WO2022116861A1 - 输送装置、以及检查系统 - Google Patents

输送装置、以及检查系统 Download PDF

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Publication number
WO2022116861A1
WO2022116861A1 PCT/CN2021/132096 CN2021132096W WO2022116861A1 WO 2022116861 A1 WO2022116861 A1 WO 2022116861A1 CN 2021132096 W CN2021132096 W CN 2021132096W WO 2022116861 A1 WO2022116861 A1 WO 2022116861A1
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WO
WIPO (PCT)
Prior art keywords
goods
support
support frame
conveying
drive
Prior art date
Application number
PCT/CN2021/132096
Other languages
English (en)
French (fr)
Inventor
张丽
陈志强
李元景
黄清萍
郭卫军
姚利明
丁辉
刘俊豪
周佳佳
Original Assignee
同方威视技术股份有限公司
清华大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 同方威视技术股份有限公司, 清华大学 filed Critical 同方威视技术股份有限公司
Priority to EP21899895.3A priority Critical patent/EP4257520A1/en
Priority to US18/255,072 priority patent/US20240092584A1/en
Publication of WO2022116861A1 publication Critical patent/WO2022116861A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/08—Roller-ways of curved form; with branch-offs
    • B65G13/10—Switching arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G29/00—Rotary conveyors, e.g. rotating discs, arms, star-wheels or cones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/36—Other airport installations
    • B64F1/368—Arrangements or installations for routing, distributing or loading baggage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B65G13/06—Roller driving means
    • B65G13/07—Roller driving means having endless driving elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/11—Roller frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/11—Roller frames
    • B65G13/12—Roller frames adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
    • B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/64—Switching conveyors
    • B65G47/641—Switching conveyors by a linear displacement of the switching conveyor
    • B65G47/643—Switching conveyors by a linear displacement of the switching conveyor in a vertical plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
    • B65G21/2045—Mechanical means for guiding or retaining the load on the load-carrying surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/16—Convertible to another type of conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/32—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements for effecting drive at two or more points spaced along the length of the conveyors
    • B65G23/36—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements for effecting drive at two or more points spaced along the length of the conveyors comprising two or more driving motors each coupled to a separate driving element, e.g. at either end of the conveyors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material

Definitions

  • Embodiments of the present disclosure relate to an inspection system, and more particularly, to a conveying device suitable for conveying containers and an inspection system including such a conveying device.
  • Radiation is commonly used in airports and public buildings for non-intrusive inspection of objects such as luggage, bags, briefcases, etc., to identify hidden contraband.
  • Prohibited items can include concealed guns, knives, explosive devices, and illegal drugs, among others.
  • One common inspection system is an X-ray machine, in which the object to be inspected passes between a fixed radiation source, such as X-ray radiation, and a fixed detector. Radiation is collimated into fan beams or pencil beams. Radiation transmitted through objects is attenuated to varying degrees by the items contained in the luggage. The amount of attenuation of radiation is a function of the density of the material through which the radiation beam passes. The attenuated radiation is detected, producing an x-ray image of the item contained by the object for inspection. The images show the shapes, sizes and different densities of the contained items.
  • a radiation inspection system for security inspection of air containers has been developed, container trailers are used to transfer container cargo at the airport air cargo station, and an automatic conveying system is equipped to transport the cargo to the radiation inspection system.
  • the container trailer has a conveying roller, and the container as the cargo is generally loaded and unloaded from the side of the trailer along the width direction, while the cargo is mostly transported along the length direction in the automatic conveying system.
  • a conveying device that can convey containers both in the conventional length direction and in the width direction is required.
  • the purpose of the present disclosure is to solve at least one aspect of the above-mentioned problems and deficiencies in the prior art.
  • a conveying device including: a first support frame; a first conveying mechanism and a second conveying mechanism mounted on the first support frame; and a switching mechanism configured to selectively raising the first or second conveying mechanism in an upright direction so that the first or second conveying mechanism carries goods and conveys them in different first or second horizontal directions the goods.
  • the conveying device further includes a fixed base, and the first support frame is rotatably mounted on the fixed base.
  • the first conveying mechanism or the second conveying mechanism carries and conveys the goods in substantially the same horizontal support surface.
  • the first horizontal direction is substantially perpendicular to the second horizontal direction.
  • the first support frame includes: an annular frame; a first base mounted on a lower portion of the annular frame; and a rotating ring, disposed on the first base and located in the The center of the ring frame.
  • the fixed base includes: a second base fixedly installed relative to the ground; and a first pivot shaft fixed on the second base, and the rotating ring is rotatably installed on the first pivot shaft.
  • the conveying device further includes a first driving mechanism configured to drive the rotating ring to rotate relative to the fixed base.
  • the first driving mechanism includes: a first support base, fixedly installed relative to the ground; a first motor, installed on the first support base; and a first drive wheel, installed on the on the drive shaft of the first motor and rotatably contacted with the ring frame to drive the rotating ring to rotate.
  • the conveying device further includes a plurality of balancing mechanisms, which are fixedly installed relative to the ground and are rotatably supported on the lower part of the annular frame at predetermined intervals to Keep the transverse frame substantially parallel to the horizontal plane.
  • each of the balance mechanisms includes: a second support base fixedly installed relative to the ground; and at least one first roller installed on the second support base and rotatably supported the annular frame.
  • the first conveying mechanism includes: a second support frame mounted on the first support frame; a first rolling mechanism mounted on the second support frame and adapted to The goods are carried under the driving of the switching mechanism; and a second driving mechanism is adapted to drive the first rolling mechanism to rotate relative to the second supporting frame, so that the first rolling mechanism pushes the goods in Move in the first horizontal direction.
  • the second conveying mechanism includes: a third support frame mounted on the first support frame; a second rolling mechanism mounted on the third support frame and adapted to The goods are carried under the driving of the switching mechanism; and a third driving mechanism is adapted to drive the second rolling mechanism to rotate relative to the third supporting frame, so that the second rolling mechanism pushes the goods in Move in the second horizontal direction.
  • the switching mechanism includes: a plurality of first lifting mechanisms adapted to lift the second support frame; a plurality of second lift mechanisms adapted to lift the third support frame; and A fourth drive mechanism is configured to selectively drive the plurality of first lift mechanisms to lift the second support frame, or drive the plurality of second lift mechanisms to lift the third support frame.
  • the fourth driving mechanism includes: a second motor; and two first driving shafts, which rotate synchronously under the driving of the second motors.
  • the first lift mechanism includes a first cam mounted on the two first drive shafts
  • the second lift mechanism includes a second cam mounted on the two first drive shafts
  • the first The cam and the second cam are adapted to lift the second support frame and the third support frame, respectively, driven by the first drive shaft.
  • the first cam and the second cam are arranged to: within a first angle range of the rotation of the first drive shaft, so that the first rolling mechanism is carried in a horizontal support surface and convey the goods, the maximum height of the second rolling mechanism is not higher than the horizontal support surface and leaves the goods during the conveying of the goods by the first rolling mechanism.
  • the second rolling mechanism is made to carry and transport the goods in the horizontal support surface; the maximum height of the first rolling mechanism is not higher than the horizontal support face and leave the load during the conveyance of the load by the second rolling mechanism.
  • the first and second rolling mechanisms jointly support the cargo within the horizontal support surface when the rotation of the first drive shaft transitions between a first angular range and a second angular range.
  • the first angle range is 0-180 degrees
  • the second angle range is 180-360 degrees
  • each of the first cam and the second cam includes a first part and a second part, and in a cross section in the radial direction, the supporting surface of the first part is a semicircular arc line, and the second part is a semicircular arc.
  • Part of the supporting surface is an ellipse arc along the long axis of an ellipse, and the semicircular arc of the first part is smoothly connected to the ellipse arc of the second part.
  • the fourth driving mechanism further includes: a first transmission mechanism, through which the second motor drives the two first driving shafts to rotate; a plurality of third A support base is installed on the first support frame, and the two first drive shafts are rotatably supported on the third support base.
  • the first transmission mechanism includes two first conveyor belts, and the second motor drives the two first drive shafts to rotate through the first conveyor belts, respectively.
  • the second support frame includes: two first longitudinal frames disposed opposite to each other, and two first transverse frames disposed between the first longitudinal frames.
  • the first rolling mechanism includes: a plurality of pairs of fourth support seats, each pair of fourth support seats is installed on two of the first longitudinal frames oppositely; a plurality of rollers arranged in parallel, two ends of each roller are rotatable are mounted on a pair of fourth support bases to drive the goods to move in a first horizontal direction.
  • the second driving mechanism includes: a fifth support base mounted on the second support frame; a third motor mounted on the fifth support base; and a second transmission The third motor drives the drum to rotate through the second transmission mechanism.
  • the second transmission mechanism includes: a second conveyor belt, through which the third motor drives the driving rollers of the plurality of rollers to rotate; and a plurality of third conveyor belts and the driving rollers sequentially drive each driven roller in the plurality of rollers to rotate through the plurality of third conveyor belts.
  • the conveying device further includes a plurality of first auxiliary rollers mounted on the first support frame outside the first transverse frame, each first auxiliary roller being arranged to The rollers are parallel.
  • the first auxiliary drum is configured to rotate under the driving of the goods when the first conveying mechanism conveys the goods.
  • the third support frame includes: two oppositely arranged second longitudinal frames; and a plurality of second transverse frames, both ends of each second transverse frame are mounted on the second transverse frames between the longitudinal frames and between two adjacent rollers.
  • the second rolling mechanism comprises: multiple rows of sixth support seats, each row of sixth support seats is mounted on a second transverse frame; multiple rows of rollers are respectively rotatably mounted on the multiple rows of the sixth support seats, The rotation axis of each roller extends perpendicular to the second horizontal direction to drive the goods to move in the second horizontal direction.
  • the third driving mechanism includes: a seventh support base mounted on the third support frame; a fourth motor mounted on the seventh support base; and a third transmission
  • the fourth motor drives each of the rollers to rotate through the third transmission mechanism.
  • the third transmission mechanism includes: a plurality of eighth support bases mounted on the lower part of the second transverse frame; a second drive shaft rotatably mounted on the eighth support
  • the fourth conveyor belt the fourth motor drives the second drive shaft to rotate through the fourth conveyor belt; the fifth conveyor belt, the second conveyor belt
  • the drive shaft drives the first rollers in each row of the rollers to rotate through the fifth conveyor belt; and a plurality of sixth conveyor belts, the first rollers sequentially drive each of the rollers in each row through the plurality of sixth conveyor belts The second roller turns.
  • the second rolling mechanism further includes: multiple rows of auxiliary rollers, each row of auxiliary rollers is rotatably mounted on a sixth support seat located between two adjacent rows of rollers.
  • the conveying device further includes a plurality of second auxiliary rollers mounted on the first support frame outside the first longitudinal frame, and each second auxiliary roller is arranged to parallel to the axis of the roller.
  • the second auxiliary drum is configured to rotate under the driving of the goods when the second conveying mechanism conveys the goods.
  • the conveying device further includes a guide mechanism adapted to guide the second support frame and the third support frame to move in the upright direction.
  • the guide mechanism includes: a plurality of guide posts mounted on the first support frame in an upright direction; and a plurality of first guide blocks mounted on the second support frame , each of the first guide blocks is provided with a guide hole matched with the guide column; and a plurality of second guide blocks are installed on the third support frame, and each of the second guide blocks is provided with There are guide holes matched with the guide posts.
  • one first guide block and one second guide block share one guide post, the one first guide block and the one second guide block have a gap in the upright direction, the gap Not less than the maximum height that the first conveying mechanism or the second conveying mechanism moves in the upright direction.
  • the conveying device further includes a sensor adapted to detect that the conveying device has goods on it, that the goods are being loaded onto the conveying device, and that the goods are being unloaded from the conveying device.
  • an inspection system includes: an inspection channel; one or two conveying devices as described in any of the above embodiments, the conveying devices being installed at the entrance and the exit of the inspection channel external to at least one of the goods to convey the goods into the inspection channel and/or to receive goods output from the inspection channel; and an inspection device configured to inspect the goods conveyed by the conveying device .
  • FIG. 1 shows a simplified schematic diagram of an inspection system of an exemplary embodiment of the present disclosure
  • FIG. 2 shows a schematic perspective view of a transmission device according to an exemplary embodiment of the present disclosure
  • Figure 3 shows an exploded schematic view of the transmission device shown in Figure 2;
  • Fig. 4 shows the enlarged schematic diagram of part A shown in Fig. 2;
  • Figure 5 shows an enlarged schematic view of part B shown in Figure 2;
  • FIG. 6 shows a schematic perspective view of a first support frame and a switching mechanism of a transmission device according to an exemplary embodiment of the present disclosure
  • Fig. 7 shows the enlarged schematic diagram of the C part shown in Fig. 6;
  • FIG. 8 shows a schematic perspective view of a switching mechanism of a conveying device according to an exemplary embodiment of the present disclosure
  • Fig. 9 shows the enlarged schematic diagram of part D shown in Fig. 8.
  • FIG. 10 shows a schematic perspective view of a first conveying mechanism of a conveying device according to an exemplary embodiment of the present disclosure
  • Figure 11 shows an enlarged schematic view of the E part shown in Figure 10;
  • FIG. 12 shows a schematic perspective view of the second conveying mechanism of the conveying device according to an exemplary embodiment of the present disclosure
  • Fig. 13 shows another schematic perspective view of the second conveying mechanism shown in Fig. 12;
  • Figure 14 shows an enlarged schematic view of the F part shown in Figure 12;
  • Figure 15 shows an enlarged schematic view of the G part shown in Figure 13;
  • FIG. 16 shows the working state of the first cam and the second cam when the first drive shaft is at 0o or 360o according to an exemplary embodiment of the present disclosure
  • Fig. 17 shows the working state of the first cam and the second cam when the first drive shaft shown in Fig. 16 is at 9Oo;
  • Fig. 18 shows the working state of the first cam and the second cam at 180o of the first drive shaft shown in Fig. 16;
  • Fig. 19 shows the working state of the first cam and the second cam when the first drive shaft shown in Fig. 16 is at 27Oo.
  • orientations such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” indicate the orientation Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, and is based on the direction of travel of the vehicle, only for the convenience of describing the present disclosure and simplifying the description, unless otherwise stated, these orientation words do not.
  • a conveying device including: a first supporting frame, a first conveying mechanism and a second conveying mechanism mounted on the first supporting frame, and a switching mechanism.
  • the switching mechanism is configured to selectively lift the first conveying mechanism or the second conveying mechanism in an upright direction such that the first conveying mechanism or the second conveying mechanism is carrying goods and is in a different first horizontal direction or a second conveying mechanism.
  • the goods are transported in two horizontal directions.
  • an inspection system comprising: an inspection channel; the above-mentioned conveying device, the conveying device being installed outside at least one of an inlet and an outlet of the inspection channel, to conveying the goods into and/or receiving goods output from the inspection aisle; and an inspection device configured to inspect the goods conveyed by the conveying device.
  • FIG. 1 shows a simplified schematic diagram of an inspection system of an exemplary embodiment of the present disclosure.
  • the inspection system 1000 is suitable for inspecting whether there are drugs or explosives in goods 401 such as containers, large cargo baskets suitable for centralized storage of goods, etc. at stations, airports, docks, etc. , flammable substances and other prohibited items.
  • the inspection system 1000 includes an inspection channel 200 , a conveying device 100 , and an inspection device 300 .
  • the conveying device 100 is installed outside at least one of the inlet and outlet of the inspection channel 200 to convey the goods 401 into the inspection channel 200 and/or receive output from the inspection channel 200 .
  • a conveying mechanism 201 for moving the goods 401 is provided in the inspection channel 200 .
  • the inspection device 300 is configured to inspect the goods 401 conveyed by the conveying device 100 .
  • the inspection device 300 includes an X-ray scanning device based on CT (computed tomography) technology.
  • the conveying device 100 is arranged at the entrance and/or exit of the inspection channel 200, and the container to be inspected is transported by the trailer 400 to the vicinity of the entrance of the inspection channel 200; the conveying device rotates the goods 401 by 90 degrees, and then transports the goods along the length direction The goods are transported into the inspection channel 200; the goods are transported to the inspection device 300 by the conveying mechanism 201 in the inspection channel 200; the inspection device 300 performs CT scanning inspection on the goods; The device 100 rotates the cargo 401 by 90 degrees; finally, the cargo is moved to the trailer 400 to complete the X-ray scanning inspection of the cargo.
  • CT computed tomography
  • the container that is inspected cargo 401 is an air cargo container for containing multiple pieces of luggage and other cargo to be stored in the aircraft body, the dimensions (length, Height, width) drop from about 35 X 21 X 21 inches (0.89 X 0.53 X 0.53 meters) to about 240 X 118 X 96 inches (6.1 X 3.0 X 2.4 meters), such as 48 X 48 X 65 inches (1.2 X 1.2 X 1.7 meters).
  • FIG. 2 shows a schematic perspective view of a conveying device according to an exemplary embodiment of the present disclosure
  • FIG. 3 shows an exploded schematic view of the conveying device shown in FIG. 2 .
  • the conveying device 100 includes: a first support frame 1 , a first conveying mechanism 2 , a second conveying mechanism 3 and a switching mechanism 4 .
  • the first conveying mechanism 2 and the second conveying mechanism 3 are movably mounted on the first support frame 1 .
  • the switching mechanism 4 is configured to selectively lift the first conveyor mechanism 2 or the second conveyor mechanism 3 in an upright direction so that the first conveyor mechanism 2 or the second conveyor mechanism 3 carries cargo 401 such as a container , and convey the goods 401 in different first horizontal directions or second horizontal directions.
  • the switching mechanism 4 when the switching mechanism 4 lifts the conveying mechanism 2, the first conveying mechanism 2 carries the goods and conveys the goods in the first horizontal direction; when the switching mechanism 4 lifts the second conveying mechanism 3, the second The conveying mechanism 3 carries the goods and conveys the goods in the second horizontal direction. In this way, the conveying device 100 can convey goods in different horizontal directions.
  • FIG. 6 shows a schematic perspective view of a first support frame and a switching mechanism of a transmission device according to an exemplary embodiment of the present disclosure
  • FIG. 7 shows an enlarged schematic view of part C shown in FIG. 6 .
  • the conveying device 100 further includes a fixed base 5 on which the first support frame 1 is rotatably mounted.
  • the first support frame 1 can be rotated relative to the fixed base 5 within a range of 90 degrees, 180 degrees or 360 degrees.
  • the first horizontal direction is substantially perpendicular to the second horizontal direction.
  • the first support frame 1 is rotated so that the conveying direction (first horizontal direction) of the first conveying mechanism 2 is the same as the conveying direction (first horizontal direction) of the container.
  • the length direction is parallel, and the container width direction is parallel to the second horizontal direction; the switching mechanism 4 lifts the second conveying mechanism 3 and lowers the first conveying mechanism 2, so that the second conveying mechanism 3 receives the container unloaded from the trailer 400, and the width of the container is
  • the second conveying mechanism 3 conveys the container in the second horizontal direction, so that the container is gradually moved all the way to the conveying device 100 in the width direction; then, the first support frame 1 rotates 90 degrees degree, the container also rotates 90 degrees, the length direction of the container is still parallel to the first horizontal direction, the switching mechanism 4 lifts the first conveying mechanism 2 and lowers the second conveying mechanism 3, so that the first conveying mechanism 2 carries the container;
  • the transport mechanism 2 transports the container in the first horizontal direction so that the container moves onto the transport device 100 in its length direction.
  • the first support frame 1 is rotated so that the conveying direction (the first horizontal direction) of the first conveying mechanism 2 is the same as the container
  • the length directions of the two are parallel; the switching mechanism 4 lifts the first conveying mechanism 2 and lowers the second conveying mechanism 3, so that the first conveying mechanism 2 receives the container conveyed from the conveying mechanism 201 of the inspection channel 200, where the container is partially loaded to the conveying device 100
  • the first conveying mechanism 3 conveys the containers in the first horizontal direction, so that the containers are gradually moved to the conveying device 100 in the longitudinal direction; then, the first supporting frame 1 rotates 90 degrees, and the containers also rotate 90 degrees.
  • the switching mechanism 4 lifts the second conveying mechanism 3 and lowers the first conveying mechanism 2 so that the second conveying mechanism 3 carries the container; after that, the second conveying mechanism 3 is at the second level
  • the container is transported in the direction so that the container moves onto the trailer 400 in its width direction.
  • the first conveying mechanism 2 or the second conveying mechanism 3 carries and conveys the goods in substantially the same horizontal support surface. In this way, during the switching process of the first conveying mechanism 2 or the second conveying mechanism 3 carrying the goods, the height of the goods does not change. It can be understood that the height of the horizontal support surface is approximately equal to the height of the horizontal support surface of the trailer and conveying mechanism 201 .
  • the first support frame 1 includes: an annular frame 11 ; a first base mounted on the lower portion of the annular frame 11 ; The rotating ring 14 on the first base and located in the center of the annular frame 11 .
  • the first base may include a plurality of longitudinal support beams 12 and a plurality of transverse support beams 13 .
  • the first base may include a support plate partially or fully covering the lower portion of the annular frame 11 .
  • the fixed base 5 includes: a second base 51 fixedly installed relative to the ground through bolts 53; and a first pivot 52 fixed on the second base 51, and the rotating ring 14 is rotatably installed on the ground. on the first pivot shaft 52 . In this way, the first support frame 1 can be rotated relative to the ground.
  • FIG. 4 shows an enlarged schematic view of part A shown in FIG. 2 .
  • the delivery device 100 further includes a first drive mechanism 6 configured to drive the rotating ring 14 relative to the stationary base Seat 5 turns.
  • the first driving mechanism includes: a first support base 61 fixedly installed relative to the ground through bolts 611 ; a first motor 62 installed on the first support base 61 ; and a first motor 62 installed on the first motor 62
  • the first drive wheel 63 on the drive shaft is in rotatable contact with the bottom or side of the ring frame 11 to drive the rotating ring 14 to rotate relative to the fixed base 5 .
  • the first driving wheel 63 may be in frictional contact with the bottom or side of the annular frame 11 , or may be in contact with the gear and rack combination.
  • the first motor drives the annular frame 11 to rotate via a conveyor belt.
  • One or two sets of first driving mechanisms may be provided, and drive the ring frame 11 to rotate within the range of 0-90 degrees or 0-180 degrees.
  • a speed reduction mechanism may be coupled to the output shaft of the first motor 62 so as to control the rotational speed of the ring frame 11 .
  • the conveying device 100 further includes a plurality of balancing mechanisms 7, which are fixedly installed relative to the ground and are rotatably supported on the lower part of the transverse frame 11 at predetermined intervals, so as to The ring frame 11 is kept approximately parallel to the horizontal plane at all times.
  • each of the balance mechanisms 7 includes: a second support base 71 fixedly installed relative to the ground through bolts; and at least one first roller 72 , the first roller 72 is mounted on the second support base 71 and can be The ring frame 11 is rotatably supported.
  • FIG. 10 shows a schematic perspective view of a first conveying mechanism of a conveying device according to an exemplary embodiment of the present disclosure
  • FIG. 11 shows an enlarged schematic view of part E shown in FIG. 10 .
  • the first conveying mechanism 2 includes: a second support frame 21 mounted on the first support frame 1; Two supporting frames 21 , and are adapted to carry the first rolling mechanism 22 of the cargo 401 under the driving of the switching mechanism 4 ; and are adapted to drive the first rolling mechanism 22 relative to the second supporting frame 21 The rotating second drive mechanism 23 .
  • the switching mechanism 4 lifts the second support frame 21 so that the first rolling mechanism 23 carries the goods
  • the first rolling mechanism 22 pushes the goods 401 to move in the first horizontal direction F1.
  • FIG. 12 shows a schematic perspective view of the second conveying mechanism of the conveying device according to an exemplary embodiment of the present disclosure
  • FIG. 13 shows another perspective schematic view of the second conveying mechanism shown in FIG. 12
  • FIG. 14 shows Fig. 12 shows an enlarged schematic view of part F
  • Fig. 15 shows an enlarged schematic view of part G shown in Fig. 13 .
  • the second conveying mechanism 3 includes: a third support frame 31 mounted on the first support frame 1; The second rolling mechanism 32 on the three supporting frames 31 and suitable for carrying the goods 401 under the driving of the switching mechanism 4 ; and suitable for driving the second rolling mechanism 32 relative to the third supporting frame 31 The rotating third drive mechanism 33 .
  • the switching mechanism 4 lifts the third support frame 31 so that the second rolling mechanism 32 carries the goods
  • the third rolling mechanism 33 pushes the goods 401 to move in the second horizontal direction F2.
  • Fig. 5 shows an enlarged schematic view of part B shown in Enlarged schematic of part D.
  • the switching mechanism 4 includes: a plurality of first lifting mechanisms 41 adapted to lift the second support frame 21; adapted to lift the second support frame 21; A plurality of second lift mechanisms 42 of the third support frame 31; and a fourth drive mechanism 43 configured to selectively drive the plurality of first lift mechanisms 41 to lift the second support frame 21 , or drive the plurality of second lifting mechanisms 42 to lift the third support frame 31 .
  • the fourth drive mechanism 43 includes: a second motor 431 and two first drive shafts 434 , the first drive shaft 434 is connected to the second motor Driven by 431, it rotates synchronously.
  • the first lift mechanism 41 includes first cams 41 mounted on the two first drive shafts 434
  • the second lift mechanism 42 includes second cams mounted on the two first drive shafts 434 42.
  • the first cam 41 and the second cam 42 are adapted to lift the second support frame 21 and the third support frame 31 respectively under the driving of the first drive shaft 434 .
  • the fourth driving mechanism 43 further includes: a first transmission mechanism 433 and a plurality of third support seats 435 , and the second motor 431 drives the two through the first transmission mechanism 433
  • the first drive shaft 434 rotates; a plurality of third support seats 435 are mounted on the first support frame 1 , and the two first drive shafts 434 are rotatably supported on the third support seats through bearings 436 435 on.
  • the first transmission mechanism 433 includes two first conveyor belts, and the second motor 431 drives the two first drive shafts 434 to rotate through the first conveyor belts, respectively. In this way, it can be ensured that the two first drive shafts 434 rotate synchronously.
  • the second motor 431 can drive the two drive shafts 434 to rotate through gear meshing.
  • a deceleration mechanism can be coupled to the output shaft of the second motor 431 so as to control the rotation angle and rotation direction of the first drive shaft.
  • the first cam 41 and the second cam 42 are set to: within a first angle range of the rotation of the first drive shaft 434, so that the first rolling mechanism 22 is horizontal
  • the goods 401 are carried and conveyed in the supporting surface, the maximum height of the second rolling mechanism 32 is not higher than the horizontal supporting surface and leaves the goods during the conveying of the goods by the first rolling mechanism 22, so that the The second rolling mechanism 32 will not hinder the first rolling mechanism 22 to drive the goods to move in the first horizontal direction F1; on the other hand, within the second angle range of the rotation of the first driving shaft 434, the second rolling
  • the mechanism 32 carries and conveys the goods 401 in a horizontal support surface, the maximum height of the first rolling mechanism 22 is not higher than the horizontal support surface and leaves the said second rolling mechanism 32 during the conveying of the goods.
  • the first rolling mechanism 22 does not hinder the second rolling mechanism 32 to drive the goods to move in the second horizontal direction F2.
  • the first rolling mechanism 22 and the second rolling mechanism 32 jointly support the cargo within the horizontal support surface . In this way, during any operation, at least one of the first rolling mechanism 22 and the second rolling mechanism 32 carries the cargo and holds the cargo on a horizontal support surface such that the height of the cargo remains substantially constant.
  • Fig. 16 shows the working state of the first cam and the second cam when the first drive shaft is at 0o or 360o according to an exemplary embodiment of the present disclosure
  • Fig. 17 shows the first drive shaft shown in Fig. 16 The working state of the first cam and the second cam at 9Oo
  • FIG. 18 shows the working state of the first cam and the second cam at 18Oo of the first drive shaft shown in FIG. 16
  • FIG. 19 shows the working state of FIG. 16
  • the working state of the first cam and the second cam is shown for the first drive shaft at 27Oo.
  • each of the first cam 41 and the second cam 42 includes a first portion 411 and a second portion 412 .
  • the supporting surface of the first part 411 is a semicircular arc
  • the supporting surface of the second part 412 is an elliptical arc along the long axis of an ellipse
  • the semicircular arc of the first part and the elliptical arc of the second part Smooth connection.
  • the transition portion from the semicircular support portion of the first portion 411 of the first cam 41 to the elliptical support portion of the second portion 412 supports the second support frame 21.
  • the second support frame 31 is supported at the transition portion from the elliptical support portion of the second portion 412 of the two cams 42 to the semicircular support portion of the first portion 411 .
  • the heights of the highest support points of the first cam 41 and the second cam 42 are the same, so that both the first conveying mechanism 2 and the third conveying mechanism 3 can carry the goods in the horizontal support surface, but the first conveying mechanism 2 and the third conveying mechanism 3 are in a state where the goods cannot be conveyed.
  • the first drive shaft 434 rotates to 90°
  • the semicircular support portion of the first portion 411 of the first cam 41 supports the first support frame 21
  • the height of the first support frame 21 remains unchanged
  • the first conveying mechanism 2 carries The goods in the horizontal support surface; at the same time, the height of the highest support point of the second part 412 of the second cam 42 drops to the lowest, and the third support frame 31 drops with the rotation of the second cam 42, so that the second conveying mechanism 3 No longer carry cargo.
  • the goods conveyed by the first conveying mechanism 2 move in the first horizontal direction.
  • the heights of the highest support points of the first cam 41 and the second cam 42 are the same, so that both the first conveying mechanism 2 and the third conveying mechanism 3 can carry the goods in the horizontal support surface, but the first conveying mechanism 2 and the third conveying mechanism 3 are in a state where the goods cannot be conveyed.
  • first drive shaft 434 may be configured to rotate continuously in a clockwise or counterclockwise direction, or alternately rotate in a clockwise direction and a counterclockwise direction.
  • the first drive shaft may drive only one of the first support frame and the second support frame, while the height of the other of the first support frame and the second support frame remains unchanged.
  • the horizontal support surface of one of the first conveying mechanism and the second conveying mechanism is a variable support surface with a variable height, while the horizontal supporting surface of the other conveying mechanism of the first conveying mechanism and the second conveying mechanism
  • the support surface is a fixed support surface with a constant height, and the height of the variable support surface can be higher or lower than the height of the fixed support surface.
  • the other conveying mechanism drives the goods to move; when the height of the variable support surface is higher than the height of the fixed support surface, it is driven by the one conveying mechanism Goods move.
  • the second support frame 21 includes: two first longitudinal frames 211 disposed opposite to each other, and two first longitudinal frames 211 disposed between the first longitudinal frames 211
  • the first transverse frame 212 The first rolling mechanism 22 includes: a plurality of pairs of fourth support seats 221 and a plurality of rollers 222 arranged in parallel, each pair of the fourth support seats 221 is oppositely installed on the two first longitudinal frames 211; each roller Both ends of 222 are rotatably mounted on a pair of fourth support bases 221 through bearings to drive the goods 401 to move along the first horizontal direction F1. It will be appreciated that the rollers 222 may also be replaced by solid rollers.
  • the second conveying mechanism 3 includes: a fifth support seat 231 installed on the first longitudinal support frame 211 of the second support frame 3 ; a third motor 232 on the fifth support base 231 ; and a second transmission mechanism 233 , the third motor 232 drives the drum 222 to rotate through the second transmission mechanism 233 .
  • the third motor 232 can drive the two rollers 222 to rotate through gear meshing.
  • a speed reduction mechanism 235 can be coupled to the output shaft of the third electric motor 232 .
  • the second transmission mechanism 233 includes: a second conveyor belt 233 and a plurality of third conveyor belts 234 , and the third motor 232 is driven by the second conveyor belts 233
  • the driving roller 2221 among the plurality of rollers rotates; the driving roller 2221 sequentially drives each driven roller 2222 among the plurality of rollers to rotate through the plurality of the third conveyor belts 234 .
  • each drum 222 can be rotated to push the goods carried on the drum 222 to move in the first horizontal direction F1.
  • the conveying device 100 further includes a plurality of first auxiliary rollers 81 , and the first auxiliary rollers 81 are installed on the outside of the first transverse frame 212 on the first auxiliary roller 81 .
  • each first auxiliary roller 81 is arranged parallel to the roller 222 . In this way, when the goods pass through the auxiliary drum 81 under the driving of the drum 222 of the first conveying mechanism 2, the auxiliary drum 81 can rotatably support the goods, so that the goods can be smoothly conveyed to or from the first conveying mechanism remove.
  • the first auxiliary drum 81 is configured to rotate under the driving of the goods when the first conveying mechanism 2 conveys the goods, so that the goods keep moving smoothly.
  • a first braking mechanism may be provided on the rotating shaft of at least a part of the drum, and when the first conveying mechanism 2 stops conveying the goods, the first braking mechanism is controlled to lock the at least part of the drum.
  • the shaft is rotated so that the at least a portion of the drum cannot rotate, thereby preventing further movement of the goods.
  • a first blocking mechanism that can protrude above the horizontal supporting surface or can be retracted below the horizontal supporting surface is provided on the first supporting frame 1 .
  • the first blocking mechanism When the first conveying mechanism 2 stops conveying the goods, the first blocking mechanism is controlled to protrude above the horizontal support surface, thereby preventing the goods from moving further in the first horizontal direction; and when the first conveying mechanism 2 conveys the goods, The first blocking mechanism is controlled to retract below the horizontal support surface, so as not to hinder the movement of the goods in the first horizontal direction.
  • the third support frame 3 includes: two oppositely disposed second longitudinal frames 311 ; and a plurality of second transverse frames 312 , each second transverse frame Both ends of the 312 are installed between the second longitudinal frames 311 and between two adjacent rollers 222 .
  • the second rolling mechanism 32 includes multiple rows of sixth support bases 321 and multiple rows of rollers 322 , and each row of sixth support bases 321 is mounted on a second transverse frame 312 .
  • Multiple rows of rollers 322 are respectively rotatably mounted on the multiple rows of the sixth support bases 321 , and the rotation axis of each roller extends perpendicular to the second horizontal direction F2 to drive the goods to move along the second horizontal direction.
  • the rollers 222 and the rollers 322 are nested with each other, or alternately arranged, and the directions of conveying the goods are perpendicular to each other.
  • first support frame the first conveying mechanism and the second conveying mechanism can be changed according to the weight and size of the goods to be conveyed, such as shipping containers or air containers, and correspondingly increased or Reduce the number of rollers and rollers.
  • the drums and rollers are evenly arranged.
  • the third driving mechanism includes: a seventh support seat 331 installed on the second transverse frame 312 of the third support frame 3 ; a fourth motor 332 on the seventh support base 331 ; and a third transmission mechanism 333 , the fourth motor 332 drives each of the rollers 222 to rotate through the third transmission mechanism 333 .
  • a speed reduction mechanism 334 may be coupled to the output shaft of the fourth electric motor 332 .
  • the third transmission mechanism 333 includes: a plurality of eighth support bases 3331 , a second drive shaft 3332 , a fourth conveyor belt 3333 , a fifth conveyor belt 3334 and a plurality of sixth conveyor belts 3335 .
  • the eighth support seat 3331 is mounted on the lower part of the second transverse frame 312; the second drive shaft 3332 is rotatably mounted on the eighth support seat 3331 through a bearing, and is perpendicular to the second horizontal line direction F2.
  • the fourth motor 332 drives the second drive shaft 3332 to rotate through the fourth conveyor belt 3333; the second drive shaft 3332 drives the fifth conveyor belt 3334 to drive the first roller in each row A roller 3221 rotates; the first roller 3221 sequentially drives each second roller 3222 in each row of rollers to rotate through the plurality of sixth conveyor belts 3335 .
  • the manner in which the first, second, third, fourth, fifth, and sixth conveyor belts are combined with the pulley can be replaced by the manner in which the sprocket is combined with the chain.
  • the second rolling mechanism 32 further includes: multiple rows of auxiliary rollers 323 , and each row of the auxiliary rollers 323 is rotatably mounted on the first roller located between the two rows of rollers 222 . on the six support bases 321 .
  • the auxiliary roller 323 is set as an idler wheel and does not have a driving function, but rotates under the driving of the goods while the goods are moving on the second conveying mechanism 3 , so as to maintain the smooth movement of the goods.
  • the conveying device 100 further includes a plurality of second auxiliary rollers 82 , and the second auxiliary rollers 82 are mounted on the first longitudinal frame 211 on the outside of the first longitudinal frame 211 .
  • each of the second auxiliary rollers 82 is arranged to be parallel to the axis of the rollers 222 . In this way, when the goods pass through the auxiliary drum 82 under the driving of the rollers 322 of the second conveying mechanism 3, the auxiliary drum 82 can rotatably support the goods, so that the goods can be smoothly conveyed to or from the second conveying mechanism remove.
  • the second auxiliary drum 82 is arranged to rotate under the driving of the goods when the second conveying mechanism 2 conveys the goods, so that the goods keep moving smoothly.
  • a second blocking mechanism that can protrude above the horizontal supporting surface or can be retracted below the horizontal supporting surface is provided on the first supporting frame 1 .
  • the second blocking mechanism is controlled to protrude above the horizontal support surface, thereby preventing the goods from moving further in the second horizontal direction; and when the second conveying mechanism 3 conveys the goods, Control the second blocking mechanism to retract below the horizontal support surface so as not to hinder the movement of the cargo in the second horizontal direction
  • the delivery device 100 further comprises a guide mechanism 9 adapted to guide the second support frame 21 and the third support frame 31 in the upright direction move, thereby preventing the second support frame 21 and the third support frame 31 from moving relative to the first support frame 1 in the horizontal direction.
  • the guide mechanism 9 includes: a plurality of guide posts 91 installed on the first base of the first support frame 1 in an upright direction; installed on the second support frame 21 a plurality of first guide blocks 92 ; and a plurality of second guide blocks 93 mounted on the third support frame 31 .
  • Each of the first guide blocks 92 is provided with a guide hole 921 matched with the guide post 91
  • each of the second guide blocks 93 is provided with a guide hole 931 matched with the guide post 91 . Both the first moving block 92 and the third moving block 93 move up and down along the guide column 91 in the upright direction.
  • one first guide block 92 and one second guide block 93 share one guide post 91 , and the one first guide block 92 and the one second guide block 93 have a vertical direction.
  • the gap is not less than the maximum height of the first conveying mechanism 2 or the second conveying mechanism 3 moving in the upright direction. In this way, the movement of the first conveying mechanism 2 or the second conveying mechanism 3 in the upright direction does not interfere with each other.
  • each first guide block 92 and each second guide block 93 mate with different guide posts.
  • a sensor is also included, adapted to detect whether the conveyor has cargo on it, the cargo is being loaded onto the conveyor, and the cargo is being unloaded from the conveyor.
  • the sensors may include any of weight sensors, optical sensors, and proximity switches.
  • the conveying device has the function of rotating and bidirectionally conveying goods such as shipping containers and air containers, and can realize the positioning and smooth and continuous conveying of the goods; Combined with the radiation inspection system of the machine, it can realize the smooth transportation and calibration positioning of the goods in different attitudes.
  • the conveying device has the characteristics of high precision, stable operation, compact structure, automatic connection and conveying, etc., and is suitable for the CT inspection system of the air box; the conveying device can realize seamless connection with the existing conveying equipment of the airport/cargo station.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Rollers For Roller Conveyors For Transfer (AREA)
  • Intermediate Stations On Conveyors (AREA)

Abstract

一种输送装置（100）和检查系统（1000），输送装置包括：第一支撑框架（1）；第一输送机构（2）和第二输送机构（3），安装在第一支撑框架上；以及切换机构（4），被构造成有选择地在直立方向上提升第一输送机构或第二输送机构，使得第一输送机构或第二输送机构承载货物（401）、并在不同的第一水平方向或者第二水平方向上输送货物。输送装置能实现货物的定位及平稳连续输送，实现货物不同姿态的平稳输送和校准定位。

Description

输送装置、以及检查系统
相关申请的交叉引用
本申请要求于2020年12月4日递交中国专利局的、申请号为202011413588.5的中国专利申请的权益，该申请的全部公开内容以引用方式并入本文。
技术领域
本公开的实施例涉及一种检查系统，特别是涉及一种适用于输送集装箱的输送装置和包括这种输送装置的检查系统。
背景技术
放射线通常用于飞机场和公共建筑物中对诸如行李、袋子、公文包等物体进行非侵入检查，以识射隐藏的违禁物品。违禁物品可以包括被隐藏的枪、刀子、爆炸装置以及非法药品等等。一种普通的检查系统是X光机，其中将被检查的物体经过诸如X射线放射等的固定放射线源和固定检测器之间。放射线被校准成扇形线束或笔形线束。通过物体传播的放射线被行李中所容纳的物品衰减至不同的程度。放射线的衰减量是放射线束所经过的物质的密度的函数。所衰减的放射线被检测，产生物体所容纳的物品的X射线照片图像以用于检查。图像示出了所容纳物品的形状、尺寸和不同的密度。
目前在航空货物(例如航空集装箱)检查领域内仍然以人工检查(开箱检查)和X光机(只能通过小型航空集装箱)投射为主要检查方式，也有使用基于CT(计算机断层扫描-computed tomography)技术的货物检查装置。由于货物检查装置的X光机的穿透能力较低，放射源在使用管理上的严格限制使得这两类产品在使用上有很多限制。
已研发了对航空集装箱进行安检的辐射检查系统，采用集装箱拖车转运机场航空货运站的集装箱货物，并配备自动输送系统将货物输送到辐射检查系统。集装箱拖车带有输送滚筒，作为货物的集装箱一般沿宽度方向从拖车侧面装卸，而在自动输送系统内货物多沿长度方向输送。为了满足适用于检查航空集装箱的辐射检查系统与不同集装箱装卸模式的兼容，需要一种既能在常规长度方向输送集装箱，也能在宽度方向输送集装箱的输送装置。
发明内容
本公开的目的旨在解决现有技术中存在的上述问题和缺陷的至少一个方面。
根据本公开的一个方面的实施例，提供一种输送装置，包括：第一支撑框架；第一输送机构和第二输送机构，安装在所述第一支撑框架上；以及切换机构，被构造成有选择地在直立方向上提升所述第一输送机构或第二输送机构，使得所述第一输送机构或第二输送机构承载货物、并在不同的第一水平方向或者第二水平方向上输送所述货物。
根据本公开的一种实施例，所述输送装置还包括固定基座，所述第一支撑框架可转动地安装在所述固定基座上。
根据本公开的一种实施例，所述第一输送机构或第二输送机构在大致相同的水平支撑面内承载并输送所述货物。
根据本公开的一种实施例，所述第一水平方向大致垂直于所述第二水平方向。
根据本公开的一种实施例，所述第一支撑框架包括：环形框架；第一底座，安装在所述环形框架的下部；以及转动环，设置在所述第一底座上，并位于所述环形框架的中心。所述固定基座包括：第二底座，相对于地面固定安装；以及第一枢轴，固定在所述第二底座上，所述转动环可转动地安装在所述第一枢轴上。
根据本公开的一种实施例，所述输送装置还包括第一驱动机构，被构造成驱动所述转动环相对于所述固定基座转动。
根据本公开的一种实施例，所述第一驱动机构包括：第一支撑座，相对于地面固定安装；第一电机，安装在所述第一支撑座上；以及第一驱动轮，安装在所述第一电机的驱动轴上，并与所述环形框架可转动地接触，以驱动所述转动环转动。
根据本公开的一种实施例，所述输送装置还包括多个平衡机构，所述多个平衡机构相对于地面固定安装，并以预定的间隔可转动地支撑在所述环形框架的下部，以保持所述横向框架大致平行于水平面。
根据本公开的一种实施例，每个所述平衡机构包括：第二支撑座，相对于地面固定安装；以及至少一个第一滚轮，安装在所述第二支撑座上，并可转动地支撑所述环形框架。
根据本公开的一种实施例，所述第一输送机构包括：第二支撑框架，安装在所述第一支撑框架上；第一滚动机构，安装在所述第二支撑框架上，并适用于在所述切换机构的驱动下承载所述货物；以及第二驱动机构，适用于驱动所述第一滚动机构相对于所述第二支撑框架转动，使得所述第一滚动机构推动所述货物在第一水平方向上移动。
根据本公开的一种实施例，所述第二输送机构包括：第三支撑框架，安装在所述第一支撑框架上；第二滚动机构，安装在所述第三支撑框架上，并适用于在所述切换机构的驱动下承载所述货物；以及第三驱动机构，适用于驱动所述第二滚动机构相对于所述第三支撑框架转动，使得所述第二滚动机构推动所述货物在第二水平方向上移动。
根据本公开的一种实施例，所述切换机构包括：多个第一提升机构，适用于提升所述第二支撑框架；多个第二提升机构，适用于提升所述第三支撑框架；以及第四驱动机构，被构造成有选择地驱动所述多个第一提升机构提升所述第二支撑框架、或者驱动所述多个第二提升机构提升所述第三支撑框架。
根据本公开的一种实施例，第四驱动机构包括：第二电机；以及两个第一驱动轴，在所述第二电机的驱动下同步转动。所述第一提升机构包括安装在两个所述第一驱动轴上的第一凸轮，所述第二提升机构包括安装在两个所述第一驱动轴上的第二凸轮，所述第一凸轮和第二凸轮适用于在所述第一驱动轴的驱动下分别提升所述第二支撑框架和第三支撑框架。
根据本公开的一种实施例，所述第一凸轮和第二凸轮被设置成：在所述第一驱动轴旋转的第一角度范围内，使得所述第一滚动机构在水平支撑面内承载并输送所述货物，所述第二滚动机构的最大高度不高于所述水平支撑面并在所述第一滚动机构输送所述货物期间离开所述货物。在所述第一驱动轴旋转的第二角度范围内，使得所述第二滚动机构在水平支撑面内承载并输送所述货物；所述第一滚动机构的最大高度不高于所述水平支撑面并在所述第二滚动机构输送所述货物期间离开所述货物。在所述第一驱动轴的转动在第一角度范围和第二角度范围之间过渡时，所述第一滚动机构和第二滚动机构在所述水平支撑面内共同支撑所述货物。
根据本公开的一种实施例，在所述第一驱动轴在0度至360度转动期间，所述第一角度范围为0-180度，所述第二角度范围为180-360度。
根据本公开的一种实施例，所述第一凸轮和第二凸轮中的每一个包括第一部分和第二部分，在径向方向的截面中，第一部分的支撑面为半圆弧线，第二部分支撑面为一个椭圆沿长轴的椭圆弧线，第一部分的半圆弧形与第二部分的椭圆弧线平滑相接。
根据本公开的一种实施例，所述第四驱动机构还包括：第一传动机构，所述第二电机通过所述第一传动机构驱动两个所述第一驱动轴转动；多个第三支撑座，安装在所述第一支撑框架上，两个所述第一驱动轴可转动地支撑在所述第三支撑座上。
根据本公开的一种实施例，所述第一传动机构包括两条第一传送带，所述第二电机分别通过所述第一传送带驱动两个所述第一驱动轴转动。
根据本公开的一种实施例，所述第二支撑框架包括：两个相对设置的第一纵向框架、以及两个第一横向框架，设置在所述第一纵向框架之间。所述第一滚动机构包括：多对第四支撑座，每对第四支撑座相对的安装在两个所述第一纵向框架上；多个平行布置的滚筒，每个滚筒的两端可转动地安装在一对第四支撑座上，以驱动所述货物沿第一水平方向移动。
根据本公开的一种实施例，所述第二驱动机构包括：第五支撑座，安装在所述第二支撑框架上；第三电机，安装在所述第五支撑座上；以及第二传动机构，所述第三电机通过所述第二传动机构驱动所述滚筒转动。
根据本公开的一种实施例，所述第二传动机构包括：第二传送带，所述第三电机通过所述第二传送带驱动多个所述滚筒中的主动滚筒转动；以及多个第三传送带，所述主动滚筒通过多个所述第三传送带依次驱动多个所述滚筒中的每个从动滚筒转动。
根据本公开的一种实施例，所述输送装置还包括多个第一辅助滚筒，在所述第一横向框架的外部安装在所述第一支撑框架上，每个第一辅助滚筒设置成与所述滚筒平行。
根据本公开的一种实施例，所述第一辅助滚筒设置成在所述第一输送机构输送所述货物时在货物的驱动下转动。
根据本公开的一种实施例，所述第三支撑框架包括：两个相对设置的第二纵向框架；以及多个第二横向框架，每个第二横向框架的两端安装在所述第二纵向框架之间，并且位于两个相邻的滚筒之间。所述第二滚动机构包括：多排第六支撑座，每排第六支撑座安装在一个第二横向框架上；多排滚轮，分别可转动地安装在多排所述第六支 撑座上，每个滚轮的转动轴垂直于所述第二水平方向延伸，以驱动所述货物沿第二水平方向移动。
根据本公开的一种实施例，所述第三驱动机构包括：第七支撑座，安装在所述第三支撑框架上；第四电机，安装在所述第七支撑座上；以及第三传动机构，所述第四电机通过所述第三传动机构驱动每个所述滚轮转动。
根据本公开的一种实施例，所述第三传动机构包括：多个第八支撑座，安装在所述第二横向框架的下部；第二驱动轴，可转动地安装在所述第八支撑座上，并且在垂直于所述第二水平线方向的方向上延伸；第四传送带，所述第四电机通过所述第四传送带驱动所述第二驱动轴转动；第五传送带，所述第二驱动轴通过所述第五传送带驱动每排所述滚轮中的第一滚轮转动；以及多个第六传送带，所述第一滚轮通过多个所述第六传送带依次驱动每排滚轮中的每个第二滚轮转动。
根据本公开的一种实施例，所述第二滚动机构还包括：多排辅助滚轮，每排辅助滚轮可转动地安装在位于两排相邻的滚轮之间的第六支撑座上。
根据本公开的一种实施例，所述输送装置，还包括多个第二辅助滚筒，在所述第一纵向框架的外部安装在所述第一支撑框架上，每个第二辅助滚筒设置成与所述滚轮的轴线平行。
根据本公开的一种实施例，所述第二辅助滚筒设置成在所述第二输送机构输送所述货物时在货物的驱动下转动。
根据本公开的一种实施例，所述输送装置，还包括引导机构，适用于引导所述第二支撑框架和第三支撑框架在所述直立方向上移动。
根据本公开的一种实施例，所述引导机构包括：多个引导柱，在直立方向上安装在所述第一支撑框架上；多个第一引导块，安装在所述第二支撑框架上，每个所述第一引导块上设有与所述引导柱配合的引导孔；以及多个第二引导块，安装在所述第三支撑框架上，每个所述第二引导块上设有与所述引导柱配合的引导孔。
根据本公开的一种实施例，一个第一引导块和一个第二引导块共用一个引导柱，所述一个第一引导块和所述一个第二引导块在直立方向上具有间隙，所述间隙不小于所述第一输送机构或第二输送机构在所述直立方向上移动的最大高度。
根据本公开的一种实施例，所述输送装置还包括传感器，适用于检测所述输送装置上具有货物、货物正在装载到输送装置上、以及货物正在从输送装置上卸载。
根据本公开另一方面的实施例，通过一种检查系统，包括：检查通道；一个或者两个上述任一实施例所述的输送装置，所述输送装置安装在所述检查通道的入口和出口中的至少一个的外部，以将所述货物输送到所述检查通道内、和/或接收从所述检查通道输出的货物；以及检查装置，被构造成对所述输送装置输送的货物进行检查。
附图说明
图1示出了本公开的一种示例性实施例的检查系统的简易示意图；
图2示出了本公开的一种示例性实施例的传输装置的立体示意图；
图3示出了图2所示的传输装置的分解示意图；
图4示出了图2所示的A部分的放大示意图；
图5示出了图2所示的B部分的放大示意图；
图6示出了本公开的一种示例性实施例的传输装置的第一支撑框架和切换机构的立体示意图；
图7示出了图6所示的C部分的放大示意图；
图8示出了本公开的一种示例性实施例的输送装置的切换机构的立体示意图；
图9示出了图8所示的D部分的放大示意图；
图10示出了本公开的一种示例性实施例的输送装置的第一输送机构的立体示意图；
图11示出了图10所示的E部分的放大示意图；
图12示出了本公开的一种示例性实施例的输送装置的第二输送机构的立体示意图；
图13示出了图12所示的第二输送机构的另一种立体示意图；
图14示出了图12所示的F部分的放大示意图；
图15示出了图13所示的G部分的放大示意图；
图16示出了根据本公开的一种示例性实施例的第一驱动轴在Oo或者360o时第一凸轮和第二凸轮的工作状态；
图17示出了图16所示的第一驱动轴在9Oo时第一凸轮和第二凸轮的工作状态；
图18示出了图16所示的第一驱动轴在18Oo时第一凸轮和第二凸轮的工作状态；以及
图19示出了图16所示的第一驱动轴在27Oo时第一凸轮和第二凸轮的工作状态。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有开展创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在下面的详细描述中，为便于解释，阐述了许多具体的细节以提供对本公开实施例的全面理解。然而明显地，一个或多个实施例在没有这些具体细节的情况下也可以被实施。在其他情况下，公知的结构和装置以图示的方式体现以简化附图。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在本公开的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，并且以车辆的行进方向为基础，仅是为了便于描述本公开和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。
根据本公开的一种总体上的发明构思，提供一种输送装置，包括：第一支撑框架、安装在所述第一支撑框架上的第一输送机构和第二输送机构、以及切换机构。切换机构被构造成有选择地在直立方向上提升所述第一输送机构或第二输送机构，使得所述第一输送机构或第二输送机构承载货物、并在不同的第一水平方向或者第二水平方向上输送所述货物。
根据本公开的另一种总体上的发明构思，提供一种检查系统，包括：检查通道；上述输送装置，所述输送装置安装在所述检查通道的入口和出口中的至少一个的外部，以将所述货物输送到所述检查通道内、和/或接收从所述检查通道输出的货物；以及检 查装置，所述检查装置被构造成对所述输送装置输送的货物进行检查。
图1示出了本公开的一种示例性实施例的检查系统的简易示意图。
在一种示例性实施例中，参见图1，检查系统1000适用于在车站、机场、码头等场所检查集装箱、适用于集中存放物品的大型货物篮之类的货物401中是否存在毒品、爆炸物、易燃物之类的违禁物品。本文以被检查货物为集装箱为例继续说明。检查系统1000包括：检查通道200、输送装置100、和检查装置300。所述输送装置100安装在所述检查通道200的入口和出口中的至少一个的外部，以将所述货物401输送到所述检查通道200内、和/或接收从所述检查通道200输出的货物，在所述检查通道200内设有移动货物401的输送机构201。检查装置300被构造成对所述输送装置100输送的货物401进行检查。
在一种示例性实施例中，检查装置300包括基于CT(计算机断层扫描-computed tomography)技术的X射线扫描装置。一般地，输送装置100设置在检查通道200的入口和/或出口处，被检查的集装箱由拖车400运送到检查通道200的入口附近；输送装置将货物401旋转90度，然后将货物沿长度方向输送到进入检查通道200内；货物在检查通道200内由输送机构201输送到检查装置300；检查装置300对货物进行CT扫描检查；之后，货物401被输送机构201继续输送到输送装置100，输送装置100将货物401转动90度；最后将货物移动到拖车400上，完成对货物的X射线扫描检查。
在一种示例性实施例中，作为被检查货物401的集装箱为空运货物集装箱，这种航空货物集装箱用于容装将被存放在飞机机体中的多件行李和其他货物，其尺寸(长、高、宽)落围从大约35 X 21 X 21英寸(0.89 X 0.53 X 0.53米)至大约240 X 118 X 96英寸(6.1 X 3.0 X 2.4米)，例如为48 X 48 X 65英寸(1.2 X 1.2 X 1.7米)。
图2示出了本公开的一种示例性实施例的输送装置的立体示意图；图3示出了图2所示的输送装置的分解示意图。
在一种示例性实施例中，参见图2-3，输送装置100包括：第一支撑框架1、第一输送机构2、第二输送机构3和切换机构4。第一输送机构2和第二输送机构3可移动地安装在所述第一支撑框架1上。切换机构4被构造成有选择地在直立方向上提升所述第一输送机构2或第二输送机构3，使得所述第一输送机构2或第二输送机构3承载例如集装箱之类的货物401、并在不同的第一水平方向或者第二水平方向上输送所 述货物401。也就是说，切换机构4在提升输送机构2的情况下，第一输送机构2承载货物，并在第一水平方向上输送货物；切换机构4在提升第二输送机构3的情况下，第二输送机构3承载货物，并在第二水平方向上输送货物。这样，输送装置100可以沿不同的水平方向输送货物。
图6示出了本公开的一种示例性实施例的传输装置的第一支撑框架和切换机构的立体示意图；图7示出了图6所示的C部分的放大示意图。
在一种示例性实施例中，参见图2、3、6和7，输送装置100还包括固定基座5，所述第一支撑框架1可转动地安装在所述固定基座5上。例如，第一支撑框架1可以相对于固定基座5在90度、180度或者360度范围内转动。在一种实施例中，所述第一水平方向大致垂直于所述第二水平方向。
参见图1，在将拖车400上的集装箱移动到检查通道200的输送机构201的操作过程中，转动第一支撑框架1，使得第一输送机构2的输送方向(第一水平方向)与集装箱的长度方向平行，集装箱宽度方向与第二水平方向平行；切换机构4提升第二输送机构3并降低第一输送机构2，使得第二输送机构3接收从拖车400卸载下来的集装箱，在集装箱的宽度的一部分装载到输送装置100上的情况下，第二输送机构3在第二水平方向上输送集装箱，使得集装箱在宽度方向上逐渐全部移动到输送装置100上；然后，第一支撑框架1转动90度，集装箱也转动90度，集装箱的长度方向仍然与第一水平方向平行，切换机构4提升第一输送机构2并降低第二输送机构3，使得第一输送机构2承载集装箱；之后，第一输送机构2在第一水平方向上输送集装箱，使得集装箱在其长度方向上移动到输送装置100上。
参见图1，在将检查通道200的输送机构201上的集装箱移动到拖车400上的操作过程中，转动第一支撑框架1，使得第一输送机构2的输送方向(第一水平方向)与集装箱的长度方向平行；切换机构4提升第一输送机构2并降低第二输送机构3，使得第一输送机构2接收从检查通道200的输送机构201输送的集装箱，在集装箱部分地装载到输送装置100上的情况下，第一输送机构3在第一水平方向上输送集装箱，使得集装箱在长度方向上逐渐全部移动到输送装置100上；然后，第一支撑框架1转动90度，集装箱也转动90度，集装箱的长度方向仍然与第一水平方向平行，切换机构4提升第二输送机构3并降低第一输送机构2，使得第二输送机构3承载集装箱；之后，第二输送机构3在第二水平方向上输送集装箱，使得集装箱在其宽度方向上移 动到拖车400上。
在一种示例性实施例中，所述第一输送机构2或第二输送机构3在大致相同的水平支撑面内承载并输送所述货物。这样，在第一输送机构2或第二输送机构3承载货物的切换过程中，货物的高度不发生变化。可以理解，水平支撑面的高度大致等于拖车和输送机构201的水平支撑面的高度。
在一种示例性实施例中，参见图2、3、6和7，所述第一支撑框架1包括：环形框架11；安装在所述环形框架11的下部的第一底座；以及设置在所述第一底座上并位于所述环形框架11的中心的转动环14。第一底座可以包括多个纵向支撑梁12和多个横向支撑梁13。可替换的，第一底座可以包括局部覆盖或者全部覆盖环形框架11的下部的支撑板。所述固定基座5包括：例如通过螺栓53相对于地面固定安装的第二底座51；以及固定在所述第二底座51上的第一枢轴52，所述转动环14可转动地安装在所述第一枢轴52上。这样，第一支撑框架1可以相对于地面转动。
图4示出了图2所示的A部分的放大示意图。
在一种示例性实施例中，参见图2-4、6和7，输送装置100还包括第一驱动机构6，第一驱动机构6被构造成驱动所述转动环14相对于所述固定基座5转动。进一步地，第一驱动机构包括：通过螺栓611相对于地面固定安装的第一支撑座61；安装在所述第一支撑座61上的第一电机62；以及安装在所述第一电机62的驱动轴上的第一驱动轮63，第一驱动轮63与所述环形框架11的底部或者侧部可转动地接触，以驱动所述转动环14相对于固定基座5转动。第一驱动轮63可以与环形框架11的底部或者侧部摩擦接触，也可以采用齿轮与齿条结合的方式接触。在一种可替换的实施例中，第一电机通过传送带驱动环形框架11转动。可以设置一组或者两组第一驱动机构，并驱动环形框架11在0-90度或者0-180度范围内转动。
在一种可替换的实施例中，第一电机62的输出轴上可以耦合减速机构，以便于控制环形框架11的转动速度。
在一种示例性实施例中，输送装置100还包括多个平衡机构7，所述多个平衡机构7相对于地面固定安装，并以预定的间隔可转动地支撑在横向框架11的下部，以保持环形框架11始终大致平行于水平面。例如，每个所述平衡机构7包括：通过螺栓相对于地面固定安装的第二支撑座71；以及至少一个第一滚轮72，第一滚轮72安装在所述第二支撑座71上，并可转动地支撑所述环形框架11。
图10示出了本公开的一种示例性实施例的输送装置的第一输送机构的立体示意图；图11示出了图10所示的E部分的放大示意图。
在一种示例性实施例中，参见图2-4、10和11，所述第一输送机构2包括：安装在所述第一支撑框架1上的第二支撑框架21；安装在所述第二支撑框架21上、并适用于在所述切换机构4的驱动下承载所述货物401的第一滚动机构22；以及适用于驱动所述第一滚动机构22相对于所述第二支撑框架21转动的第二驱动机构23。这样，在切换机构4提升第二支撑框架21使得第一滚动机构23承载货物的情况下，所述第一滚动机构22推动所述货物401在第一水平方向F1上移动。
图12示出了本公开的一种示例性实施例的输送装置的第二输送机构的立体示意图；图13示出了图12所示的第二输送机构的另一种立体示意图；图14示出了图12所示的F部分的放大示意图；图15示出了图13所示的G部分的放大示意图。
在一种示例性实施例中，参见图2-4和12-15，所述第二输送机构3包括：安装在所述第一支撑框架1上的第三支撑框架31；安装在所述第三支撑框架31上、并适用于在所述切换机构4的驱动下承载所述货物401的第二滚动机构32；以及适用于驱动所述第二滚动机构32相对于所述第三支撑框架31转动的第三驱动机构33。这样，在切换机构4提升第三支撑框架31使得第二滚动机构32承载货物的情况下，所述第三滚动机构33推动所述货物401在第二水平方向F2上移动。
图5示出了图2所示的B部分的放大示意图；图8示出了本公开的一种示例性实施例的输送装置的切换机构的立体示意图；图9示出了图8所示的D部分的放大示意图。
在一种示例性实施例中，参见图5-6和8-9，所述切换机构4包括：适用于提升所述第二支撑框架21的多个第一提升机构41；适用于提升所述第三支撑框架31的多个第二提升机构42；以及第四驱动机构43，第四驱动机构43被构造成有选择地驱动所述多个第一提升机构41提升所述第二支撑框架21、或者驱动所述多个第二提升机构42提升所述第三支撑框架31。
在一种示例性实施例中，参见图5、6、8和9，第四驱动机构43包括：第二电机431和两个第一驱动轴434，第一驱动轴434在所述第二电机431的驱动下同步转动。所述第一提升机构41包括安装在两个所述第一驱动轴434上的第一凸轮41，所述第二提升机构42包括安装在两个所述第一驱动轴434上的第二凸轮42。所述第一凸轮 41和第二凸轮42适用于在所述第一驱动轴434的驱动下分别提升所述第二支撑框架21和第三支撑框架31。
在一种示例性实施例中，所述第四驱动机构43还包括：第一传动机构433和多个第三支撑座435，所述第二电机431通过所述第一传动机构433驱动两个所述第一驱动轴434转动；多个第三支撑座435安装在所述第一支撑框架1上，两个所述第一驱动轴434通过轴承436可转动地支撑在所述第三支撑座435上。所述第一传动机构433包括两条第一传送带，所述第二电机431分别通过所述第一传送带驱动两个所述第一驱动轴434转动。这样，可以确保两个第一驱动轴434同步转动。在一种可替换的实施例中，第二电机431可以通过齿轮啮合驱动两个驱动轴434转动。在第二电机431的输出轴上可以耦合减速机构，以便于控制第一驱动轴的转动角度和转动方向。
在一种示例性实施例中，所述第一凸轮41和第二凸轮42被设置成：在所述第一驱动轴434旋转的第一角度范围内，使得所述第一滚动机构22在水平支撑面内承载并输送所述货物401，所述第二滚动机构32的最大高度不高于所述水平支撑面并在所述第一滚动机构22输送所述货物期间离开所述货物，使得第二滚动机构32不会妨碍第一滚动机构22在第一水平方向F 1上驱动货物移动；另一方面，在所述第一驱动轴434旋转的第二角度范围内，使得所述第二滚动机构32在水平支撑面内承载并输送所述货物401，所述第一滚动机构22的最大高度不高于所述水平支撑面并在所述第二滚动机构32输送所述货物期间离开所述货物，使得第一滚动机构22不会妨碍第二滚动机构32在第二水平方向F2上驱动货物移动。在所述第一驱动轴434的转动在第一角度范围和第二角度范围之间过渡时，所述第一滚动机构22和第二滚动机构32在所述水平支撑面内共同支撑所述货物。这样，在任何操作期间，第一滚动机构22和第二滚动机构32中的至少一个承载货物，并将货物保持在水平支撑面上，使得货物的高度基本上保持不变。
图16示出了根据本公开的一种示例性实施例的第一驱动轴在Oo或者360o时第一凸轮和第二凸轮的工作状态；图17示出了图16所示的第一驱动轴在9Oo时第一凸轮和第二凸轮的工作状态；图18示出了图16所示的第一驱动轴在18Oo时第一凸轮和第二凸轮的工作状态；以及图19示出了图16所示的第一驱动轴在27Oo时第一凸轮和第二凸轮的工作状态。
在一种示例性实施例中，参见图16，在所述第一驱动轴434在0度至360度转动 期间，所述第一角度范围为0-180度，所述第二角度范围为180-360度。在一种示例性实施例中，第一凸轮41和第二凸轮42中的每一个包括第一部分411和第二部分412。在径向方向的截面中，第一部分411的支撑面为半圆弧线，第二部分412支撑面为一个椭圆沿长轴的椭圆弧线，第一部分的半圆弧形与第二部分的椭圆弧线平滑相接。
下面参照图16-19描述第一驱动轴434在转动方向R上在0-360度转动期间，第一凸轮41和第二凸轮42在不同的角度范围内时的工作状态。
参见图16，在第一驱动轴434处于Oo或者360o的位置时，第一凸轮41的第一部分411的半圆支撑部到第二部分412的椭圆支撑部的过渡部位支撑第二支撑框架21，第二凸轮42的第二部分412的椭圆支撑部到第一部分411的半圆支撑部的过渡部位支撑第二支撑框架31。此时，第一凸轮41和第二凸轮42的最高支撑点的高度相同，使得第一输送机构2和第三输送机构3都可以承载处于水平支撑面内的货物，但是，第一输送机构2和第三输送机构3都处于不能输送货物的状态。
参见图17，在第一驱动轴434转动到90o时，第一凸轮41的第一部分411的半圆支撑部支撑第一支撑框架21，第一支撑框架21的高度不变，第一输送机构2承载处于水平支撑面内的货物；同时，第二凸轮42的第二部分412的最高支撑点的高度下降到最低，而且第三支撑框架31随第二凸轮42的转动下降，使得第二输送机构3不再承载货物。在此情况下，第一输送机构2输送货物在第一水平方向移动。
参见图18，在第一驱动轴434转动到180o时，第一凸轮41的第一部分411的半圆支撑部仍然支撑第一支撑框架21，第一支撑框架21的高度不变，第一输送机构2承载处于水平支撑面内的货物；同时，第二凸轮42的第二部分412的最高支撑点的高度上升到最高，而且第三支撑框架31随第二凸轮42的转动而上升到最高。此时，第一凸轮41和第二凸轮42的最高支撑点的高度相同，使得第一输送机构2和第三输送机构3都可以承载处于水平支撑面内的货物，但是，第一输送机构2和第三输送机构3都处于不能输送货物的状态。
参见图19，在第一驱动轴434转动到270o时，第二凸轮42的第一部分411的半圆支撑部仍然支撑第三支撑框架31，第三支撑框架31的高度不变，第二输送机构3承载处于水平支撑面内的货物；同时，第一凸轮41的第二部分412的最高支撑点的高度下降到最低，而且第二支撑框架21随第一凸轮41的转动下降，使得第一输送机构2不再承载货物。在此情况下，第二输送机构3输送货物在第二水平方向移动。
可以理解，第一驱动轴434可以设置成连续地在顺时针或者逆时针方向上转动，或者设置成在顺时针方向上和逆时针方向上交替地转动。
上面描述了第一支撑框架和第二支撑框架都可以升降的实施例。在一种可替换的实施例中，第一驱动轴可以只驱动第一支撑框架和第二支撑框架的一个，而第一支撑框架和第二支撑框架中的另一个的高度保持不变。也就是说，第一输送机构和第二输送机构中的一个输送机构的水平支撑面为高度可变的可变支撑面，而第一输送机构和第二输送机构中的另一个输送机构的水平支撑面为高度保持不变的固定支撑面，并且可变支撑面的高度可以高于或者低于固定支撑面的高度。当可变支撑面的高度低于固定支撑面的高度上，由所述另一个输送机构驱动货物移动；当可变支撑面的高度高于固定支撑面的高度上，由所述一个输送机构驱动货物移动。
在一种示例性实施例中，参见图10和11，所述第二支撑框架21包括：两个相对设置的第一纵向框架211、以及设置在所述第一纵向框架211之间的两个第一横向框架212。所述第一滚动机构22包括：多对第四支撑座221和多个平行布置的滚筒222，每对第四支撑座221相对的安装在两个所述第一纵向框架211上；每个滚筒222的两端通过轴承可转动地安装在一对第四支撑座221上，以驱动所述货物401沿第一水平方向F1移动。可以理解，滚筒222也可以由实心滚柱代替。
在一种示例性实施例中，参见图10和11，所述第二输送机构3包括：安装在所述第二支撑框架3的第一纵向支撑框架211上的第五支撑座231；安装在所述第五支撑座231上的第三电机232；以及第二传动机构233，所述第三电机232通过所述第二传动机构233驱动所述滚筒222转动。在一种可替换的实施例中，第三电机232可以通过齿轮啮合驱动两个滚筒222转动。在第三电机232的输出轴上可以耦合减速机构235。
在一种示例性实施例中，参见图10和11，所述第二传动机构233包括：第二传送带233和多个第三传送带234，所述第三电机232通过所述第二传送带233驱动多个所述滚筒中的主动滚筒2221转动；所述主动滚筒2221通过多个所述第三传送带234依次驱动多个所述滚筒中的每个从动滚筒2222转动。这样，在第三电机232的驱动下，每个滚筒222都可以转动，以推动承载在滚筒222上的货物在第一水平方向F1上移动。
在一种示例性实施例中，参见图2-4和6，输送装置100还包括多个第一辅助滚筒81，第一辅助滚筒81在所述第一横向框架212的外部安装在所述第一支撑框架1的第 一底座上，每个第一辅助滚筒81设置成与所述滚筒222平行。这样，在货物在第一输送机构2的滚筒222的驱动下经过辅助滚筒81时，辅助滚筒81可以转动地支撑货物，从而使得货物可以平稳地输送到第一输送机构上或者从第一输送机构移走。
在一种示例性实施例中，所述第一辅助滚筒81设置成在所述第一输送机构2输送所述货物时在货物的驱动下转动，使得货物保持平稳地移动。
在一种实施例中，可以在至少一部分滚筒的转动轴上设置第一制动机构，在第一输送机构2停止输送所述货物时，控制第一制动机构抱死所述至少一部分滚筒的转动轴，使得所述至少一部分滚筒不能转动，从而阻止货物进一步移动。在另一种实施例中，在第一支撑框架1上设置可突出水平支撑面以上或者可收缩到水平支撑面以下的第一阻挡机构。在第一输送机构2停止输送所述货物时，控制第一阻挡机构突出到水平支撑面以上，从而阻止货物在第一水平方向上进一步移动；而在第一输送机构2输送所述货物时，控制第一阻挡机构收缩到水平支撑面以下，从而不妨碍货物在第一水平方向上移动。
在一种示例性实施例中，参见图12-15，所述第三支撑框架3包括：两个相对设置的第二纵向框架311；以及多个第二横向框架312，每个第二横向框架312的两端安装在所述第二纵向框架311之间，并且位于两个相邻的滚筒222之间。所述第二滚动机构32包括多排第六支撑座321和多排滚轮322，每排第六支撑座321安装在一个第二横向框架312上。多排滚轮322分别可转动地安装在多排所述第六支撑座321上，每个滚轮的转动轴垂直于所述第二水平方向F2延伸，以驱动所述货物沿第二水平方向移动。采用这种配置方式，滚筒222和滚轮322彼此嵌套设置、或者交替设置，输送货物的方向彼此垂直。
本领域的技术人员理解，可以根据被输送的货物，例如海运集装箱或者航空集装箱的重量及尺寸的不同，改变第一支撑框架、第一输送机构和第二输送机构的尺寸，并相应地增加或者减少滚筒和滚轮的数量。在一种实施例中，滚筒和滚轮均布布置。
在一种示例性实施例中，参见图12-15，所述第三驱动机构包括：安装在所述第三支撑框架3的第二横向框架312上的第七支撑座331；安装在所述第七支撑座331上的第四电机332；以及第三传动机构333，所述第四电机332通过所述第三传动机构333驱动每个所述滚轮222转动。在第四电机332的输出轴上可以耦合减速机构334。
在一种示例性实施例中，所述第三传动机构333包括：多个第八支撑座3331、第 二驱动轴3332、第四传送带3333、第五传送带3334以及多个第六传送带3335。第八支撑座3331安装在所述第二横向框架312的下部；第二驱动轴3332通过轴承可转动地安装在所述第八支撑座3331上、并且在垂直于所述第二水平线方向F2的方向上延伸；所述第四电机332通过所述第四传送带3333驱动所述第二驱动轴3332转动；所述第二驱动轴3332通过所述第五传送带3334驱动每排所述滚轮中的第一滚轮3221转动；所述第一滚轮3221通过多个所述第六传送带3335依次驱动每排滚轮中的每个第二滚轮3222转动。
在一种实施例中，第一、第二、第三、第四、第五、第六传送带与皮带轮结合的方式可以由链轮与链条结合的方式代替。
在一种示例性实施例中，参见图12-15，所述第二滚动机构32还包括：多排辅助滚轮323，每排辅助滚轮323可转动地安装在位于两排滚轮222之间的第六支撑座321上。辅助滚轮323设置成惰性轮，不具有驱动功能，而是在货物在第二输送机构3上移动的同时在货物的驱动下转动，以保持货物的平稳移动。
在一种示例性实施例中，参见图2-4和6，输送装置100还包括多个第二辅助滚筒82，第二辅助滚筒82在所述第一纵向框架211的外部安装在所述第一支撑框架1上，每个第二辅助滚筒82设置成与所述滚轮222的轴线平行。这样，在货物在第二输送机构3的滚轮322的驱动下经过辅助滚筒82时，辅助滚筒82可以转动地支撑货物，从而使得货物可以平稳地输送到第二输送机构上或者从第二输送机构移走。
在一种示例性实施例中，所述第二辅助滚筒82设置成在所述第二输送机构2输送所述货物时在货物的驱动下转动，使得货物保持平稳地移动。
在一种实施例中，在第一支撑框架1上设置可突出水平支撑面以上或者可收缩到水平支撑面以下的第二阻挡机构。在第二输送机构3停止输送所述货物时，控制第二阻挡机构突出到水平支撑面以上，从而阻止货物在第二水平方向上进一步移动；而在第二输送机构3输送所述货物时，控制第二阻挡机构收缩到水平支撑面以下，从而不妨碍货物在第二水平方向上移动
在一种示例性实施例中，参见图2-6和12-14，输送装置100还包括引导机构9，适用于引导所述第二支撑框架21和第三支撑框架31在所述直立方向上移动，从而防止第二支撑框架21和第三支撑框架31在水平方向上相对于第一支撑框架1移动。在一种示例性实施例中，所述引导机构9包括：在直立方向上安装在所述第一支撑框架 1的第一底座上的多个引导柱91；安装在所述第二支撑框架21上多个第一引导块92；以及安装在所述第三支撑框架31上的多个第二引导块93。每个所述第一引导块92上设有与所述引导柱91配合的引导孔921，每个所述第二引导块93上设有与所述引导柱91配合的引导孔931。第一移动块92和第三移动块93都沿引导柱91在直立方向上上下移动。
在一种示例性实施例中，一个第一引导块92和一个第二引导块93共用一个引导柱91，所述一个第一引导块92和所述一个第二引导块93在直立方向上具有间隙，所述间隙不小于所述第一输送机构2或第二输送机构3在所述直立方向上移动的最大高度。这样，第一输送机构2或第二输送机构3在直立方向上移动彼此不受干扰。在一种可替换的实施例中，每个第一引导块92和每个第二引导块93与不同的引导柱配合。
在一种示例性实施例中，还包括传感器，适用于检测所述输送装置上是否具有货物、货物正在装载到输送装置上、以及货物正在从输送装置上卸载。传感器可以包括重量传感器、光学传感器、和接近开关中的任一种。
根据本公开实施例的输送装置和检查系统，输送装置具有回转、双向正反输送例如海运集装箱、航空集装箱之类的货物的功能，能实现货物的定位及平稳连续输送；输送装置能够与包括CT机的辐射检查系统结合，实现货物不同姿态的平稳输送和校准定位。输送装置具有精度高、运行平稳、结构紧凑、自动接驳及输送等特点，适用于航空箱CT检测系统；输送装置可以实现与机场/货运站现有输送设备的无缝对接。
本领域的技术人员可以理解，上面所描述的实施例都是示例性的，并且本领域的技术人员可以对其进行改进，各种实施例中所描述的结构在不发生结构或者原理方面的冲突的情况下可以进行自由组合。
虽然结合附图对本公开进行了说明，但是附图中公开的实施例旨在对本公开优选实施方式进行示例性说明，而不能理解为对本公开的一种限制。虽然本公开发明构思的一些实施例已被显示和说明，本领域普通技术人员将理解，在不背离本总体实用新型构思的原则和精神的情况下，可对这些实施例做出改变，本公开的范围以权利要求和它们的等同物限定。

Claims (34)

  1. 一种输送装置(100)，包括：
    第一支撑框架(1)；
    第一输送机构(2)和第二输送机构(3)，安装在所述第一支撑框架上；以及
    切换机构(4)，被构造成有选择地在直立方向上提升所述第一输送机构或第二输送机构，使得所述第一输送机构或第二输送机构承载货物(401)、并在不同的第一水平方向F1或者第二水平方向F2上输送所述货物。
  2. 根据权利要求1所述的输送装置，还包括固定基座(5)，所述第一支撑框架可转动地安装在所述固定基座上。
  3. 根据权利要求1或2所述的输送装置，其中，所述第一输送机构或第二输送机构在大致相同的水平支撑面内承载并输送所述货物。
  4. 根据权利要求1-3中的任一项所述的输送装置，其中，所述第一水平方向大致垂直于所述第二水平方向。
  5. 根据权利要求2-4中的任一项所述的输送装置，其中，所述第一支撑框架包括：
    环形框架(11)；
    第一底座(12，13)，安装在所述环形框架的下部；以及
    转动环(14)，设置在所述第一底座上，并位于所述环形框架的中心，
    所述固定基座包括：
    第二底座(51)，相对于地面固定安装；以及
    第一枢轴(52)，固定在所述第二底座上，所述转动环可转动地安装在所述第一枢轴上。
  6. 根据权利要求5所述的输送装置，还包括第一驱动机构(6)，被构造成驱动所述转动环相对于所述固定基座转动。
  7. 根据权利要求6所述的输送装置，其中，所述第一驱动机构包括：
    第一支撑座(61)，相对于地面固定安装；
    第一电机(62)，安装在所述第一支撑座上；以及
    第一驱动轮(63)，安装在所述第一电机的驱动轴上，并与所述环形框架可转动地接触，以驱动所述转动环转动。
  8. 根据权利要求5-7中的任一项所述的输送装置，还包括多个平衡机构(7)，所述多个平衡机构相对于地面固定安装，并以预定的间隔可转动地支撑在所述环形框架的下部，以保持所述横向框架大致平行于水平面。
  9. 根据权利要求8所述的输送装置，其中，每个所述平衡机构包括：
    第二支撑座(71)，相对于地面固定安装；以及
    至少一个第一滚轮(72)，安装在所述第二支撑座上，并可转动地支撑所述环形框架。
  10. 根据权利要求1-9中的任一项所述的输送装置，其中，所述第一输送机构包括：
    第二支撑框架(21)，安装在所述第一支撑框架上；
    第一滚动机构(22)，安装在所述第二支撑框架上，并适用于在所述切换机构的驱动下承载所述货物；以及
    第二驱动机构(23)，适用于驱动所述第一滚动机构相对于所述第二支撑框架转动，使得所述第一滚动机构推动所述货物在第一水平方向上移动。
  11. 根据权利要求10所述的输送装置，其中，所述第二输送机构包括：
    第三支撑框架(31)，安装在所述第一支撑框架上；
    第二滚动机构(32)，安装在所述第三支撑框架上，并适用于在所述切换机构的驱动下承载所述货物；以及
    第三驱动机构(33)，适用于驱动所述第二滚动机构相对于所述第三支撑框架转动，使得所述第二滚动机构推动所述货物在第二水平方向上移动。
  12. 根据权利要求11所述的输送装置，其中，所述切换机构包括：
    多个第一提升机构(41)，适用于提升所述第二支撑框架；
    多个第二提升机构(42)，适用于提升所述第三支撑框架；以及
    第四驱动机构(43)，被构造成有选择地驱动所述多个第一提升机构提升所述第二支撑框架、或者驱动所述多个第二提升机构提升所述第三支撑框架。
  13. 根据权利要求12所述的输送装置，其中，第四驱动机构包括：
    第二电机(431)；以及
    两个第一驱动轴(434)，在所述第二电机的驱动下同步转动，
    所述第一提升机构包括安装在两个所述第一驱动轴上的第一凸轮(41)，所述第二提升机构包括安装在两个所述第一驱动轴上的第二凸轮(42)，
    所述第一凸轮和第二凸轮适用于在所述第一驱动轴的驱动下分别提升所述第二支撑框架和第三支撑框架。
  14. 根据权利要求13所述的输送装置，其中，所述第一凸轮和第二凸轮被设置成：
    在所述第一驱动轴旋转的第一角度范围内，使得所述第一滚动机构在水平支撑面内承载并输送所述货物，所述第二滚动机构的最大高度不高于所述水平支撑面并在所述第一滚动机构输送所述货物期间离开所述货物；
    在所述第一驱动轴旋转的第二角度范围内，使得所述第二滚动机构在水平支撑面内承载并输送所述货物；所述第一滚动机构的最大高度不高于所述水平支撑面并在所述第二滚动机构输送所述货物期间离开所述货物，
    在所述第一驱动轴的转动在第一角度范围和第二角度范围之间过渡时，所述第一滚动机构和第二滚动机构在所述水平支撑面内共同支撑所述货物。
  15. 根据权利要求14所述的输送装置，其中，在所述第一驱动轴在0度至360度转动期间，所述第一角度范围为0-180度，所述第二角度范围为180-360度。
  16. 根据权利要求15所述的输送装置，其中，所述第一凸轮和第二凸轮中的每一个包括第一部分(411)和第二部分(412)，
    在径向方向的截面中，第一部分的支撑面为半圆弧线，第二部分支撑面为一个椭圆沿长轴的椭圆弧线，第一部分的半圆弧形与第二部分的椭圆弧线平滑相接。
  17. 根据权利要求13-16中的任一项所述的输送装置，其中，所述第四驱动机构还包括：
    第一传动机构(433)，所述第二电机通过所述第一传动机构驱动两个所述第一驱动轴转动；
    多个第三支撑座(435)，安装在所述第一支撑框架上，两个所述第一驱动轴可转动地支撑在所述第三支撑座上。
  18. 根据权利要求17所述的输送装置，其中，所述第一传动机构包括两条第一传送带，所述第二电机分别通过所述第一传送带驱动两个所述第一驱动轴转动。
  19. 根据权利要求11-18中的任一项所述的输送装置，其中，
    所述第二支撑框架包括：
    两个相对设置的第一纵向框架(211)、以及
    两个第一横向框架(212)，设置在所述第一纵向框架之间；
    所述第一滚动机构包括：
    多对第四支撑座(221)，每对第四支撑座相对的安装在两个所述第一纵向框架上；
    多个平行布置的滚筒(222)，每个滚筒的两端可转动地安装在一对第四支撑座上，以驱动所述货物沿第一水平方向移动。
  20. 根据权利要求19所述的输送装置，其中，所述第二驱动机构包括：
    第五支撑座(231)，安装在所述第二支撑框架上；
    第三电机(232)，安装在所述第五支撑座上；以及
    第二传动机构(233)，所述第三电机通过所述第二传动机构驱动所述滚筒转动。
  21. 根据权利要求20所述的输送装置，其中，所述第二传动机构包括：
    第二传送带(233)，所述第三电机通过所述第二传送带驱动多个所述滚筒中的主动滚筒(2221)转动；以及
    多个第三传送带(234)，所述主动滚筒通过多个所述第三传送带依次驱动多个所述滚筒中的每个从动滚筒转动。
  22. 根据权利要求19-21中的任一项所述的输送装置，还包括多个第一辅助滚筒(81)，在所述第一横向框架的外部安装在所述第一支撑框架上，每个第一辅助滚筒设置成与所述滚筒平行。
  23. 根据权利要求22所述的输送装置，其中，所述第一辅助滚筒设置成在所述第一输送机构输送所述货物时在货物的驱动下转动。
  24. 根据权利要求19-23中的任一项所述的输送装置，其中，
    所述第三支撑框架包括：
    两个相对设置的第二纵向框架(311)；以及
    多个第二横向框架(312)，每个第二横向框架的两端安装在所述第二纵向框架之间，并且位于两个相邻的滚筒之间；
    所述第二滚动机构包括：
    多排第六支撑座(321)，每排第六支撑座安装在一个第二横向框架上；
    多排滚轮(322)，分别可转动地安装在多排所述第六支撑座上，每个滚轮的转动轴垂直于所述第二水平方向延伸，以驱动所述货物沿第二水平方向移动。
  25. 根据权利要求24所述的输送装置，其中，所述第三驱动机构包括：
    第七支撑座(331)，安装在所述第三支撑框架上；
    第四电机(332)，安装在所述第七支撑座上；以及
    第三传动机构(333)，所述第四电机通过所述第三传动机构驱动每个所述滚轮转动。
  26. 根据权利要求25所述的输送装置，其中，所述第三传动机构包括：
    多个第八支撑座(3331)，安装在所述第二横向框架的下部；
    第二驱动轴(3332)，可转动地安装在所述第八支撑座上，并且在垂直于所述第二水平线方向的方向上延伸；
    第四传送带(3333)，所述第四电机通过所述第四传送带驱动所述第二驱动轴转动；
    第五传送带(3334)，所述第二驱动轴通过所述第五传送带驱动每排所述滚轮中的第一滚轮(3221)转动；以及
    多个第六传送带(3335)，所述第一滚轮通过多个所述第六传送带依次驱动每排滚轮中的每个第二滚轮(3222)转动。
  27. 根据权利要求24-26中的任一项所述的输送装置，其中，所述第二滚动机构还包括：多排辅助滚轮(323)，每排辅助滚轮可转动地安装在位于两排相邻的滚轮之间的第六支撑座上。
  28. 根据权利要求24-26中的任一项所述的输送装置，还包括多个第二辅助滚筒(82)，在所述第一纵向框架的外部安装在所述第一支撑框架上，每个第二辅助滚筒设置成与所述滚轮的轴线平行。
  29. 根据权利要求28所述的输送装置，其中，所述第二辅助滚筒设置成在所述第二输送机构输送所述货物时在货物的驱动下转动。
  30. 根据权利要求11-29中的任一项所述的输送装置，还包括引导机构(9)，适用于引导所述第二支撑框架和第三支撑框架在所述直立方向上移动。
  31. 根据权利要求30所述的输送装置，其中，所述引导机构包括：
    多个引导柱(91)，在直立方向上安装在所述第一支撑框架上；
    多个第一引导块(92)，安装在所述第二支撑框架上，每个所述第一引导块上设有与所述引导柱配合的引导孔(821)；以及
    多个第二引导块(93)，安装在所述第三支撑框架上，每个所述第二引导块上设有与所述引导柱配合的引导孔(931)。
  32. 根据权利要求31所述的输送装置，其中，一个第一引导块和一个第二引导块共用一个引导柱，所述一个第一引导块和所述一个第二引导块在直立方向上具有间隙，所述间隙不小于所述第一输送机构或第二输送机构在所述直立方向上移动的最大高度。
  33. 根据权利要求1-32中的任一项所述的输送装置，还包括传感器，适用于检测所述输送装置上具有货物、货物正在装载到输送装置上、以及货物正在从输送装置上卸载。
  34. 一种检查系统(1000)，包括：
    检查通道(200)；
    一个或者两个根据权利要求1-33中的任一项所述的输送装置，所述输送装置安装在所述检查通道的入口和出口中的至少一个的外部，以将所述货物输送到所述检查通道内、和/或接收从所述检查通道输出的货物；以及
    检查装置(300)，被构造成对所述输送装置输送的货物进行检查。
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