WO2021259238A1

WO2021259238A1 - Conveying apparatus and inspection system

Info

Publication number: WO2021259238A1
Application number: PCT/CN2021/101465
Authority: WO
Inventors: 陈志强; 张丽; 李元景; 黄清萍; 郭卫军; 丁辉; 刘俊豪; 姚利明
Original assignee: 同方威视技术股份有限公司; 清华大学
Priority date: 2020-06-23
Filing date: 2021-06-22
Publication date: 2021-12-30
Also published as: CN113830510B; CN113830510A

Abstract

A conveying apparatus (100) and an inspection system (1000). The conveying apparatus comprises a walking mechanism (1), a rotating mechanism (2) and a conveying mechanism (3). The walking mechanism is constructed to reciprocate linearly, and comprises a first support frame (11), and a fixed base (12) mounted on the first support frame. The rotating mechanism comprises a rotating base (21) and a first driving mechanism (22) which is suitable for driving the rotating base to rotate relative to the fixed base. The conveying mechanism comprises a second support frame (31) mounted on the rotating base, two groups of rolling mechanisms (32) mounted on the second support frame, and at least one second driving mechanism (33) suitable for driving the rolling mechanisms to rotate. By means of installing the second driving mechanism between the two groups of rolling mechanisms, the space between two auxiliary longitudinal frames can be fully utilized, thereby reducing the overall height of the conveying apparatus.

Description

Conveying device and inspection system

Cross-references to related applications

This application claims the rights and interests of a Chinese patent application with an application number of 202010583788.9 filed with the Chinese Patent Office on June 23, 2020, and the entire disclosure of the application is incorporated herein by reference.

Technical field

The embodiments of the present disclosure relate to an inspection system, in particular to a conveying device suitable for conveying containers and an inspection system including the conveying device.

Background technique

Radioactivity is usually used in airports and public buildings for non-invasive inspection of objects such as luggage, bags, briefcases, etc., to identify hidden prohibited items. Prohibited items can include hidden guns, knives, explosive devices, illegal drugs, and so on. A common inspection system is an X-ray machine, in which an object to be inspected passes between a fixed radiation source such as X-ray radiation and a fixed detector. The radiation is calibrated into a fan-shaped wire harness or a pen-shaped wire harness. The radiation transmitted through the object is attenuated to different degrees by the items contained in the luggage. The attenuation of the radiation is a function of the density of the material through which the radiation beam passes. The attenuated radiation is detected, and an X-ray photograph image of the object contained in the object is generated for inspection. The image shows the shape, size and different densities of the contained items.

At present, in the field of air cargo (such as air container) inspection, manual inspection (unpacking inspection) and X-ray machine (only small air container) projection are still used as the main inspection methods, and CT (computed tomography-based tomography) is also used. ) Technical cargo inspection device. Due to the low penetration capability of the X-ray machine of the cargo inspection device, the strict restrictions on the use and management of radioactive sources make the use of these two types of products have many restrictions.

The large container inspection system of the prior art generally uses special drag equipment to drag the containerized vehicle through the inspection channel for detection. For this reason, a huge drag system is required, or a special drag device is used to load the container. Vehicles dragged through the detection channel. In order to inspect both the left and right sides of the container, it is necessary to install CT devices on both sides of the inspection channel. In this way, the civil engineering project covers a large area, the system engineering cost is high, and it is not easy to maintain.

Summary of the invention

The purpose of the present disclosure is to solve at least one aspect of the above-mentioned problems and defects in the prior art.

According to an embodiment of an aspect of the present disclosure, there is provided a conveying device including a walking mechanism, a rotating mechanism, and a conveying mechanism. The walking mechanism is configured to reciprocate linearly and includes a first support frame and a fixed base installed on the first support mechanism. The rotating mechanism includes a rotating base and a first driving mechanism adapted to drive the rotating base to rotate relative to the fixed base. The conveying mechanism includes: a second supporting frame installed on the rotating base, two sets of rolling mechanisms installed on the second supporting frame in parallel, and two sets of rolling mechanisms installed between the two sets of rolling mechanisms and suitable for driving the station. At least one second driving mechanism for rotating the rolling mechanism.

According to an embodiment of the present disclosure, the conveying device further includes a rail assembly, and the walking mechanism is configured to move along the rail assembly.

According to an embodiment of the present disclosure, the second supporting frame includes: a base fixed on the rotating base; two first longitudinal frames mounted on the base; two first horizontal frames, respectively Installed between the two ends of the two first longitudinal frames; and two auxiliary longitudinal frames are arranged in parallel between the first longitudinal frames.

According to an embodiment of the present disclosure, each set of the rolling mechanism includes: a set of rollers respectively rotatably installed between a first longitudinal frame and an auxiliary longitudinal frame; and a plurality of conveying mechanisms, the set of The rollers are sequentially connected by the transfer mechanism so that all the rollers in each group of rollers rotate synchronously. The second driving mechanism is installed between the two auxiliary longitudinal frames and is configured to drive one of the rollers in each group. The drum rotates.

According to an embodiment of the present disclosure, two second driving mechanisms are provided, and each of the second driving mechanisms is configured to drive the driving roller in a set of rollers to rotate.

According to an embodiment of the present disclosure, each of the second driving mechanisms includes: a first driving motor; and a first deceleration mechanism connected between the output shaft of the first driving motor and the driving drum.

According to an embodiment of the present disclosure, the conveying mechanism further includes at least one synchronization shaft coupled between two opposite rollers of the two groups of rollers, so that all the rollers of the two groups of rollers rotate synchronously.

According to an embodiment of the present disclosure, each transmission mechanism includes: two sprockets, which are respectively installed on the rotation shafts of two adjacent rollers in each group of rollers; and a chain, which is engaged with the two chains. On the wheel.

According to an embodiment of the present disclosure, at least a part of the plurality of rollers is provided with a braking mechanism, and each of the braking mechanisms is configured to operably prevent the rotation of the roller on which the actuation mechanism is installed .

According to an embodiment of the present disclosure, each of the braking mechanisms includes: a mounting seat, which is installed on the first longitudinal frame or the auxiliary longitudinal frame; and a holding ring, which is installed on the mounting seat and is configured to In the triggered state, the rotating shaft of the drum is held tightly to prevent the drum from continuing to rotate.

According to an embodiment of the present disclosure, the rotating base is rotatably installed inside the fixed base, and the first driving mechanism includes:

A first gear meshed with driving teeth inside the rotating base; and a second driving motor installed on the first support frame inside the rotating base and configured to drive the first gear Rotate.

According to an embodiment of the present disclosure, the output shaft of the second drive motor is placed horizontally, the input shaft of the first gear is placed vertically, and the output shaft of the second drive motor is aligned with the input shaft of the first gear. Engaged by the second deceleration structure.

According to an embodiment of the present disclosure, the walking mechanism further includes a third driving structure installed on the first support frame, and the third driving mechanism is configured to drive the walking mechanism to move on two rails .

According to an embodiment of the present disclosure, the first support frame includes: two second longitudinal frames and second transverse frames respectively installed between the two ends of the two second longitudinal frames. The third drive mechanism includes: a third drive motor installed on one of the two second transverse frames; a drive shaft installed on the first ends of the two second longitudinal frames of the first support frame, and It rotates under the drive of the third drive motor; and two driving wheels are respectively installed at both ends of the driving shaft, and the two driving wheels respectively abut on the two guide rails to drive the The first support frame moves.

According to an embodiment of the present disclosure, the third driving mechanism further includes: two driven wheels, respectively installed at the second ends of the two second longitudinal frames opposite to the first ends, and the two The driven wheel abuts on the two guide rails respectively.

According to an embodiment of the present disclosure, the third drive mechanism further includes a third reduction structure, and the third drive motor is coupled with the drive shaft through the third reduction mechanism.

According to an embodiment of the present disclosure, the conveying device further includes a measuring mechanism installed on the walking mechanism, and the measuring mechanism is configured to measure the motion parameters of the walking mechanism.

According to an embodiment of the present disclosure, the measurement mechanism includes: a support frame mounted on the first support frame; a rotating shaft rotatably mounted on the support frame; a rotating wheel mounted on the rotating The lower end of the shaft, the rotating wheel is configured to rotate when the traveling mechanism is walking; and an encoder, which is installed on the support frame and meshes with the upper end of the rotating shaft.

According to an embodiment of the present disclosure, the measurement mechanism further includes an elastic holding mechanism configured to hold the rotating wheel in elastic contact with the guide rail.

According to an embodiment of the present disclosure, the rotating wheel includes a second gear, a rack is provided on the side of the guide rail, and the second gear meshes with the rack.

According to another embodiment of the present disclosure, there is provided an inspection system, including: an inspection channel;

According to the conveying device according to any one of the above embodiments, the conveying device moves in the inspection passage; and the inspection device is configured to inspect the inspected target conveyed by the conveying device.

According to an embodiment of the present disclosure, the inspection system further includes two auxiliary conveying mechanisms, which are respectively installed at the entrance and exit of the inspection channel.

According to an embodiment of the present disclosure, the opening directions of the inlet and the outlet are parallel to the walking direction of the walking mechanism.

According to an embodiment of the present disclosure, the opening direction of the entrance is parallel to the walking direction of the walking mechanism, and the opening direction of the outlet is perpendicular to the walking direction of the walking mechanism.

According to an embodiment of the present disclosure, the inspection system further includes an auxiliary conveying mechanism through which the target to be inspected enters or leaves the inspection channel.

According to an embodiment of the present disclosure, the inspection device emits a radiation beam suitable for inspecting the target according to the predetermined walking distance of the walking mechanism detected by the measuring mechanism.

Description of the drawings

Fig. 1 shows a simplified schematic diagram of an inspection system of an exemplary embodiment of the present disclosure;

Fig. 2 shows a three-dimensional schematic diagram of a transmission device according to an exemplary embodiment of the present disclosure;

Fig. 3 shows a three-dimensional schematic diagram of a conveying mechanism of a container transport device according to an exemplary embodiment of the present disclosure;

Fig. 4 shows an enlarged schematic diagram of part A shown in Fig. 3;

Fig. 5 shows an enlarged schematic diagram of part B shown in Fig. 3;

Fig. 6 shows a three-dimensional schematic diagram of a walking mechanism and a rotating mechanism of a conveying device according to an exemplary embodiment of the present disclosure;

Fig. 7 shows a partial enlarged schematic diagram of the conveying device shown in Fig. 2;

Fig. 8 shows an enlarged schematic diagram of part C shown in Fig. 7; and

FIG. 9 shows a simplified schematic diagram of an inspection system of another exemplary embodiment of the present disclosure.

detailed description

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 carrying out creative work fall within the protection scope of the present disclosure.

In the following detailed description, for the convenience of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can also be implemented without these specific details. In other cases, well-known structures and devices are shown in the form of illustrations to simplify the drawings. 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 the description of the present disclosure, it should be understood that orientation words such as “front, back, up, down, left, right”, “horizontal, vertical, vertical, horizontal” and “top, bottom”, etc. indicate the orientation Or positional relationship is usually based on the orientation or positional relationship shown in the drawings, and is based on the traveling direction of the vehicle, only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise stated, these positional words are not Indications and hints indicate that the device or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the scope of protection of the present disclosure; the orientation word "inside and outside" refers to the outline of each component itself Inside and outside.

In the description of the present disclosure, it should be understood that the use of terms such as “first” and “second” to define parts is only for the convenience of distinguishing the corresponding parts. Unless otherwise stated, the above terms are not special. Therefore, it cannot be understood as a limitation on the protection scope of the present disclosure.

According to a general inventive concept of the present disclosure, a conveying device is provided, which includes a walking mechanism, a rotating mechanism, and a conveying mechanism. The walking mechanism is configured to reciprocate linearly and includes a first support frame and a fixed base installed on the first support frame. The rotating mechanism includes a rotating base and a first driving mechanism adapted to drive the rotating base to rotate relative to the fixed base. The conveying mechanism includes: a second supporting frame installed on the rotating base, a plurality of rolling mechanisms installed on the second supporting frame, and at least one second driving mechanism suitable for driving the rolling mechanism to rotate.

According to another general inventive concept of the present disclosure, there is provided an inspection system including: an inspection channel; the above-mentioned conveying device moving in the inspection channel; and an inspection device configured to The container transported by the conveyor is inspected.

Fig. 1 shows a simplified schematic diagram of an inspection system of an exemplary embodiment of the present disclosure.

In an exemplary embodiment, referring to FIG. 1, the inspection system 1000 is suitable for inspecting whether there are drugs or explosives in objects such as containers 400, large cargo baskets suitable for centralized storage of items, etc. in stations, airports, wharfs, etc. , Prohibited items such as combustibles. This article continues the explanation with the container being inspected as an example. The inspection system 1000 includes: an inspection passage 200; a conveying device 100 that moves in the traveling direction T within the inspection passage 200; and an inspection device 300 that is configured to inspect the container 400 conveyed by the conveying device. The conveying device 100 also includes two auxiliary conveying

mechanisms

6 and 7 respectively installed at the entrance 201 and the exit 202 of the inspection channel 200. The opening directions of the inlet 201 and the outlet 202 are parallel to the traveling direction T of the traveling mechanism 1. That is, the container 400 enters or moves out of the inspection passage 200 in the traveling direction T.

In an exemplary embodiment, the inspection device 300 includes an X-ray scanning device based on CT (computed tomography) technology. As the detected target container 400 enters the inspection passage 200 through the auxiliary conveying mechanism 6 provided at the entrance 201, and is transferred to the conveying device 100 located in the inspection passage 200. The conveying device 100 carries the container 400 to move in the inspection passage, and Realize X-ray scanning inspection.

In an exemplary embodiment, the container 400 to be inspected is an air cargo container. This air cargo container is used to contain multiple pieces of luggage and other cargo to be stored in the aircraft body, and its dimensions (length, Height, width) range from approximately 35 X 21 X 21 inches (0.89 X 0.53 X 0.53 meters) to approximately 240 X 118 X 96 inches (6.1 X 3.0 X 2.4 meters).

Fig. 2 shows a three-dimensional schematic diagram of a container conveying device according to an exemplary embodiment of the present disclosure; Fig. 3 shows a three-dimensional schematic diagram of a conveying mechanism of the container conveying device according to an exemplary embodiment of the present disclosure; 4 shows an enlarged schematic view of part A shown in FIG. 3; FIG. 5 shows an enlarged schematic view of part B shown in FIG. 3; The three-dimensional schematic diagram of the mechanism and the rotating mechanism.

In an exemplary embodiment, referring to FIGS. 2-6, the conveying device 100 includes: a walking mechanism 1, a rotating mechanism 2, and a conveying mechanism 3. The walking mechanism 1 is configured to reciprocate and linearly move in the walking direction T, and includes a first supporting frame 11 and a fixed base 12 mounted on the first supporting mechanism 11. The rotating mechanism 2 includes a rotating base 21 and a first driving mechanism 22 adapted to drive the rotating base 21 to rotate in the circumferential direction R relative to the fixed base 12. The conveying mechanism 3 includes: a second support frame 31 mounted on the rotating base 21, two sets of rolling mechanisms 32 mounted on the second support frame 31 in parallel, and two sets of rolling mechanisms 32 mounted on the second support frame 31. Between the second driving mechanism 33, the second driving mechanism 33 is suitable for driving the rolling mechanism to rotate. The conveying device 100 further includes a rail assembly 4, and the walking mechanism 1 is configured to move along the rail assembly 4.

In this way, the traveling mechanism 1 is used to drive the conveyor device 100 to move on the rail assembly 4 in the traveling direction, so that the container 400 to be inspected enters the area where the inspection device 300 can perform the inspection. During the inspection process, the rotating mechanism 2 can be controlled to rotate in the circumferential direction R as required, so as to change the posture of the container 400 relative to the inspection device 300, so that the container 400 can be X-ray inspected from different angles, which improves the accuracy of the inspection. Spend. When the container 400 enters or moves out of the inspection passage 200, the conveying mechanism 3 drives the container to move, so as to realize the conveying between the conveying device 100 and the auxiliary conveying

mechanism

6 or 7.

In an exemplary embodiment, referring to FIGS. 2-4, the second support frame 31 has a substantially rectangular shape and includes: a base 311 fixed on the rotating base 21; and a base 311 mounted on the base 311 Two first longitudinal frames 312 extending in the traveling direction T of the conveying device 100; two first transverse frames 313 respectively installed between the two ends of the two first longitudinal frames 312; and Two auxiliary longitudinal frames 314 are groundly arranged between the first longitudinal frames 312. In this way, the two auxiliary longitudinal frames 314 divide the second support frame into three substantially rectangular frames.

In an exemplary embodiment, referring to FIGS. 2-4, each group of the rolling mechanism 32 includes: a group of rollers 321 with a plurality of rollers and a plurality of conveying mechanisms 323, the plurality of rollers 321 can be respectively passed through the bearing device 322 It is rotatably installed between a first longitudinal frame 312 and an auxiliary longitudinal frame 314. The plurality of rollers are sequentially connected by the transfer mechanism 323 so that all the rollers of the plurality of rollers 321 rotate synchronously. The second driving mechanism 33 is installed between the two auxiliary longitudinal frames 314 and is configured to drive one of the plurality of rollers 321 to drive the roller 324 to rotate. The driving roller 324 drives other rollers to rotate, thereby driving the container placed on the two groups of roller mechanisms 32 to move, so as to change the position of the container 400 on the conveying device 100.

By installing the second drive mechanism 33 between the two sets of rolling mechanisms 32, the space between the two auxiliary longitudinal frames 314 can be fully utilized, the overall height of the conveying device 100 can be reduced, and the maintenance and replacement of the first drive motor can be facilitated. . For example, the overall height of the conveying device 100 of the embodiment of the present disclosure is about 508 mm, which can realize seamless docking with the existing conveying equipment (typically 508 mm (20 inches) in height) of the airport/cargo station without changing the current situation. There is an installation method for conveying equipment, and there is no need for additional lifting auxiliary equipment or the use of civil construction to sink the equipment as a whole. It can be understood that any part of the second driving mechanism 33 will not exceed the maximum height of each group of rollers 321.

In an exemplary embodiment, referring to FIGS. 2-4, two second driving mechanisms 33 are provided, and each of the second driving mechanisms 33 is configured to drive the driving roller 324 in a set of rollers 321 to rotate. . Further, each of the second driving mechanisms 33 includes: a first driving motor 331; and a first deceleration mechanism 332 connected between the output shaft of the first driving motor 331 and the driving drum 324. For example, the output shaft of the first driving motor 331 and the rotating shaft of the driving drum 324 are arranged in the same plane and perpendicular to each other, and the first reduction structure 332 may include a helical gear to realize the output shaft of the first driving motor 331 and the driving drum 324 The meshing of the shaft. In this way, the space occupied by the first driving mechanism 33 can be reduced.

In an alternative embodiment, a set of rollers may be provided on the second support frame, and the first drive motor is arranged on one side of the second support frame.

In an exemplary embodiment, the conveying mechanism 3 further includes at least one synchronization shaft 34, and each synchronization shaft 34 is coupled between two opposite rollers 325 of the two sets of rollers 321, so that the two sets of rollers 321 All the rollers rotate synchronously.

The embodiment in which the rolling mechanism includes the drum is described above, but the embodiment of the present disclosure is not limited to this. In an alternative embodiment, the rolling mechanism may include a roller or other bearing body with a rotating function.

In an exemplary embodiment, referring to FIGS. 3-5, each transfer mechanism 323 includes: two sprockets 3231 respectively installed on the rotating shafts of two adjacent rollers 325 in each group of rollers 321 And the chain 3232 engaged on the two sprockets 3231. Through the meshing between the sprocket 3231 and the chain 3232, all the rollers can be rotated in steps. In an alternative embodiment, each transmission mechanism 323 may include: two pulleys respectively installed on the rotating shafts of two adjacent rollers 325 in each group of rollers 321; Conveyor belt on the pulley.

In an exemplary embodiment, referring to FIGS. 3-5, a brake mechanism 326 is provided on at least a portion of the plurality of rollers, and each of the brake mechanisms is configured to operably prevent installation The roller of the brake mechanism 326 rotates. For example, during the inspection of the container 400, the continuous movement of the container can be stopped by operating the brake mechanism 326. In detail, each of the braking mechanisms 326 includes a mounting seat 3261 installed on the first longitudinal frame 312 or the auxiliary longitudinal frame 314; and a holding ring 3262, and the holding ring 3262 is installed on the mounting seat 3261, It is configured to hug the rotating shaft 3211 of the drum in the triggered state to prevent the drum from continuing to rotate. The holding ring 3262 can be driven to move by pneumatic, hydraulic or electric means to hold the rotating shaft 3211 of the roller.

Fig. 6 shows a three-dimensional schematic diagram of the walking mechanism and the rotating mechanism of the conveying device of an exemplary embodiment of the present disclosure; Fig. 7 shows a partial enlarged schematic view of the conveying device shown in Fig. 2; Fig. 8 shows a diagram 7 shows an enlarged schematic diagram of part C.

In an exemplary embodiment, referring to FIGS. 2, 6-8, the rotating base 21 is rotatably installed on the inner side of the fixed base 12. The first driving mechanism 22 includes: a first gear 221 meshing with driving teeth inside the rotating base 21; and a second driving motor 222, which is mounted on the inside of the rotating base 21 The first supporting frame 11 is configured to drive the first gear 221 to rotate. The output shaft of the second driving motor 222 is placed horizontally, and the input shaft of the first gear 221 is placed vertically. The output shaft of the second drive motor 222 and the input shaft of the first gear 221 mesh with a reduction structure such as a helical gear. In an alternative embodiment, the rotating base 21 may be rotatably mounted on the outside of the fixed base 12. The second driving motor 222 is installed on the first support frame 11 inside the rotating base 21, which can reduce the overall size of the container transport device and facilitate the maintenance and replacement of the second driving motor.

In an exemplary embodiment, referring to FIGS. 2, 6-8, the track assembly 4 is combined with two guide rails 41, and the guide rail 41 is installed on the guide rail base 42. The walking mechanism 1 further includes a third driving structure 13 installed on the first support frame 11, and the third driving mechanism 13 is configured to drive the walking mechanism 1 to move on the guide rail 41.

In an exemplary embodiment, referring to FIGS. 2, 6-8, the first support frame 11 includes: two second longitudinal frames 111 extending in the walking direction T, and two second longitudinal frames 111 respectively mounted on the two The second transverse frame 112 between the two ends of the longitudinal frame. The third driving mechanism 13 includes: a third driving motor 131 installed on one of the two second lateral frames 112; installed on one end of the two second longitudinal frames 111 of the first supporting frame 11, and A drive shaft 132 that rotates under the drive of the third drive motor 131; and two drive wheels 133 respectively installed at both ends of the drive shaft 132, and the two drive wheels 133 respectively abut against the two guide rails 42 superior. In an exemplary embodiment, the third driving mechanism further includes two driven wheels 134 respectively installed at the second ends of the two second longitudinal frames 111 opposite to the first ends, and the two driven wheels 134 abuts on the two guide rails respectively. The third driving mechanism 13 further includes a third speed reduction structure 135, and the third driving motor 131 is coupled with the driving shaft 132 through a third speed reduction mechanism. In this way, the third driving motor 131 drives the driving shaft 132 to rotate through the third speed reduction structure, and the driving shaft 132 drives the driving wheel 133 to rotate on the guide rail 42, so that the traveling mechanism 1 and the entire conveying device 100 move on the guide rail assembly 4.

Those skilled in the art can understand that, depending on the size of the loaded container, the outer size of the conveying device 100 can be correspondingly increased and the number of driving wheels and driven wheels can be increased. In an alternative embodiment, all the wheels used to support the first support frame 11 may be configured as driving wheels.

Although an example in which one third driving motor 131 drives two driving wheels 133 through the driving shaft 132 is described, the embodiment of the present disclosure is not limited thereto. In an alternative embodiment, two driving motors may be used to independently drive the driving wheels arranged on the two guide rails, as long as the driving wheels rotate synchronously.

In an exemplary embodiment, referring to FIGS. 2, 6-8, the conveying device 100 further includes a measuring mechanism 5 installed on the walking mechanism 1, and the measuring mechanism 5 is configured to measure the Travel distance to transport the container 400 to a suitable inspection position.

In an exemplary embodiment, the measurement mechanism 5 includes: a support frame 51 mounted on the first support frame 11; a rotating shaft 52 rotatably mounted on the support frame 51; The rotating wheel 53 at the lower end of the rotating shaft 52 is configured to rotate by contacting the guide rail 42 when the traveling mechanism 1 is running; and is installed on the support frame 51 and interacts with the The upper end of the rotating shaft 52 engages with an encoder 54. In an exemplary embodiment, the rotating wheel 53 includes a third gear, a second rack 43 is provided on the side of the guide rail 42, and the third gear meshes with the second rack 42. During the movement of the traveling mechanism 1, the guide rail 42 drives the rotating wheel 53 to rotate, and the rotating wheel 53 drives the rotating shaft 52 to rotate. The encoder 54 calculates the moving distance of the traveling mechanism 1 according to the number of rotations of the rotating shaft 52. The measuring mechanism 5 can be used as a feedback device to transmit the measured distance to the controller installed on the conveying device 100. The controller adjusts the stop position of the conveying device 100 according to the moving distance measured by the measuring mechanism 5, so as to park the container at Ideal location.

In an embodiment, the measuring mechanism 5 further includes: an elastic holding mechanism configured to hold the rotating wheel 53 in elastic contact with the guide rail 41 to prevent the rotating wheel from being damaged due to vibration .

In an alternative embodiment, the rotating wheel 53 may be combined with the guide rail 42 in a plane contact manner, and the rotation of the rotating wheel 53 can be realized by the friction between the two.

According to the above-mentioned embodiments of the present disclosure, the first drive motor 331, the second drive motor 222, and the third drive motor 131 are all arranged horizontally, that is, their output shafts are arranged horizontally. This can reduce the height of the container transport device.

In an exemplary embodiment, referring to FIGS. 2 and 6, buffer devices 113 are respectively provided at the front and rear ends of the first supporting frame 11. In this way, when the conveying device 100 is parked at the entrance 201 and the exit 202, the impact of the first support frame 11 on the auxiliary conveying structure installed at the entrance 201 and the exit 202 can be avoided.

In an exemplary embodiment, referring to FIGS. 2 and 9, the inspection system 1000' includes: an inspection passage 200; and the conveying device 100 according to any one of the foregoing embodiments that moves in the inspection passage 200 in the walking direction T; And an inspection device 300 configured to inspect an inspected target such as a container 400 conveyed by the conveying device. The conveying device 100 also includes two auxiliary conveying mechanisms 6 and 7'respectively installed at the entrance 201 and the exit 202' of the inspection channel 200. In an embodiment, the opening directions of the inlet and the outlet are parallel to the walking direction of the walking mechanism. In an alternative embodiment, the opening directions of the inlet 201 and the outlet 202 are perpendicular to the walking direction T of the walking mechanism 1. That is, the container 400 enters the inspection passage 200 in the traveling direction T, and moves out of the inspection passage 200 in the direction perpendicular to the traveling direction T, so that the moving direction of the container can be changed according to the conditions of the work site.

In another alternative embodiment, the inspection system further includes an auxiliary conveying mechanism 6 through which the inspected target enters or leaves the inspection channel. In other words, the inspection system can have only one opening.

In an exemplary embodiment, referring to FIGS. 6-9, the conveying device 100 further includes a measuring mechanism 5 installed on the walking mechanism 1, and the measuring mechanism 5 is configured to measure the motion parameters of the walking mechanism 1. , In order to transport the container 400 to a suitable inspection location. The motion parameters in this article include the walking distance, walking speed, and walking acceleration of the measuring mechanism. The inspection device emits a radiation beam suitable for inspecting the target according to the predetermined parameters of the walking mechanism 1 detected by the measuring mechanism 5 under the control of the controller. In this way, the inspection device can emit radiation beams according to the walking speed, acceleration, or walking distance of the walking mechanism, thereby uniformly inspecting the inspected target.

In an exemplary embodiment, a plurality of sensors suitable for detecting the distance between a certain part of the conveying device and other objects (for example, obstacles), such as optical sensors, may be provided on the conveying device. The controller determines to stop the movement of the conveying device according to the distance detected by the sensor to avoid colliding with the other object.

According to the conveying device and the inspection system of the embodiments of the present disclosure, it is possible to realize that the inspected large-size air container can not only pass the inspection passage smoothly for a long distance, but also can realize the automatic rotation and adjustment of the position and posture of the air box in the inspection passage, thereby enabling the inspection device The fixed position improves the working reliability of the radiographic inspection device and can ensure stable scanned images.

The conveying device according to the embodiment of the present disclosure has the functions of walking, turning, and conveying, and can realize high-precision positioning and smooth and continuous operation; the conveying device has the characteristics of high precision, stable operation, compact structure, automatic connection and conveying, etc., and is suitable for aviation Box CT inspection system; the conveying device can realize seamless connection with the existing conveying equipment of the airport/cargo station without additional measures.

Those skilled in the art can understand that the embodiments described above are all exemplary, and those skilled in the art can improve them, and the structures described in the various embodiments do not conflict in terms of structure or principle. In the case of free combination.

Although the present disclosure has been described with reference to the accompanying drawings, the embodiments disclosed in the accompanying drawings are intended to exemplify the preferred embodiments of the present disclosure, and should not be understood as a limitation to the present disclosure. Although some embodiments of the inventive concept of the present disclosure have been shown and described, those of ordinary skill in the art will understand that changes can be made to these embodiments without departing from the principle and spirit of the general concept of the present disclosure. The scope is defined by the claims and their equivalents.

Claims

A conveying device (100), including:

The walking mechanism (1) is configured to reciprocate linearly and includes a first support frame (11) and a fixed base (12) installed on the first support frame;

The rotating mechanism (2) includes a rotating base (21) and a first driving mechanism (22) suitable for driving the rotating base to rotate relative to the fixed base; and

Conveyor (3), including:

The second supporting frame (31) is installed on the rotating base;

Two sets of rolling mechanisms (32) are installed in parallel on the second supporting frame; and

At least one second driving mechanism (33) is installed between the two sets of rolling mechanisms and is suitable for driving the two sets of rolling mechanisms to rotate.
The conveying device according to claim 1, further comprising a track assembly (4), and the walking mechanism is configured to move along the track assembly.
The conveying device according to claim 1 or 2, wherein the second supporting frame comprises:

The base (311) is fixed on the rotating base;

Two first longitudinal frames (312) installed on the base;

Two first horizontal frames (313), respectively installed between the two ends of the two first longitudinal frames; and

Two auxiliary longitudinal frames (314) are arranged in parallel between the first longitudinal frames.
The conveying device according to claim 3, wherein each group of the rolling mechanism includes:

A set of rollers (321) are respectively rotatably installed between a first longitudinal frame and an auxiliary longitudinal frame; and

A plurality of transfer mechanisms (323), the set of rollers are sequentially connected by the transfer mechanism, so that all the rollers in each set of rollers rotate synchronously,

The second driving mechanism is installed between the two auxiliary longitudinal frames and is configured to drive one driving roller (324) in each group of rollers to rotate.
The conveying device according to claim 4, wherein two second driving mechanisms are provided, and each of the second driving mechanisms is configured to drive the driving roller of a set of rollers to rotate.
The conveying device according to claim 5, wherein each of the second driving mechanisms comprises:

The first drive motor (331);

The first deceleration mechanism (332) is connected between the output shaft of the first drive motor and the drive roller.
The conveying device according to claim 6, wherein the conveying mechanism further comprises at least one synchronization shaft (34) coupled between two opposite rollers (325) of the two groups of rollers, so that the All rollers rotate synchronously.
The conveying device according to any one of claims 4-7, wherein each of the conveying mechanisms comprises:

Two sprockets (3231) are respectively installed on the rotating shafts of two adjacent rollers in each group of rollers; and

The chain (3232) is engaged on the two sprockets.
The conveying device according to any one of claims 4-8, wherein at least a part of the plurality of rollers is provided with a braking mechanism (326), and each of the braking mechanisms is configured to The rotation of the drum on which the actuation mechanism is installed is operatively prevented.
The conveying device according to claim 9, wherein each of the braking mechanisms includes:

The mounting seat (3261) is installed on the first longitudinal frame or the auxiliary longitudinal frame; and

The holding ring (3262) is installed on the mounting seat and is configured to hold the rotating shaft of the drum in a triggered state to prevent the drum from continuing to rotate.
The conveying device according to any one of claims 1-10, wherein the rotating base is rotatably installed inside the fixed base,

The first driving mechanism includes:

The first gear (221) meshes with the driving teeth on the inner side of the rotating base; and

A second driving motor (222) is installed on the first support frame inside the rotating base and is configured to drive the first gear to rotate.
The conveying device according to claim 11, wherein the output shaft of the second drive motor is placed horizontally, and the input shaft of the first gear is placed vertically,

The output shaft of the second drive motor is meshed with the input shaft of the first gear through a second reduction structure.
The delivery device according to any one of claims 2-12, wherein:

The walking mechanism further includes a third driving structure (13) installed on the first supporting frame (11), and the third driving mechanism is configured to drive the walking mechanism to move on two guide rails.
The conveying device according to claim 13, wherein the first supporting frame comprises: two second longitudinal frames (111) and a second transverse frame respectively installed between the two ends of the two second longitudinal frames Frame (112),

The third driving mechanism includes:

The third driving motor (131) is installed on one of the two second lateral frames;

A drive shaft (132) is installed at the first ends of the two second longitudinal frames of the first support frame and rotates under the drive of the third drive motor; and

Two driving wheels (133) are respectively installed at the two ends of the driving shaft, and the two driving wheels respectively abut on the two guide rails to drive the first support frame to move.
The conveying device according to claim 14, wherein the third driving mechanism further comprises:

Two driven wheels (134) are respectively installed at the second ends of the two second longitudinal frames opposite to the first end, and the two driven wheels are respectively abutted on the two guide rails.
The conveying device according to claim 15, wherein the third driving mechanism further comprises a third speed reduction structure (135), and the third driving motor is coupled with the driving shaft through a third speed reduction mechanism.
The conveying device according to any one of claims 1-16, further comprising a measuring mechanism (5) installed on the walking mechanism, the measuring mechanism being configured to measure the motion parameters of the walking mechanism.
The conveying device according to claim 17, wherein the measuring mechanism comprises:

A support frame (51) installed on the first support frame;

The rotating shaft (52) is rotatably installed on the support frame;

A rotating wheel (53) installed at the lower end of the rotating shaft, the rotating wheel is configured to rotate when the traveling mechanism is walking; and

The encoder (54) is installed on the supporting frame and meshed with the upper end of the rotating shaft.
The conveying device according to claim 18, wherein the measuring mechanism further comprises: an elastic holding mechanism configured to hold the rotating wheel in elastic contact with the guide rail.
The conveying device according to claim 18, wherein the rotating wheel includes a second gear,

A rack (43) is provided on the side of the guide rail, and the second gear meshes with the rack.
An inspection system including:

Inspection channel (200);

The conveying device according to any one of claims 1-16, the conveying device moves in the inspection channel; and

The inspection device (300) is configured to inspect the inspected target conveyed by the conveying device.
The inspection system according to claim 21, further comprising two auxiliary conveying mechanisms, which are respectively installed at the entrance and exit of the inspection channel.
The inspection system according to claim 22, wherein the opening directions of the inlet and the outlet are parallel to the walking direction of the walking mechanism.
The inspection system according to claim 22, wherein the opening direction of the entrance is parallel to the walking direction of the walking mechanism, and the opening direction of the outlet is perpendicular to the walking direction of the walking mechanism.
The inspection system according to claim 21, further comprising an auxiliary conveying mechanism through which the object to be inspected enters or leaves the inspection channel.
The inspection system according to any one of claims 21-25, wherein the conveying device further comprises a measuring mechanism (5) installed on the walking mechanism, and the measuring mechanism is configured to measure the walking The motion parameters of the mechanism.
The inspection system according to claim 26, wherein the inspection device emits a radiation beam suitable for inspecting the target according to a predetermined walking distance of the walking mechanism detected by the measuring mechanism.
The inspection system according to claim 27, wherein the measuring mechanism comprises:

A support frame (51) installed on the first support frame;

The rotating shaft (52) is rotatably installed on the support frame;

A rotating wheel (53) installed at the lower end of the rotating shaft, the rotating wheel is configured to rotate when the traveling mechanism is walking; and

The encoder (54) is installed on the supporting frame and meshed with the upper end of the rotating shaft.
The inspection system according to claim 28, wherein the measurement mechanism further comprises: an elastic holding mechanism configured to hold the rotating wheel in elastic contact with the guide rail.