WO2021073222A1

WO2021073222A1 - Radiation scanning inspection apparatus

Info

Publication number: WO2021073222A1
Application number: PCT/CN2020/108363
Authority: WO
Inventors: 宋全伟; 樊旭平; 孙尚民; 郭以伟; 史俊平; 何远; 孟辉; 宗春光; 胡煜; 倪秀琳
Original assignee: 同方威视技术股份有限公司
Priority date: 2019-10-16
Filing date: 2020-08-11
Publication date: 2021-04-22
Also published as: GB2603719A; GB2603719B; CN112666188A; GB202205974D0; PL440917A1

Abstract

Disclosed is a radiation scanning inspection apparatus, comprising a radiation inspection device comprising a rigid door-shaped framework, the door-shaped framework comprising a transverse part (3), and a first longitudinal part (1) and a second longitudinal part (2) respectively connected to the left end and the right end of the transverse part (3); a traveling device comprising a plurality of wheel assemblies (11, 12, 13, 14), the plurality of wheel assemblies (11, 12, 13, 14) being respectively arranged at the bottom of the first longitudinal part (1) and the bottom of the second longitudinal part (2); and a deviation correcting device for enabling the traveling device to keep traveling linearly.

Description

Radiation scanning inspection equipment

Cross-references to related applications

This application is based on a Chinese patent application whose CN application number is 201910981849.4, the filing date is October 16, 2019, and the invention title is "Radiation Scanning Inspection Equipment", and its priority is claimed. The disclosure of the 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

When the walking-type radiation scanning inspection equipment inspects the inspected object, people around the inspected object usually leave, and the inspected object is placed in front of the inspection channel of the radiation scanning inspection equipment. The radiation scanning inspection equipment walks in a straight line in the direction of the inspected object to make the inspected object. The inspection object passes through the door-type radiation scanning inspection channel formed by its door-type radiation scanning inspection equipment. When the inspection object passes through the inspection channel, the scanning inspection device completes the scanning of the inspected object through transmission radiation scanning inspection or backscattering radiation scanning inspection Check imaging. In this process, the radiation scanning inspection equipment can maintain a stable linear walking, so that the inspected object can pass through the inspection channel relatively straight, and the quality and efficiency of the radiation scanning inspection imaging of the inspected object can be improved.

Summary of the invention

The present disclosure provides a radiation scanning inspection device, including:

The radiation inspection device includes a rigid door-shaped frame. The door-shaped frame includes a transverse part and a first longitudinal part and a second longitudinal part respectively connected to the left and right ends of the transverse part;

The walking device includes a plurality of wheel assemblies, and the plurality of wheel assemblies are respectively arranged at the bottom of the first longitudinal portion and the bottom of the second longitudinal portion; and

Deviation correction device is used to keep the walking device walking in a straight line.

In some embodiments, each wheel assembly includes a walking wheel and a driving motor for driving the walking wheel to walk; the correction device includes a linear walking detection device and a control device for detecting whether the walking device keeps walking in a straight line, the control device and each drive motor Signal connection with the walking detection device, the control device is configured to: when the linear walking detection device detects that the walking route of the walking device deviates from a straight line, adjust and control the speed of each drive motor according to the detection result of the straight walking detection device to make the walking device Resume 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, and the control device is connected with the deflection device and the straight walking detection device. The control device is configured to: when the straight walking detection device detects that the walking path of the walking device deviates from a straight line, it walks according to the straight line The detection result of the detection device controls the deflection of the corresponding walking wheel by the deflection device, so that the walking device resumes straight walking.

In some embodiments, the wheel assembly includes a wheel seat and a traveling wheel rotatably mounted on the wheel seat, and the wheel seat includes a first wheel seat portion mounted on the first longitudinal portion or the second longitudinal portion and a vertical axis. The second wheel seat part is rotatably installed on the first wheel seat part, the walking wheel is rotatably installed on the second wheel seat part, the deflection device includes an electric push rod connected with the signal of the control device, and the electric push rod is used for Push the second wheel seat to deflect relative to the first wheel seat.

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 with the first longitudinal portion or the second longitudinal portion;

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

In some embodiments,

The wheel assembly includes rubber wheels that walk on the ground; or

The wheel assembly includes steel wheels that run on the guide rails.

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

In some embodiments,

The multiple wheel assemblies include 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. The wheels of the first wheel assembly The seat and the wheel seat of the second wheel assembly are respectively fixedly installed at the front and rear ends of the first longitudinal part, and 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 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:

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

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

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.

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

Based on the radiation scanning inspection equipment provided by the present disclosure, by arranging wheel assemblies and arranging correction devices under the first longitudinal portion and the second longitudinal portion of the rigid door-shaped frame, the radiation scanning inspection equipment can be kept in a straight line.

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 structural diagram of a radiation scanning inspection device according to some embodiments of the disclosure;

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

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

4 is a schematic diagram of the connection structure of the 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 of 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 some embodiments of the disclosure;

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

FIG. 12 is a schematic structural diagram of a radiation scanning inspection device according to some embodiments of the disclosure;

FIG. 13 is a schematic structural diagram of a radiation scanning inspection device according to some embodiments of the disclosure;

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

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.

As shown in Figures 1 to 13, the radiation scanning inspection equipment includes a radiation inspection device, a walking device and a correction device.

The radiation inspection device includes a rigid door-shaped frame. The door-shaped frame includes a transverse portion 3 and a first longitudinal portion 1 and a second longitudinal portion 2 respectively connected to the left and right ends of the transverse portion 3. The radiation inspection device may be a transmissive radiation scanning inspection device. The radiation source 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 a radiation scan image. . The radiation inspection device can also be a backscattered radiation scanning inspection device. The detector and the radiation source of the backscattered radiation scanning inspection device are located on the same side of the object to be inspected. After the radiation source emits radiation rays to the object to be inspected, part of the radiation rays are The inspected object is scattered back and received by the detector on the same side of the radiation source, forming a radiation scan image. In the see-through radiation scanning inspection device, the transverse portion 3 may include a main beam, one of the first longitudinal portion 1 and the second longitudinal portion 2 may include a cabin with a radiation source, and the other may include a beam for blocking For structures such as walls for radiating 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 vertical detector 41 of the radiation and the transverse detector arranged on the main beam, and the second longitudinal portion 2 also includes a wall for blocking the radiation from the outside. 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 are both arranged on the first longitudinal portion.

The walking device includes a plurality of wheel assemblies, which are respectively arranged at the bottom of the first longitudinal portion 1 and the bottom of the second longitudinal portion 2; the deviation correcting device is used to keep the walking device walking in a straight line. In some embodiments, the rectifying device is used to eliminate the deviation of the walking device when the walking device is walking in a straight line and restore the straight line. In other embodiments, the rectifying device is used to keep the walking device in a straight line when walking in a straight line. , No deviation occurs.

The radiation scanning inspection equipment of this embodiment is equipped with wheel assemblies and a correction device under both the first longitudinal portion 1 and the second longitudinal portion 2 of the rigid door-shaped frame, so that the radiation scanning inspection equipment can keep walking in a straight line and improve the accuracy. Radiation scanning of the object to be inspected checks 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, 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 a wheel assembly with a drive motor is arranged under the first longitudinal portion Below 1 and below the second longitudinal portion 2, a wheel assembly without a driving motor and without a driving function is respectively arranged. 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. The three-wheel assembly 13 and the fourth-wheel assembly 14 are shown in FIG. 8. The driving motor of the third wheel assembly 13 is 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 straight walking. The control device is signally connected to each drive motor and the walking detection device. The control device is configured to: When the walking route deviates from a straight line, the rotation speed of each drive motor is adjusted according to the detection result of the linear walking detection device, so that the walking device can resume straight walking. That is, when the walking device deviates from a straight line, the drive motor and the second The rotational speed difference of the driving motor under the 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 the 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, and the control device is signally connected to the deflection device and the straight walking detection device. The control device is configured to: when the straight walking detection device detects that the walking path of the walking device deviates from a straight line, according to the straight line The detection result of the walking detection device controls the deflection of the walking wheel by the deflection device, so that the walking device resumes straight 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 mounted on the first longitudinal portion 1 or the second longitudinal portion 2 and a second wheel seat portion 201 for mounting the travel wheel of the deflection wheel assembly (ie, the deflection travel wheel 200) The wheel seat portion 204, the second wheel seat portion 204 is rotatably mounted on the first wheel seat portion 201 about a vertical axis, and a slewing bearing 202 is provided between the first wheel seat portion 201 and the second wheel seat portion 204, which deflects The device includes an electric push rod 203 signally connected to the 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 with the second wheel seat 204 for pushing the second wheel seat. 204 is deflected 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 walking wheel box, which needs to walk on the guide rail. As shown in the figure, the steel wheel 301 can be driven by a reduction motor 303, and the steel wheel 301 is connected to the first longitudinal section 1 or the second longitudinal section through the travel 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 civil construction and laying of the guide rail.

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 plurality of wheel assemblies 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 FIGS. 1 to 12, each wheel assembly includes a wheel seat And the traveling wheel, the rotating shaft of the traveling wheel is arranged on the wheel base, and the wheel base is connected with the radiation inspection device. As shown in Figures 1 and 2, 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 walking direction of the radiation scanning inspection equipment is forward, and the backward direction of the radiation scanning inspection equipment is For later. 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 adaptively swing at a small amplitude. At the same time, the balance beam 15 hinged to the third wheel assembly 13 and the fourth wheel assembly 14 can also be connected. Inching, adjust the load of the third wheel assembly 13 and the fourth wheel assembly 14 to improve the load uniformity of the third wheel assembly 13 and the fourth wheel assembly 14, better adapt to uneven roads, and help ensure The walking stability of radiation scanning inspection equipment helps to ensure the effect of radiation scanning inspection. At the same time, the door frame of the radiation inspection device is rigid, and the wheel base of the first wheel assembly 11 and the wheel base of the second wheel assembly 12 are fixedly connected to the first longitudinal portion 1. When the radiation inspection device is walking, the first The support of the wheel assembly 11 and the second wheel assembly 12 to the rigid door frame can also make the second longitudinal portion 2 more stably supported between the third wheel assembly 13 and the fourth wheel assembly 14, so that the third wheel assembly 13 And the fourth wheel assembly 14 supports 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 set 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 third 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 wheel seat load 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 setting an equalizing beam hinge pin 151.

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 base of the third wheel assembly 13 and the wheel base of the fourth wheel assembly 14, and the wheel base of the third wheel assembly 13 and the wheel base 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 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 wheels that hinder the third wheel assembly 13 The elastic force of the seat and the wheel seat of the fourth wheel assembly 14 relative to the second longitudinal portion 2, and 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 13 and the wheel seat of the fourth wheel assembly 14 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 or a cabin.

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

A radiation scanning inspection equipment, including:

The radiation inspection device includes a rigid door-shaped frame, the door-shaped frame comprising a transverse portion (3) and a first longitudinal portion (1) and a second longitudinal portion (2) connected to the left and right ends of the transverse portion (3), respectively );

A walking device, comprising a plurality of wheel assemblies, 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 correction device is used to keep the walking device walking in a straight line.
4. The radiation scanning inspection equipment according to claim 1, 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 straight walking, the control device is signally connected to each drive motor and the walking detection device, and the control device is configured as: When the linear walking detection device detects that the walking route of the walking device deviates from a straight line, the rotation speed of each drive motor is adjusted according to the detection result of the linear walking detection device, so that the walking device resumes linear walking.
The radiation scanning inspection equipment according to claim 1, wherein each of the wheel assemblies includes a traveling wheel, and the correction device includes a linear traveling detection device, a control device, and a deflection device corresponding to at least one traveling wheel, the deflection device Is used to deflect the traveling direction of the corresponding traveling wheel, the linear traveling detection device is used to detect whether the traveling device keeps traveling in a straight line, the control device is signally connected with the deflection device and the linear traveling detection device, the The control device is configured to: when the linear walking detection device detects that the walking route of the walking device deviates from a straight line, control the deflection of the corresponding traveling wheel by the deflection device according to the detection result of the straight walking detection device, In order to restore the walking device to walk in a straight line.
The radiation scanning inspection equipment according to claim 3, wherein the wheel assembly includes a wheel base and a traveling wheel rotatably mounted on the wheel base, and the wheel base includes a wheel mounted on the first longitudinal portion (1 ) Or the first wheel seat portion (201) on the second longitudinal portion (2) and the second wheel seat portion (204) rotatably mounted on the first wheel seat portion (201) about a vertical axis ), the walking wheel is rotatably mounted on the second wheel seat (204), the deflection device includes an electric push rod (203) signally connected to the control device, the electric push rod (203) ) Is used to push the second wheel seat (204) to deflect relative to the first wheel seat (201).
The radiation scanning inspection equipment according to any one of claims 2 to 4, wherein the linear walking detection device includes a laser sensor signally connected to the control device and a laser arranged along a preset linear walking direction of the walking device. Guiding line.
The radiation scanning inspection equipment according to claim 1, 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 preset linear walking direction of the walking device.
The radiation scanning inspection device according to claim 6, wherein:

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

The wheel assembly includes steel wheels running on the guide rail.
8. The radiation scanning inspection equipment according to claim 7, wherein the guide rail on which the steel wheels travel is the linear guide rail (311).
The radiation scanning inspection device according to any one of claims 1 to 4, wherein

The plurality of wheel assemblies 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 rotatable The walking wheel is groundly installed on the wheel seat, and the wheel seat of the first wheel assembly (11) and the wheel seat of the second wheel assembly (12) are respectively fixedly installed on the first longitudinal portion (1) At the front and rear ends, 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 portion (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.
The radiation scanning inspection equipment according to claim 9, wherein the wheel base of the third wheel assembly (13), the wheel base 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.
The radiation scanning inspection equipment according to claim 9, 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 beam (15) are all pivoted, and the axes of the hinged joints are all along the horizontal direction and parallel to each other.
The radiation scanning inspection equipment according to claim 11, 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).
The radiation scanning inspection equipment according to claim 9, 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.
The radiation scanning inspection equipment according to claim 13, wherein the elastic device comprises 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); and/or

The third elastic device (53) is arranged between the equalizing beam (15) and the second longitudinal portion (2).
The radiation scanning inspection device according to claim 9, wherein the wheel seat of the third wheel assembly (13) and the wheel seat of the fourth wheel assembly (14) swing relative to the second longitudinal portion (2) The scope is limited.
The radiation scanning inspection equipment according to any one of claims 1 to 8, wherein the first longitudinal portion (1) is a cabin with a radiation source, and the second longitudinal portion (2) is a wall or a cabin .