive motor and the walking detection device. The control device is configured to: in the working state, walking in a straight line When the detection device detects that the walking path of the walking device deviates from a straight line, it adjusts the rotation speed of each drive motor according to the detection result of the straight walking detection device to restore the walking device to walk straight, that is, when the walking device deviates from a straight line, the first longitudinal section 1 is controlled. The rotational speed difference between the lower driving motor and the driving motor below the second longitudinal portion 2 is used to realize the steering correction of the walking device.

In the radiation scanning inspection equipment of this embodiment, the wheel assembly realizes steering correction through differential speed adjustment, and the wheel assembly directly walks on the ground, which is suitable for occasions where there is no need to lay tracks and do not need civil construction.

In some embodiments, the linear walking detection device includes a laser sensor signally connected to the control device and a laser guide line arranged along the preset linear walking direction of the walking device. For example, by setting a laser transmitter in front of the walking direction of the walking device to emit laser lines to form a laser guide line, and setting a laser sensor on the walking device to receive the laser guide line, when the position of the laser guide line received by the laser sensor moves in the horizontal direction , That is, it is detected that the walking route of the walking device deviates from the walking straight line.

In some embodiments, each wheel assembly includes a traveling wheel, and the correction device includes a deflection device corresponding to at least one traveling wheel, a linear traveling detection device, and a control device. The deflection device is used to deflect the traveling direction of the corresponding traveling wheel. The walking detection device is used to detect whether the walking device keeps walking in a straight line in the working state. The control device is connected to the deflection device and the straight-line walking detection device. The control device is configured to: in the working state, the straight-line walking detection device detects the walking of the walking device When the route deviates from a straight line, the deflection device is controlled to deflection of the walking wheel according to the detection result of the straight-line walking detection device, so that the walking device can resume straight-line walking. Each wheel assembly may include two or more deflection wheel assemblies respectively arranged below the first longitudinal portion 1 and the second longitudinal portion 2, and the deflection device includes various driving mechanisms with telescopic functions, such as hydraulic cylinders, air cylinders, etc. Realize the deflection of the traveling wheel of the deflection wheel assembly. The radiation scanning inspection equipment of this embodiment is equipped with a deflection wheel assembly, which can realize a straight line correction by deflection of the traveling wheel. The wheel assembly walks directly on the ground, which is suitable for occasions where there is no need to lay tracks, do not need civil works, and do not need to drive motor differential speed. . The linear walking detection device of this embodiment can use the same device as the previous embodiment.

In some embodiments, the wheel assembly includes a wheel base and a walking wheel rotatably mounted on the wheel base. As shown in Figures 10 and 11, the wheel assembly of this embodiment includes a deflection wheel assembly. The wheel base of the deflection wheel assembly Including a deflection wheel seat, the deflection wheel seat includes a first wheel seat portion 201 installed on the first longitudinal portion 1 or the second longitudinal portion 2 and a traveling wheel for installing the deflection wheel assembly (ie, the deflection traveling wheel 200) and the second wheel The seat portion 204, the second wheel seat portion 204 is rotatably mounted on the first wheel seat portion 201 about a vertical axis, a slewing bearing 202 is provided between the first wheel seat portion 201 and the second wheel seat portion 204, and a deflection device It includes an electric push rod 203 signal-connected with a control device. The electric push rod 203 can be formed by a worm gear mechanism driven by a motor. The electric push rod 203 is drivingly connected to the second wheel seat 204 for pushing the second wheel seat 204 It deflects relative to the first wheel seat 201.

In some embodiments, the correction device includes a guide wheel 310 and a linear guide 311. The guide wheel 310 is connected to the first longitudinal portion 1 or the second longitudinal portion 2; the linear guide rail 311 is used to cooperate with the guide wheel 310 and is arranged along the preset linear traveling direction of the traveling device. In this embodiment, a guide wheel 310 and a linear guide 311 are provided, and the linear walking of the walking device can be ensured by the guide. In some embodiments, as shown in FIG. 12, the wheel assembly includes a rubber wheel that walks on the ground. The rubber wheel and the guide wheel 310 work together. The guide wheel 310 can be guided to ensure a straight line, and the rubber wheel can also travel on the ground. Only a small amount of civil construction is required for ground walking and load-bearing, which reduces the requirements for civil construction. In some embodiments, as shown in Figures 13 and 14, the wheel assembly includes a steel wheel 301 that runs on a guide rail. The steel wheel 301 is the traveling wheel box, which needs to walk on the guide rail. As shown in the figure, the steel wheel 301 can be driven by a geared motor 303, and the steel wheel 301 is connected to the first longitudinal section 1 or the second longitudinal section through the traveling wheel box connecting frame 302部2上. Through the combination of the guide wheel 310 and the steel wheel 301, the deviation correction and walking of the radiation scanning inspection equipment are all on the guide rail. This embodiment is suitable for a site suitable for laying the guide rail in civil construction.

In some embodiments, the rail on which the steel wheel 301 travels is a linear rail 311, that is, the steel wheel 301 and the guide wheel 310 can share the same rail.

In some embodiments, the transverse portion 3 is rigidly connected with the first longitudinal portion 1 and the second longitudinal portion 2; the walking device includes a first wheel assembly 11, a second wheel assembly 12, a third wheel assembly 13 and a fourth wheel assembly 14. As shown in Figures 1 to 12, each wheel assembly includes a wheel base and a walking wheel. The rotating shaft of the walking wheel is set on the wheel base, and the wheel base is connected to the radiation inspection device. As shown in Figures 1 and 2, in the working state, the first wheel assembly 11 and the second wheel assembly 12 are fixedly installed at the front and rear ends of the first longitudinal portion 1. The radiation scanning inspection equipment is moving in the forward direction, and the radiation scanning inspection The back direction of the device is back. The wheel bases of the first wheel assembly 11 and the second wheel assembly 12 can be directly fixed to the first longitudinal portion 1 by welding or bolt connection, or can be fixed to the first longitudinal portion 1 by a connecting piece as shown in the figure. For example, the first wheel seat 111 of the first wheel assembly in the figure is hinged to the connecting piece through the upper and lower ends respectively, and then the connecting piece connected with the upper and lower ends of the first wheel seat 111 is fixed to the first wheel seat 111 by bolts. The longitudinal portion 1 thus realizes that the first wheel seat 111 is fixedly mounted on the first longitudinal portion 1.

As shown in FIGS. 1, 3, 4, 5 and 7, the wheel bases of the third wheel assembly 13 and the fourth wheel assembly 14 are hinged to the second longitudinal portion 2, and the wheel base can swing relative to the second longitudinal portion 2. For example, the wheel bases of the third wheel assembly are the third wheel base 131 and the third wheel travel wheel 132. The third wheel travel wheel 132 can rotate relative to the third wheel base 131, and the third wheel base 131 is connected to the third wheel. The member 21 is hinged, and then the third wheel connecting member 21 is fixed to the second longitudinal portion 2 so as to realize the hinged connection of the third wheel base 131 and the second longitudinal portion 2.

The front and rear ends of the equalizing beam 15 are hinged to the wheel base of the third wheel assembly 13 and the wheel base of the fourth wheel assembly 14 respectively.

In this embodiment, the first wheel assembly 11 and the second wheel assembly 12 of the four wheel assemblies of the walking device at the bottom of the radiation inspection device are fixedly installed at the bottom of one side of the door-shaped frame, and the third wheel assembly 13 and the fourth wheel assembly 13 The wheel assembly 14 is hinged to the bottom of the other side of the door frame, and the third wheel assembly 13 and the fourth wheel assembly 14 are connected by a hinged equalizing beam 15, so that the third wheel assembly 13 and the fourth wheel assembly 14 can be opposite to each other. The door-shaped frame swings slightly. When encountering uneven roads, the two wheel assemblies can swing adaptively. In addition, the equalizing beam 15 hinged to the third wheel assembly 13 and the fourth wheel assembly 14 can pass through the two wheel assemblies. The hinge of the end is slightly moved to adjust the load of the third wheel assembly 13 and the fourth wheel assembly 14 to improve the uniformity of the load of the third wheel assembly 13 and the fourth wheel assembly 14 and better adapt to the unevenness of the road surface , Helps to ensure the walking stability of the radiation scanning inspection equipment, and helps to ensure the radiation scanning inspection effect. At the same time, the radiation inspection device includes a rigid door-shaped frame, and the wheel base of the first wheel assembly 11 and the wheel base of the second wheel assembly 12 are connected to the first longitudinal portion 1 in a fixed connection, so that when the radiation inspection device is walking, The support of the first wheel assembly 11 and the second wheel assembly 12 to the rigid door-shaped frame can also make the second longitudinal portion 2 more stably supported between the third wheel assembly 13 and the fourth wheel assembly 14 through the rigid door-shaped frame. In this way, the third wheel assembly 13 and the fourth wheel assembly 14 support the second longitudinal portion 2 more smoothly during the adaptive swing process.

In some embodiments, the hinge joints of the wheel base of the third wheel assembly 13 and the wheel base of the fourth wheel assembly 14 and the second longitudinal portion 2 are all pivoted, and the axes of the hinges are all along the horizontal direction and parallel to each other. The hinged connections of the wheel base of the wheel assembly 13 and the wheel base of the fourth wheel assembly 14 and the equalizing beam 15 are all spherical hinge connections. The balance beam 15 is connected to the wheel base of the third wheel assembly 13 and the wheel base of the fourth wheel assembly 14 through a ball hinge, which can be micro-moved at more angles, so that the wheel base of the third wheel assembly 13 can be better adjusted , The uniformity of the load of the wheel seat of the fourth wheel assembly 14.

In some embodiments, the hinged joints of the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 with the second longitudinal portion 2 and with the equalizing beam 15 are all pivoted, and the axes of the hinges are all along the horizontal direction and Parallel to each other. For example, the wheel seat of the third wheel assembly 13 may be pivotally connected through the third wheel hinge pin 211. As shown in FIGS. 5 and 6, the equalizing beam 15 may be rod-shaped, and the hinged connection between the equalizing beam 15 and the wheel base may be pivotally connected by arranging the hinge pin 151 of the horizontal beam.

In some embodiments, the vertical line segment between the axis of the balance beam 15 hinged with the wheel base of the third wheel assembly 13 and the axis hinged with the wheel base of the fourth wheel assembly 14 is parallel to the wheel base of the third wheel assembly 13 The vertical line segment between the axis hinged to the second longitudinal portion 2 and the axis of the fourth wheel assembly 14 hinged to the second longitudinal portion 2. That is, the line connecting the hinge points at both ends of the equalizing beam 15 is parallel to the line connecting the second longitudinal portion 2 and the hinge points of the third wheel assembly 13 and the fourth wheel assembly 14. This arrangement can improve the linkage of the third wheel assembly 13 and the fourth wheel assembly 14 and improve the uniformity of the load distribution of the balance beam 15 to the third wheel assembly 13 and the fourth wheel assembly 14 when encountering uneven roads. , To further improve the walking stability of the radiation scanning inspection equipment.

In some embodiments, the height of the axis hinged between the wheel seat of the third wheel assembly 13 and the second longitudinal portion 2 and the height of the axis hinged between the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2 are the same. This arrangement can make the support of the third wheel assembly 13 and the fourth wheel assembly 14 to the radiation inspection device more uniform and stable, and it is easier to realize the uniform adjustment of the load when the swing adjustment is encountered on uneven roads.

In some embodiments, the distance between the axis of the equalizing beam 15 and the wheel base of the third wheel assembly 13 and the axis of the equalizing beam 15 and the wheel base of the fourth wheel assembly 14 being equal to the wheel base of the third wheel assembly 13 The hinged axis of the second longitudinal portion 2 and the distance between the wheel seat of the fourth wheel assembly 14 and the hinged axis of the second longitudinal portion 2. That is, the hinge point between the balance beam 15 and the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14, and the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 and the second longitudinal direction The hinge points of the part 2 may form a parallelogram. When encountering uneven roads, the balance beam slightly adjusts the load and redistributes the two ends of the wheel assembly, which can make the third wheel assembly 13 and the fourth wheel assembly 14 have better high adaptability and load uniformity. The third wheel assembly 13 And the fourth wheel assembly 14 supports the second longitudinal portion 2 more smoothly.

In some embodiments, the height of the axis hinged between the equalizing beam 15 and the wheel base of the third wheel assembly 13 and the height of the axis hinged with the wheel base of the fourth wheel assembly 14 are lower than those of the wheel base of the third wheel assembly 13 The height of the axis hinged with the second longitudinal portion 2 and the axis of the wheel seat of the fourth wheel assembly 14 hinged with the second longitudinal portion 2.

In some embodiments, the radiation scanning inspection equipment further includes an elastic device arranged between at least two of the walking device, the equalizing beam 15 and the second longitudinal portion 2, and the elastic device is used to provide a wheel seat that hinders the third wheel assembly 13 In addition to the elastic force of the wheel seat of the fourth wheel assembly 14 swinging relative to the second longitudinal portion 2, the elastic device may be a structure such as a spring. When encountering uneven roads, the third wheel assembly 13 and the fourth wheel assembly 14 adaptively adjust the swing relative to the second longitudinal portion 2, this setting helps prevent the third wheel assembly 13 and the fourth wheel assembly 14 from encountering the road surface. Excessive swing occurs when there is a large obstacle, which can improve the stability of the support for the second longitudinal portion 2 while being adaptively adjusted.

In some embodiments, as shown in FIG. 3, a first elastic device 51 is provided between the wheel seat of the third wheel assembly 13 and the second longitudinal portion 2; and/or the wheel seat of the fourth wheel assembly 14 and the second longitudinal portion 2 A second elastic device 52 is provided between the longitudinal portions 2; and/or a third elastic device 53 is provided between the equalizing beam 15 and the second longitudinal portion 2. The elastic device is arranged to help prevent the third wheel assembly 13 and the fourth wheel assembly 14 from swinging too much when encountering rare and large obstacles, and improve the stability of the equipment. At the same time, it can give the third wheel assembly 13 and the fourth wheel assembly 13 The component 14 provides a certain restoring force, and resets quickly when the radiation scanning inspection equipment is restored to walking on a level road.

In some embodiments, the swing range of the wheel seat of the third wheel assembly and the wheel seat of the fourth wheel assembly relative to the second longitudinal portion is limited. For example, a limit plate can be set in the swing range of the wheel seat to limit the swing of the wheel seat, and the wheel seat of the third wheel assembly 13 and the wheel seat of the fourth wheel assembly 14 and/or the balance beam 15 and the first wheel can also be restricted. The distance between the two longitudinal portions 2 limits the swing range of the wheel seat.

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

In some embodiments, the control device described above may be a general-purpose processor, a programmable logic controller (Programmable Logic Controller, PLC for short), and a digital signal processor (Digital Signal Processor) for performing the functions described in the present disclosure. Processor, DSP for short), Application Specific Integrated Circuit (ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gates or transistor logic devices , Discrete hardware components or any appropriate combination thereof.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and not to limit it; although the present disclosure has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: Modifications to the disclosed specific implementations or equivalent replacements of some technical features shall be included in the scope of the technical solutions claimed in the present disclosure.

Claims (21)

1. A radiation scanning inspection device with working status and transportation status, including:

   A radiation inspection device, comprising a base and a transverse part (3) arranged above the base, the base comprising a first longitudinal part (1) and a second longitudinal part (2) separately arranged at both ends of the transverse part (3) , The first longitudinal portion (1) or the second longitudinal portion (2) includes a cabin, a radiation source and a position adjustment mechanism (7), and the radiation source (42) is arranged in the cabin so as to be liftable , The position adjustment mechanism (7) is used to lift the ray source, in the working state, the ray source (42) has a working position with a bottom lower than the lower edge of the cabin, and in the transportation state, the The radiation source (42) is located inside the cabin; and

   A walking 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 walking device and the first longitudinal portion ( 1) is connected to the second longitudinal portion (2), and in the transportation state, the walking device is separated from the first longitudinal portion (1) and the second longitudinal portion (2).
2. The radiation scanning inspection device according to claim 1, wherein the height of the transverse portion (3) in the working state is greater than the height in the transportation state, and the radiation scanning inspection device further comprises:

   A lifting device (62) is provided on the base, and is used to lift the transverse portion (3) when the working state and the transportation state are switched; and

   The support body (61) is separable relative to the base, and in the working state, is arranged between the transverse portion (3) and the base, and the base is supported by the support body (61). The transverse portion (3) is separated from the base in the transportation state, and the transverse portion (3) is directly supported on the top end of the base.
3. The radiation scanning inspection equipment according to claim 2, wherein the transverse portion (3) is provided with a guide rail slidably connected to the support body (61), and when the working state is switched to the transportation state, The support body (61) slides to the area between the first longitudinal portion (1) and the second longitudinal portion (2) through the guide rail, when the transportation state is switched to the working state , The support body (61) slides between the base part and the transverse part (3) through the guide rail.
4. The radiation scanning inspection equipment according to claim 2, wherein a guiding device is provided between the lateral portion (3) and the base portion, and the guiding device is used to guide the lifting of the lateral portion (3).
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) provided between the transverse portion (3) and the second longitudinal portion (2), and the lifting device (62) includes a second support (612) provided on the first longitudinal portion (1). ) On the first lifting portion (621) and the second lifting portion (622) provided on the second longitudinal portion (2).
6. The radiation scanning inspection device according to claim 1, wherein the radiation scanning inspection device further comprises a stabilizing beam (66), and in the transportation state, the stabilizing beam (66) and the first longitudinal portion (1) It is connected to the second longitudinal portion (2), and in the working state, the stabilizer beam (66) is separated from both the first longitudinal portion (1) and the second longitudinal portion (2).
7. The radiation scanning inspection equipment according to claim 1, wherein the walking device includes a plurality of wheel assemblies, and in the working state, the plurality of wheel assemblies are respectively arranged at the bottom and the bottom of the first longitudinal portion (1). At the bottom of the second longitudinal portion (2), the radiation scanning inspection equipment further includes a correction device, which is used to keep the walking device walking in a straight line in a working state.
8. The radiation scanning inspection device according to claim 7, wherein:

   Each of the wheel assemblies includes a traveling wheel and a driving motor for driving the traveling wheel to travel;

   The correction device includes a linear walking detection device and a control device for detecting whether the walking device maintains a straight walking in the working state, and the control device is signally connected with each drive motor and the walking detection device, and the control The device is configured to: in the working state, when the linear walking detection device detects that the walking route of the walking device deviates from a straight line, adjust the rotation speed of each drive motor according to the detection result of the linear walking detection device, In order to restore the walking device to walk in a straight line.
9. 7. The radiation scanning inspection equipment according to claim 7, wherein each of the wheel assemblies includes a walking wheel, and the correction device includes a linear walking detection device, a control device, and at least one deflection device corresponding to the walking wheel, and the deflection device For deflection of the traveling direction of the corresponding traveling wheel, the linear traveling detection device is used for detecting whether the traveling device keeps traveling in a straight line in the working state, and the control device is connected to the deflection device and the linear traveling detection device Signal connection, the control device is configured to: in the working state, when the linear walking detection device detects that the walking route of the walking device deviates from a straight line, control the linear walking detection device according to the detection result of the walking device The deflection device deflects the corresponding traveling wheel, so that the traveling device resumes linear walking.
10. 9. The radiation scanning inspection equipment according to claim 8 or 9, wherein the linear walking detection device includes a laser sensor signally connected to the control device and a laser guide line arranged along a preset linear walking direction of the walking device.
11. 8. The radiation scanning inspection equipment according to claim 7, wherein the correction device comprises:

    A guide wheel (310) 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 the linear walking direction of the walking device.
12. The radiation scanning inspection device according to claim 11, wherein:

    The wheel assembly includes a rubber wheel that runs on the ground in the working state; or

    The wheel assembly includes steel wheels running on the guide rail in the working state.
13. The radiation scanning inspection equipment according to claim 12, wherein the guide rail on which the steel wheels travel is the linear guide rail (311).
14. The radiation scanning inspection device according to any one of claims 1 to 9, wherein:

    The transverse portion (3) is rigidly connected with the first longitudinal portion (1) and the second longitudinal portion (2);

    The walking device includes 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 includes a wheel seat and a rotatably mounted The walking wheel 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 respectively fixedly installed in the first longitudinal direction The front and rear ends of the part (1), the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) are respectively hinged to the front and rear ends of the second longitudinal part (2) ；

    The radiation scanning inspection equipment also includes a balance beam (15). The front and rear ends of the balance beam (15) are respectively connected with the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14). The wheel base is hinged.
15. The radiation scanning inspection device according to claim 14, wherein the wheel seat of the third wheel assembly (13), the wheel seat of the fourth wheel assembly (14) and the second longitudinal portion (2) are hinged All are hinged, and the axes of the hinges are horizontal and parallel to each other, the wheel seat of the third wheel assembly (13), the wheel seat of the fourth wheel assembly (14) and the balance beam (15) The hinges are all spherical hinges.
16. The radiation scanning inspection equipment according to claim 14, wherein the wheel seat of the third wheel assembly (13), the wheel seat of the fourth wheel assembly (14) and the second longitudinal portion (2), and The hinged connections of the equalizing beams (15) are all pivoted, and the hinged axes are all along the horizontal direction and parallel to each other.
17. The radiation scanning inspection equipment according to claim 14, wherein the axis of the balance beam (15) hinged with the wheel base of the third wheel assembly (13) and the wheel base of the fourth wheel assembly (14) The vertical line segment between the hinged axes is parallel to the axis of hinged connection between the wheel seat of the third wheel assembly (13) and the second longitudinal portion (2) and the wheel seat of the fourth wheel assembly (14) and A vertical line segment between the hinged axes of the second longitudinal portion (2).
18. The radiation scanning inspection equipment according to claim 17, wherein the axis of the balance beam (15) hinged with the wheel base of the third wheel assembly (13) and the wheel base of the fourth wheel assembly (14) The distance between the hinged axis is equal to the hinged axis of the wheel seat of the third wheel assembly (13) and the second longitudinal portion (2) and the wheel seat of the fourth wheel assembly (14) and the second The distance of the axis to which the longitudinal part (2) is hinged.
19. The radiation scanning inspection equipment according to claim 14, wherein the radiation scanning inspection equipment further comprises one of at least two of the walking device, the equalizing beam (15) and the second longitudinal portion (2). Between the elastic device, the elastic device is used to provide obstacles for the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) to swing relative to the second longitudinal portion (2) Elasticity.
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), wherein:

    The first elastic device (51) is arranged between the wheel seat of the third wheel assembly (13) and the second longitudinal portion (2); and/or

    The second elastic device (52) is arranged between the wheel seat of the fourth wheel assembly (14) and the second longitudinal portion (2);

    The third elastic device (53) is arranged between the equalizing beam (15) and the second longitudinal portion (2).
21. The scanning inspection device according to claim 14, wherein the swing range of the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) relative to the second longitudinal portion (2) Restricted.

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