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WO2021259238A1 - 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
WO2021259238A1
WO2021259238A1 PCT/CN2021/101465 CN2021101465W WO2021259238A1 WO 2021259238 A1 WO2021259238 A1 WO 2021259238A1 CN 2021101465 W CN2021101465 W CN 2021101465W WO 2021259238 A1 WO2021259238 A1 WO 2021259238A1
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WO
WIPO (PCT)
Prior art keywords
driving
conveying device
walking
rotating
rollers
Prior art date
Application number
PCT/CN2021/101465
Other languages
English (en)
French (fr)
Inventor
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 (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
Publication of WO2021259238A1 publication Critical patent/WO2021259238A1/zh

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Classifications

    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/02—Frames mounted on wheels for movement on rail tracks
    • 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
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/244—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
    • 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
    • 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
    • G01N23/046—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 using tomography, e.g. computed tomography [CT]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
    • G01V5/232—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays having relative motion between the source, detector and object other than by 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0264—Luggage

Definitions

  • 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.
  • 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.
  • 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.
  • the purpose of the present disclosure is to solve at least one aspect of the above-mentioned problems and defects in the prior art.
  • 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.
  • the conveying device further includes a rail assembly, and the walking mechanism is configured to move along the rail assembly.
  • 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.
  • 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.
  • each of the second driving mechanisms is configured to drive the driving roller in a set of rollers to rotate.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the measurement mechanism further includes an elastic holding mechanism configured to hold the rotating wheel in elastic contact with the guide rail.
  • 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.
  • an inspection system including: an inspection channel;
  • the conveying device moves in the inspection passage; and the inspection device is configured to inspect the inspected target conveyed by the conveying device.
  • the inspection system further includes two auxiliary conveying mechanisms, which are respectively installed at the entrance and exit of the inspection channel.
  • the opening directions of the inlet and the outlet are parallel to the walking direction of the walking mechanism.
  • the opening direction of the entrance is parallel to the walking direction of the walking mechanism
  • the opening direction of the outlet is perpendicular to the walking direction of the walking mechanism
  • the inspection system further includes an auxiliary conveying mechanism through which the target to be inspected enters or leaves the inspection channel.
  • 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.
  • 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.
  • 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.
  • the measurement mechanism further includes an elastic holding mechanism configured to hold the rotating wheel in elastic contact with the guide rail.
  • 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;
  • FIG. 9 shows a simplified schematic diagram of an inspection system of another exemplary embodiment of the present disclosure.
  • 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.
  • a conveying device 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.
  • 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.
  • 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.
  • 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.
  • the inspection device 300 includes an X-ray scanning device based on CT (computed tomography) technology.
  • CT computed tomography
  • the inspection device 300 carries the container 400 to move in the inspection passage, and Realize X-ray scanning inspection.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the existing conveying equipment typically 508 mm (20 inches) in height
  • 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.
  • each of the second driving mechanisms 33 is configured to drive the driving roller 324 in a set of rollers 321 to rotate.
  • 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.
  • 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.
  • 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.
  • 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 rolling mechanism includes the drum is described above, but the embodiment of the present disclosure is not limited to this.
  • the rolling mechanism may include a roller or other bearing body with a rotating function.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the outer size of the conveying device 100 can be correspondingly increased and the number of driving wheels and driven wheels can be increased.
  • all the wheels used to support the first support frame 11 may be configured as driving wheels.
  • one third driving motor 131 drives two driving wheels 133 through the driving shaft 132
  • the embodiment of the present disclosure is not limited thereto.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • FIG. 9 shows a simplified schematic diagram of an inspection system of another exemplary embodiment of the present disclosure.
  • 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.
  • the opening directions of the inlet and the outlet are parallel to the walking direction of the walking mechanism.
  • 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.
  • the inspection system further includes an auxiliary conveying mechanism 6 through which the inspected target enters or leaves the inspection channel.
  • the inspection system can have only one opening.
  • 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.
  • 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.
  • a plurality of sensors suitable for detecting the distance between a certain part of the conveying device and other objects 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.
  • 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 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.

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Abstract

一种输送装置（100）和检查系统（1000）。输送装置包括行走机构（1）、旋转机构（2）和输送机构（3）。所述行走机构被构造成往复直线移动，并包括第一支撑框架（11）、以及安装在第一支撑框架上的固定基座（12）。旋转机构包括旋转基座（21）和适用于驱动所述旋转基座相对于所述固定基座转动的第一驱动机构（22）。输送机构包括：安装在所述旋转基座上的第二支撑框架（31）、安装在第二支撑框架上的两组滚动机构（32）、以及适用于驱动所述滚动机构转动的至少一个第二驱动机构（33）。通过将第二驱动机构安装在两组滚动机构之间，可以充分利用两个辅助纵向框架之间的空间，降低输送装置的整体高度。

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6月23日递交中国专利局的、申请号为202010583788.9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，以识别隐藏的违禁物品。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。
现有技术的大型集装箱检测系统，一般是用专用的拖动设备将装有集装箱的车辆拖过检测通道进行检测，为此需要庞大的拖动系统，或者用专用的拖动设备将装有集装箱的车辆拖过检测通道。为了对集装箱的左右两侧都进行检查，需要在检测通道的两侧都安装CT装置。这样，土建工程占地面积大、系统工程造价高、不易维修。
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，包括行走机构、旋转机构和输送机构。所述行走机构，被构造成往复直线移动，并包括第一支撑框架、以及安装在所述第一支撑机构上的固定基座。旋转机构包括旋转基座和适用于驱动所述旋转基座相对于所述固定基座转动的第一驱动机构。输送机构包括：安装在所述旋转基座上的第二支撑框架、平行地安装在所述第二支撑框架上的两组滚动机构、以及安装在所述两组滚动机构之间适用于驱动所述滚动机构转动的至少一个第二驱动机构。
根据本公开的一种实施例，输送装置还包括轨道组件，所述行走机构被构造成沿所述轨道组件移动。
根据本公开的一种实施例，所述第二支撑框架包括：底座，固定在所述旋转基座上；两个第一纵向框架，安装在所述底座上；两个第一横向框架，分别安装在两个所述第一纵向框架的两端之间；以及两个辅助纵向框架，平行地设置在所述第一纵向框架之间。
根据本公开的一种实施例，每组所述滚动机构包括：一组滚筒，分别可转动地安装在一个第一纵向框架和一个辅助纵向框架之间；以及多个传送机构，所述一组滚筒通过所述传送机构依次连接，使得每组滚筒中的所有滚筒同步转动，所述第二驱动机构安装在两个所述辅助纵向框架之间，并被构造成驱动每组滚筒中的一个驱动滚筒转动。
根据本公开的一种实施例，设有两个第二驱动机构，每个所述第二驱动机构被构造成驱动一组滚筒中的所述驱动滚筒转动。
根据本公开的一种实施例，每个所述第二驱动机构包括：第一驱动电机；第一减速机构，连接在所述第一驱动电机的输出轴和所述驱动滚筒之间。
根据本公开的一种实施例，所述输送机构还包括至少一个同步轴，耦合在两组滚筒中的两个相对的滚筒之间，使得两组滚筒中的所有滚筒同步转动。
根据本公开的一种实施例，每个所述传送机构包括：两个链轮，分别安装在每组滚筒中两个相邻的滚筒的转动轴上；以及链条，啮合在两个所述链轮上。
根据本公开的一种实施例，所述多个滚筒中的至少一部分滚筒上设有制动机构，每个所述制动机构被构造成可操作地阻止安装有所述致动机构的滚筒转动。
根据本公开的一种实施例，每个所述制动机构包括：安装座，安装在第一纵向框架或者辅助纵向框架上；以及抱紧环，安装在所述安装座上，并被构造成在触发状态下抱紧所述滚筒的转动轴，以阻止所述滚筒继续转动。
根据本公开的一种实施例，所述旋转基座可转动地安装在所述固定基座的内侧，所述第一驱动机构包括：
第一齿轮，与所述旋转基座内侧的驱动齿啮合；以及第二驱动电机，在所述旋转基座的内部安装在所述第一支撑框架上，并被构造成驱动所述第一齿轮转动。
根据本公开的一种实施例，所述第二驱动电机的输出轴水平放置，所述第一齿轮的输入轴垂直放置，所述第二驱动电机的输出轴与所述第一齿轮的输入轴通过第二减速结构啮合。
根据本公开的一种实施例，所述行走机构还包括安装在所述第一支撑框架上的第三驱动结构，所述第三驱动机构被构造成驱动所述行走机构在两条导轨上移动。
根据本公开的一种实施例，所述第一支撑框架包括：两个第二纵向框架和分别安装在两个所述第二纵向框架的两端之间的第二横向框架。第三驱动机构包括：第三驱动电机，安装在两个所述第二横向框架中的一个上；驱动轴，安装在所述第一支撑框架的两个第二纵向框架的第一端，并在所述第三驱动电机的驱动下转动；以及两个主动轮，分别安装在所述驱动轴的两端，两个所述主动轮分别抵靠在两条所述导轨上，以驱动所述第一支撑框架移动。
根据本公开的一种实施例，所述第三驱动机构还包括：两个从动轮，分别安装在两个第二纵向框架的与所述第一端相对的第二端，并且两个所述从动轮分别抵靠在两条所述导轨上。
根据本公开的一种实施例，所述第三驱动机构还包括第三减速结构，所述第三驱动电机通过第三减速机构与所述驱动轴耦合。
根据本公开的一种实施例，输送装置还包括安装在所述行走机构上的测量机构，所述测量机构被构造成测量所述行走机构的运动参数。
根据本公开的一种实施例，所述测量机构包括：支撑架，安装在所述第一支撑框架上；转动轴，可转动地安装在所述支撑架上；转动轮，安装在所述转动轴的下端，所述转动轮被构造成在所述行走机构行走时转动；以及编码器，安装在所述支撑架上，并与所述转动轴的上端啮合。
根据本公开的一种实施例，所述测量机构还包括：弹性保持机构，所述弹性保持机构被构造成保持所述转动轮与所述导轨弹性地接触。
根据本公开的一种实施例，所述转动轮包括第二齿轮，在所述导轨的侧部设有齿条，所述第二齿轮与所述齿条啮合。
根据本公开另一方面的实施例，提供一种检查系统，包括：检查通道；
根据上述任一实施例所述的输送装置，所述输送装置在所述检查通道内移动；以及检查装置，被构造成对所述输送装置输送的被检查目标进行检查。
根据本公开的一种实施例，检查系统还包括两个辅助输送机构，分别安装在所述检查通道的入口和出口处。
根据本公开的一种实施例，所述入口和出口的开口方向与所述行走机构的行走方向平行。
根据本公开的一种实施例，所述入口的开口方向与所述行走机构的行走方向平行，所述出口的开口方向与所述行走机构的行走方向垂直。
根据本公开的一种实施例，检查系统还包括辅助输送机构，被检查的目标通过所述辅助输送结构进入或者离开所述检查通道。
根据本公开的一种实施例，所述输送装置还包括安装在所述行走机构上的测量机构，所述测量机构被构造成测量所述行走机构的运动参数。
根据本公开的一种实施例，所述检查装置根据所述测量机构检测的所述行走机构的预定行走距离发射适用于检查所述目标的辐射束。
根据本公开的一种实施例，所述测量机构包括：支撑架，安装在所述第一支撑框架上；转动轴，可转动地安装在所述支撑架上；转动轮，安装在所述转动轴的下端，所述转动轮被构造成在所述行走机构行走时转动；以及编码器，安装在所述支撑架上，并与所述转动轴的上端啮合。
根据本公开的一种实施例，所述测量机构还包括：弹性保持机构，所述弹性保持机构被构造成保持所述转动轮与所述导轨弹性地接触。
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示出了本公开的一种示例性实施例的集装传输装置的输送机构的立体示意图；
图4示出了图3所示的A部分的放大示意图；
图5示出了图3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输送装置的行走机构和旋转机构的立体示意图；
图7示出了图2所示的输送装置的局部放大示意图；
图8示出了图7所示的C部分的放大示意图；以及
图9示出了本公开的另一种示例性实施例的检查系统的简易示意图。
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披露实施例的全面理解。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，包括行走机构、旋转机构和输送机构。所述行走机构，被构造成往复直线移动，并包括第一支撑框架、以及安装在所述第一支撑框架上的固定基座。旋转机构包括旋转基座和适用于驱动所述旋转基座相对于所述固定基座转动的第一驱动机构。输送机构包括：安装在所述旋转基座上的第二支撑框架、安装在所述第二支撑框架上的多个滚动机构、以及适用于驱动所述滚动机构转动的至少一个第二驱动机构。
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；在所述检查通道内移动的上述输送装置；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集装箱进行检查。
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400、适用于集中存放物品的大型货物篮之类的目标中是否存在毒品、爆炸物、易燃物之类的违禁物品。本文以被检查目标为集装箱为例继续说明。检查系统1000包括：检查通道200；在所述检查通道200内在行走方向T上移动的输送装置100；以及被构造成对所述输送装置输送的集装箱400进行检查的检查装置300。输送装置100还包括分别安装在所述检查通道200的入口201和出口202处的两个辅助输送机构6和7。所述入口201和出口202的开口方向与所述行走机构1的行走方向T平行。也就是说，集装箱400在行走方向T上进入或移出检查通道200。
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。作为被检测目标集装箱400通过设置在入口201处的辅助输送机构6进入检查通道200，并被传输到位于检查通道200内的输送装置100上，输送装置100承载集装箱400在检查通道内移动，并实现X射线扫描检查。
在一种示例性实施例中，作为被检查目标的集装箱400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)范围从大约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)。
图2示出了本公开的一种示例性实施例的集装传输装置的立体示意图；图3示出了本公开的一种示例性实施例的集装传输装置的输送机构的立体示意图；图4示出了 图3所示的A部分的放大示意图；图5示出了图3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输送装置的行走机构和旋转机构的立体示意图。
在一种示例性实施例中，参见图2-6，输送装置100包括：行走机构1、旋转机构2和输送机构3。行走机构1被构造成在行走方向T上往复直线移动，并包括第一支撑框架11、以及安装在所述第一支撑机构11上的固定基座12。旋转机构2包括旋转基座21和适用于驱动所述旋转基座21相对于所述固定基座12在圆周方向R转动的第一驱动机构22。输送机构3包括：安装在所述旋转基座21上的第二支撑框架31、平行地安装在所述第二支撑框架31上的两组滚动机构32、以及安装在两组所述滚动机构32之间的第二驱动机构33，所述第二驱动机构33适用于驱动所述滚动机构转动。输送装置100还包括轨道组件4，所述行走机构1被构造成沿所述轨道组件4移动。
这样，利用行走机构1驱动输送装置100在轨道组件4上沿行走方向移动，使得被检测的集装箱400进入检查装置300能够执行检测的区域。在检查过程中，可以根据需要，控制旋转机构2在圆周方向R上转动，从而改变集装箱400相对于检查装置300的姿态，这样可以从不同的角度对集装箱400进行X射线检查，提高了检查准确度。在集装箱400进入或者移出检查通道200的过程中，输送机构3驱动集装箱移动，从而实现输送装置100与辅助输送机构6或7之间的输送。
在一种示例性实施例中，参见图2-4，所述第二支撑框架31具有大致的长方形形状，并包括：固定在所述旋转基座21上的底座311；安装在所述底座311上、并在输送装置100的行走方向T上延伸的两个第一纵向框架312；分别安装在两个所述第一纵向框架312的两端之间的两个第一横向框架313；以及平行地设置在所述第一纵向框架312之间的两个辅助纵向框架314。这样，两个辅助纵向框架314将第二支撑框架分成三个大致长方形的框架。
在一种示例性实施例中，参见图2-4，每组所述滚动机构32包括：具有多个滚筒的一组滚筒321和多个传送机构323，多个滚筒321分别通过轴承装置322可转动地安装在一个第一纵向框架312和一个辅助纵向框架314之间。所述多个滚筒通过所述传送机构323依次连接，使得多个滚筒321中的所有滚筒同步转动。所述第二驱动机构33安装在两个所述辅助纵向框架314之间，并被构造成驱动多个滚筒321中的一个驱动滚筒324转动。由驱动滚筒324带动其它滚筒转动，从而驱动放置在两组滚筒机构32上的集装箱移动，以改变集装箱400在输送装置100上的位置。
通过将第二驱动机构33安装在两组滚动机构32之间，可以充分利用两个辅助纵向框架314之间的空间，降低输送装置100的整体高度，也方便对第一驱动电机进行维修和更换。例如，本公开实施例的输送装置100的整体高度大约为508毫米，可以实现与机场/货运站的现有输送设备(高度一般为508毫米(20英寸))进行无缝对接，不需要改变现有输送设备的安装方式，也无需额外的升降辅助设备或采用土建施工将设备整体下沉等。可以理解，第二驱动机构33的任何部位不会超出每组滚筒321的最大高度。
在一种示例性实施例中，参见图2-4，设有两个第二驱动机构33，每个所述第二驱动机构33被构造成驱动一组滚筒321中的所述驱动滚筒324转动。进一步地，每个所述第二驱动机构33包括：第一驱动电机331；连接在所述第一驱动电机331的输出轴和所述驱动滚筒324之间的第一减速机构332。例如，第一驱动电机331的输出轴与驱动滚筒324的转轴设置在同一平面内，并且彼此垂直，第一减速结构332可以包括斜齿轮，以实现第一驱动电机331的输出轴与驱动滚筒324的转轴的啮合。这样，可以降低第一驱动机构33所占据的空间。
在一种可替换的实施例中，可以在第二支撑框架上设置一组滚筒，并且第一驱动电机布置在第二支撑框架的一侧。
在一种示例性实施例中，所述输送机构3还包括至少一个同步轴34，每个同步轴34耦合在两组滚筒321中的两个相对的滚筒325之间，使得两组滚筒321中的所有滚筒同步转动。
上面描述了滚动机构包括滚筒的实施例，但本公开的实施例也并局限于此。在一种可替换的实施例中，滚动机构可以包括滚轮或者其它具有转动功能的承载体。
在一种示例性实施例中，参见图3-5，每个所述传送机构323包括：分别安装在每组滚筒321中的两个相邻的滚筒325的转动轴上的两个链轮3231；以及啮合在两个所述链轮3231上的链条3232。通过链轮3231和链条3232之间的啮合，可以使得所有滚筒步转动。在一种可替换的实施例中，每个所述传送机构323可以包括：分别安装在每组滚筒321中的两个相邻的滚轮325的转动轴上的两个皮带轮；以及结合在两个所述皮带轮上的传送带。
在一种示例性实施例中，参见图3-5，多个所述滚筒中的至少一部分滚筒上设有制动机构326，每个所述制动机构被构造成可操作地阻止安装有所述制动机构326的滚 筒转动。例如，在对集装箱400进行检查期间，可以通过操作制动机构326而停止集装箱的继续移动。详细而言，每个所述制动机构326包括安装在第一纵向框架312或者辅助纵向框架314上的安装座3261；以及抱紧环3262，抱紧环3262安装在所述安装座3261上，并被构造成在触发状态下抱紧所述滚筒的转动轴3211，以阻止所述滚筒继续转动。可以采用气动、液动或者电动的方式驱动抱紧环3262动作，以抱紧滚筒的转动轴3211。
图6示出了本公开的一种示例性实施例的输送装置的行走机构和旋转机构的立体示意图；图7示出了图2所示的输送装置的局部放大示意图；图8示出了图7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、6-8，所述旋转基座21可转动地安装在所述固定基座12的内侧。所述第一驱动机构22包括：与所述旋转基座21内侧的驱动齿啮合的第一齿轮221；以及第二驱动电机222，第二驱动电机222在所述旋转基座21的内部安装在所述第一支撑框架11上，并被构造成驱动所述第一齿轮221转动。所述第二驱动电机222的输出轴水平放置，所述第一齿轮221的输入轴垂直放置。所述第二驱动电机222的输出轴与所述第一齿轮221的输入轴通过例如斜齿轮之类的减速结构啮合。在一种可替换的实施例中，所述旋转基座21可以可转动地安装在所述固定基座12的外侧。第二驱动电机222在所述旋转基座21的内部安装在所述第一支撑框架11上，可以减小集装箱传输装置的外形尺寸，也方便对第二驱动电机进行维修和更换。
在一种示例性实施例中，参见图2、6-8，所述轨道组件4与两条导轨41结合，导轨41安装在导轨底座42上。所述行走机构1还包括安装在所述第一支撑框架11上的第三驱动结构13，所述第三驱动机构13被构造成驱动所述行走机构1在所述导轨41上移动。
在一种示例性实施例中，参见图2、6-8，所述第一支撑框架11包括：两个在行走方向T上延伸的第二纵向框架111和分别安装在两个所述第二纵向框架的两端之间的第二横向框架112。第三驱动机构13包括：安装在两个所述第二横向框架112中的一个上的第三驱动电机131；安装在所述第一支撑框架11的两个第二纵向框架111的一端、并在所述第三驱动电机131的驱动下转动的驱动轴132；以及分别安装在驱动轴132的两端的两个主动轮133，两条所述主动轮133分别抵靠在两条所述导轨42上。在一种示例性实施例中，第三驱动机构还包括分别安装在两个第二纵向框架111的与 所述第一端相对的第二端的两条从动轮134，并且两条所述从动轮134分别抵靠在两条所述导轨上。所述第三驱动机构13还包括第三减速结构135，所述第三驱动电机131通过第三减速机构与所述驱动轴132耦合。这样，第三驱动电机131通过第三减速结构驱动驱动轴132转动，驱动轴132驱动主动轮133在导轨42上转动，使得行走机构1进而使整个输送装置100在导轨组件4上移动。
本领域的技术人员可以理解，根据承载的集装箱的尺寸的不同，可以相应增大输送装置100的外部尺寸并增加主动轮和从动轮的数量。在一种可替换的实施例中，用于支撑第一支撑框架11的所有轮子都可以设置成主动轮。
虽然描述了一个第三驱动电机131通过驱动轴132驱动两个主动轮133的实例，但本公开的实施例并不局限于此。在一种可替换的实施例中，可以利用两个驱动电机分别独立驱动设置在两个导轨上的主动轮，只要主动轮同步转动即可。
在一种示例性实施例中，参见图2、6-8，输送装置100还包括安装在所述行走机构1上的测量机构5，所述测量机构5被构造成测量所述行走机构1的行走距离，以将集装箱400输送到合适的检查位置。
在一种示例性实施例中，所述测量机构5包括：安装在所述第一支撑框架11上的支撑架51；可转动地安装在所述支撑架51上的转动轴52；安装在所述转动轴52的下端的转动轮53，所述转动轮53被构造成在所述行走机构1行走时通过与所述导轨42接触而转动；以及安装在所述支撑架51上并与所述转动轴52的上端啮合的编码器54。在一种示例性实施例中，所述转动轮53包括第三齿轮，在所述导轨42的侧部设有第二齿条43，所述第三齿轮与所述第二齿条42啮合。在行走机构1移动的过程中，导轨42带动转动轮53转动，转动轮53带动转动轴52转动，编码器54根据转动轴52的转动数计算行走机构1的移动距离。测量机构5可以用做反馈装置，将所测量的距离传输到安装在输送装置100上的控制器，控制器根据测量机构5测量的移动距离，调整输送装置100的停止位置，从而将集装箱停靠在理想的位置。
在一种实施例中，所述测量机构5还包括：弹性保持机构，所述弹性保持机构被构造成保持所述转动轮53与所述导轨41弹性地接触，以防止转动轮由于振动而损坏。
在一种可替换的实施例中，转动轮53可以以平面接触的方式与导轨42结合，依靠二者之间的摩擦力实现转动轮53的转动。
根据本公开的上述实施例，第一驱动电机331、第二驱动电机222和第三驱动电 机131都设置成卧式的，即它们的输出轴水平设置。这样可以降低集装箱传输装置的高度。
在一种示例性实施例中，参见图2和6，在所述第一支撑框架11的前端和后端分别设有缓冲装置113。这样，在输送装置100停靠在入口201和出口202时，可以避免第一支撑框架11对安装在入口201和出口202处的辅助输送结构造成冲击。
图9示出了本公开的另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2和9，检查系统1000’包括：检查通道200；在所述检查通道200内在行走方向T上移动的上述任一实施例所述的输送装置100；以及被构造成对所述输送装置输送的集装箱400之类的被检查目标进行检查的检查装置300。输送装置100还包括分别安装在所述检查通道200的入口201和出口202’处的两个辅助输送机构6和7’。在一种实施例中，所述入口和出口的开口方向与所述行走机构的行走方向平行。在一种可替换的实施例中，所述入口201和出口202的开口方向与所述行走机构1的行走方向T垂直。也就是说，集装箱400在行走方向T上进入检查通道200，并在与行走方向T垂直的方向上移出检查通道200，这样可以根据工作现场的情况，改变集装箱的移动方向。
在另一种可替换的实施例中，检查系统还包括一个辅助输送机构6，被检查的目标通过所述辅助输送结构6进入或者离开所述检查通道。也就是说，检查系统可以只有一个开口。
在一种示例性实施例中，参见图6-9，输送装置100还包括安装在所述行走机构1上的测量机构5，所述测量机构5被构造成测量所述行走机构1的运动参数，以将集装箱400输送到合适的检查位置。本文的运动参数包括测量机构的行走距离、行走速度、行走加速度等。所述检查装置在控制器的控制下根据所述测量机构5检测的所述行走机构1的预定参数发射适用于检查所述目标的辐射束。这样，检查装置可以根据行走机构的行走速度、加速度或者行走距离发射辐射束，从而对被检查的目标进行均匀检查。
在一种示例性实施例中，可以在输送装置上设置多个适用于检测输送装置的某个部位与其它物体(例如障碍物)之间的距离的传感器，例如光学传感器。控制器根据传感器所检测的距离，确定停止输送装置的移动，以避免碰撞到该其它物体。
根据本公开实施例的输送装置和检查系统，可以实现被检测的大规格航空集装箱 既能长距离平稳通过检查通道，又能够在检查通道内实现自动回转调整航空箱的位置姿态，从而使检查装置固定不动，提高了射线检查装置的工作可靠性，可以保证获得稳定的扫描图像。
根据本公开实施例的输送装置具有行走、回转、输送功能，能实现高精度的定位及平稳连续运行；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；输送装置无需额外措施即可实现与机场/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，在不背离本公开总体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 (29)

  1. 一种输送装置(100)，包括：
    行走机构(1)，被构造成往复直线移动，并包括第一支撑框架(11)、以及安装在所述第一支撑框架上的固定基座(12)；
    旋转机构(2)，包括旋转基座(21)和适用于驱动所述旋转基座相对于所述固定基座转动的第一驱动机构(22)；以及
    输送机构(3)，包括：
    第二支撑框架(31)，安装在所述旋转基座上；
    两组滚动机构(32)，平行地安装在所述第二支撑框架上；以及
    至少一个第二驱动机构(33)，安装在所述两组滚动机构之间，并适用于驱动所述两组滚动机构转动。
  2. 根据权利要求1所述的输送装置，还包括轨道组件(4)，所述行走机构被构造成沿所述轨道组件移动。
  3. 根据权利要求1或2所述的输送装置，其中，所述第二支撑框架包括：
    底座(311)，固定在所述旋转基座上；
    两个第一纵向框架(312)，安装在所述底座上；
    两个第一横向框架(313)，分别安装在两个所述第一纵向框架的两端之间；以及
    两个辅助纵向框架(314)，平行地设置在所述第一纵向框架之间。
  4. 根据权利要求3所述的输送装置，其中，每组所述滚动机构包括：
    一组滚筒(321)，分别可转动地安装在一个第一纵向框架和一个辅助纵向框架之间；以及
    多个传送机构(323)，所述一组滚筒通过所述传送机构依次连接，使得每组滚筒中的所有滚筒同步转动，
    所述第二驱动机构安装在两个所述辅助纵向框架之间，并被构造成驱动每组滚筒中的一个驱动滚筒(324)转动。
  5. 根据权利要求4所述的输送装置，其中，设有两个第二驱动机构，每个所述第二驱动机构被构造成驱动一组滚筒中的所述驱动滚筒转动。
  6. 根据权利要求5所述的输送装置，其中，每个所述第二驱动机构包括：
    第一驱动电机(331)；
    第一减速机构(332)，连接在所述第一驱动电机的输出轴和所述驱动滚筒之间。
  7. 根据权利要求6所述的输送装置，其中，所述输送机构还包括至少一个同步轴(34)，耦合在两组滚筒中的两个相对的滚筒(325)之间，使得两组滚筒中的所有滚筒同步转动。
  8. 根据权利要求4-7中的任一项所述的输送装置，其中，每个所述传送机构包括：
    两个链轮(3231)，分别安装在每组滚筒中两个相邻的滚筒的转动轴上；以及
    链条(3232)，啮合在两个所述链轮上。
  9. 根据权利要求4-8中的任一项所述的输送装置，其中，所述多个滚筒中的至少一部分滚筒上设有制动机构(326)，每个所述制动机构被构造成可操作地阻止安装有所述致动机构的滚筒转动。
  10. 根据权利要求9所述的输送装置，其中，每个所述制动机构包括：
    安装座(3261)，安装在第一纵向框架或者辅助纵向框架上；以及
    抱紧环(3262)，安装在所述安装座上，并被构造成在触发状态下抱紧所述滚筒的转动轴，以阻止所述滚筒继续转动。
  11. 根据权利要求1-10中的任一项所述的输送装置，其中，所述旋转基座可转动地安装在所述固定基座的内侧，
    所述第一驱动机构包括：
    第一齿轮(221)，与所述旋转基座内侧的驱动齿啮合；以及
    第二驱动电机(222)，在所述旋转基座的内部安装在所述第一支撑框架上，并被构造成驱动所述第一齿轮转动。
  12. 根据权利要求11所述的输送装置，其中，所述第二驱动电机的输出轴水平放置，所述第一齿轮的输入轴垂直放置，
    所述第二驱动电机的输出轴与所述第一齿轮的输入轴通过第二减速结构啮合。
  13. 根据权利要求2-12中的任一项所述的输送装置，其中，
    所述行走机构还包括安装在所述第一支撑框架(11)上的第三驱动结构(13)，所述第三驱动机构被构造成驱动所述行走机构在两条导轨上移动。
  14. 根据权利要求13所述的输送装置，其中，所述第一支撑框架包括：两个第二纵向框架(111)和分别安装在两个所述第二纵向框架的两端之间的第二横向框架(112)，
    第三驱动机构包括：
    第三驱动电机(131)，安装在两个所述第二横向框架中的一个上；
    驱动轴(132)，安装在所述第一支撑框架的两个第二纵向框架的第一端，并在所述第三驱动电机的驱动下转动；以及
    两个主动轮(133)，分别安装在所述驱动轴的两端，两个所述主动轮分别抵靠在两条所述导轨上，以驱动所述第一支撑框架移动。
  15. 根据权利要求14所述的输送装置，其中，所述第三驱动机构还包括：
    两个从动轮(134)，分别安装在两个第二纵向框架的与所述第一端相对的第二端，并且两个所述从动轮分别抵靠在两条所述导轨上。
  16. 根据权利要求15所述的输送装置，其中，所述第三驱动机构还包括第三减速结构(135)，所述第三驱动电机通过第三减速机构与所述驱动轴耦合。
  17. 根据权利要求1-16中的任一项所述的输送装置，还包括安装在所述行走机构上的测量机构(5)，所述测量机构被构造成测量所述行走机构的运动参数。
  18. 根据权利要求17所述的输送装置，其中，所述测量机构包括：
    支撑架(51)，安装在所述第一支撑框架上；
    转动轴(52)，可转动地安装在所述支撑架上；
    转动轮(53)，安装在所述转动轴的下端，所述转动轮被构造成在所述行走机构行走时转动；以及
    编码器(54)，安装在所述支撑架上，并与所述转动轴的上端啮合。
  19. 根据权利要求18所述的输送装置，其中，所述测量机构还包括：弹性保持机构，所述弹性保持机构被构造成保持所述转动轮与所述导轨弹性地接触。
  20. 根据权利要求18所述的输送装置，其中，所述转动轮包括第二齿轮，
    在所述导轨的侧部设有齿条(43)，所述第二齿轮与所述齿条啮合。
  21. 一种检查系统，包括：
    检查通道(200)；
    根据权利要求1-16中的任一项所述的输送装置，所述输送装置在所述检查通道内移动；以及
    检查装置(300)，被构造成对所述输送装置输送的被检查目标进行检查。
  22. 根据权利要求21所述的检查系统，还包括两个辅助输送机构，分别安装在所述检查通道的入口和出口处。
  23. 根据权利要求22所述的检查系统，其中，所述入口和出口的开口方向与所述行走机构的行走方向平行。
  24. 根据权利要求22所述的检查系统，其中，所述入口的开口方向与所述行走机构的行走方向平行，所述出口的开口方向与所述行走机构的行走方向垂直。
  25. 根据权利要求21所述的检查系统，还包括辅助输送机构，被检查的目标通过所述辅助输送结构进入或者离开所述检查通道。
  26. 根据权利要求21-25中的任一项所述的检查系统，其中，所述输送装置还包括安装在所述行走机构上的测量机构(5)，所述测量机构被构造成测量所述行走机构的运动参数。
  27. 根据权利要求26所述的检查系统，其中，所述检查装置根据所述测量机构检测的所述行走机构的预定行走距离发射适用于检查所述目标的辐射束。
  28. 根据权利要求27所述的检查系统，其中，所述测量机构包括：
    支撑架(51)，安装在所述第一支撑框架上；
    转动轴(52)，可转动地安装在所述支撑架上；
    转动轮(53)，安装在所述转动轴的下端，所述转动轮被构造成在所述行走机构行走时转动；以及
    编码器(54)，安装在所述支撑架上，并与所述转动轴的上端啮合。
  29. 根据权利要求28所述的检查系统，其中，所述测量机构还包括：弹性保持机构，所述弹性保持机构被构造成保持所述转动轮与所述导轨弹性地接触。
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