Gantry type guide transport vehicle

Abstract

The embodiment of the invention provides a portal frame type guide transport vehicle which comprises a portal frame (21), the portal frame (21) comprises a horizontal part and two side parts extending downwards from the two ends of the horizontal part respectively, and the horizontal part and the two side parts define a channel for vehicles (1) to go in and out; the fork arm bracket (24) is used for lifting the vehicle (1) away from the ground; an actuating portion (22) for actuating the yoke bracket (24); and the walking wheels (23) are used for enabling the guide transport vehicle (2) to advance or steer along the ground.

Description

[0001] This application is a divisional application of the Chinese invention patent application with application date of December 31, 2020, application number 202011644316.6, and titled “Vehicle Conveyance System for Security Inspection”. Technical Field

[0002] The present disclosure relates to the field of security inspection technology or the field of conveying device technology, and specifically, to a vehicle conveying system for security inspection, in particular to a vehicle conveying system combining an automatic guided transport vehicle and a plate chain conveying device. Background Art

[0003] At present, there are three main structural forms of vehicle conveying devices in the X-ray scanning inspection system of small passenger vehicles: flat plate conveying structure, plate chain conveying structure and chain push roller conveying structure. Flat plate conveying structure, that is, the small passenger vehicle to be inspected is parked on the flat plate (handbrake is pulled), and the motor drives the synchronous belt wheel to drive the synchronous belt and the flat plate and the inspected trolley to pass through the scanning area. The inspected trolley can move forward or backward, which can be applied to the horizontal and vertical dual accelerator scanning system. Plate chain conveying structure, that is, the small passenger vehicle to be inspected is parked on the plate chain conveyor (handbrake is pulled), and the motor drives the sprocket to drive the plate chain and the inspected trolley to pass through the scanning area. The inspected trolley can move forward or backward, which can be applied to the horizontal and vertical dual accelerator scanning system. Chain push roller conveying structure, that is, the front wheel of the small passenger vehicle to be inspected is parked at the entrance section of the conveyor frame (neutral gear, no handbrake is pulled), and the motor drives the sprocket to drive the conveyor chain and push roller to push the front wheel of the trolley through the scanning area. The inspected trolley can only move forward and cannot move backward, which can only be applied to the horizontal accelerator scanning system.

[0004] In the related technology, the conveying device of small passenger vehicles used in the security inspection system can be matched with the scanning system alone, and can be suitable for horizontal scanning or horizontal and vertical dual accelerator scanning system. It has a modular design concept, saves equipment investment, and can make the operation of the entire system more reliable and safer.

[0005] In the aforementioned conveying device for small passenger vehicles used in the scanning system, in the first two conveying structures, the parking of the inspected vehicle is in line with the driver's driving habits, and can be applied to the horizontal and vertical dual accelerator scanning systems, and can convey the inspected vehicle forward or backward; in the third conveying structure, the parking of the inspected vehicle is not in line with the driver's driving habits (the handbrake cannot be pulled after parking, and the gear is required to be in neutral), and can only be used in the horizontal scanning system (vertical scanning is blocked, and it is difficult to perform subtraction), and the inspected vehicle cannot be conveyed to move backward.

[0006] Regardless of which conveying structure is used, the driver is required to park the vehicle at the correct position of the conveying device and then leave before the scanning process can be carried out. The pass rate is low, the parking requirements for the driver are high, and there are safety hazards; the conveying device may require civil engineering or a loading and unloading platform, etc.; the driver must drive away at the exit of the conveying device after the scanning is completed, and the distance between the exit of the conveying device and the scanning beam surface is not enough for the driver to feel absolutely safe. Summary of the invention

[0007] The purpose of the present disclosure is to at least partially overcome the deficiencies of the prior art and provide a vehicle conveying system for security inspection.

[0008] The present disclosure also aims to provide a vehicle conveying system for safety inspection with higher efficiency and higher pass rate.

[0009] The present disclosure also aims to provide a vehicle conveying system for safety inspection, which has low parking requirements for drivers and is safer.

[0010] In order to achieve the above purpose or one of the purposes, the following technical solutions are provided:

[0011] A vehicle conveying system for safety inspection, the vehicle conveying system comprising:

[0012] A plate chain conveyor device for conveying the vehicle through the scanning area of ​​the detection device; and

[0013] At least one guided transport vehicle is used to transport the vehicle from the initial position to the plate chain conveyor device or from the plate chain conveyor device to the vehicle pick-up position,

[0014] Wherein, the guided transport vehicle is a gantry-type guided transport vehicle.

[0015] According to an embodiment of the present disclosure, the guided transport vehicle comprises a gantry, an actuating portion, a running wheel and a fork arm bracket.

[0016] The gantry is configured to cover the vehicle from above, including a horizontal portion located above the vehicle and two side portions located on the sides of the vehicle. When viewed from the side of the vehicle,

[0017] The fork arm bracket is used to lift the vehicle off the ground, the actuating part is used to actuate the fork arm bracket, and the running wheels are used to enable the guided transport vehicle to move along the ground or turn.

[0018] According to an embodiment of the present disclosure, the plate chain conveyor device is an integrated plate chain conveyor device.

[0019] According to an embodiment of the present disclosure, the plate chain conveyor device includes an input part, a detection section and an output part, which are connected in sequence, wherein the input part is used to input the vehicle into the detection section, and the output part is used to output the vehicle from the detection section.

[0020] According to an embodiment of the present disclosure, the input portion includes two sub-conveyors arranged in parallel, and each sub-conveyor includes a motor, a reducer, a transmission shaft, a sprocket and a chain plate.

[0021] According to an embodiment of the present disclosure, the output portion includes two sub-conveyors arranged in parallel, and each sub-conveyor includes a motor, a reducer, a transmission shaft, a sprocket and a chain plate.

[0022] According to an embodiment of the present disclosure, the guided transport vehicle includes a controller and a communication device, the controller is used to control the operation of the guided transport vehicle, and the communication device is used to communicate with the central control console.

[0023] According to an embodiment of the present disclosure, the guided transport vehicle also includes a distance sensor and an image acquisition device, wherein the data measured by the distance sensor and the image acquired by the image acquisition device are sent to a controller, and the controller determines the position of the guided transport vehicle based on the data measured by the distance sensor and the image acquired by the image acquisition device, and plans the walking route of the guided transport vehicle.

[0024] According to an embodiment of the present disclosure, the guided transport vehicle further includes a weight sensor.

[0025] According to an embodiment of the present disclosure, the guided transport vehicle includes an anti-collision module, and when the anti-collision module detects an obstacle on the travel route of the guided transport vehicle, it stops the guided transport vehicle and issues an alarm.

[0026] According to an embodiment of the present disclosure, the vehicle conveying system includes a positioning module for positioning the guide transport vehicle relative to the plate chain conveying device.

[0027] The vehicle conveying system for safety inspection of the embodiment of the present disclosure adopts a gantry-type guided transport vehicle combined with a plate chain conveyor device to convey small passenger vehicles, and is particularly suitable for use in an inspection system for small passenger vehicles for X-ray scanning. Its basic operation mode is: the driver only needs to park the vehicle at the entrance intersection of the inspection station, lock the vehicle and leave, the inspection system can automatically identify the vehicle and model, the gantry-type guided transport vehicle picks up the vehicle at the parking entrance intersection according to the operation instructions issued by the dispatching center, and automatically and flexibly completes the transportation of the inspected small vehicle. When it is transported to the loading point of the plate chain conveyor device of the small vehicle inspection system, the gantry-type guided transport vehicle drives away to carry out the next transportation process, the plate chain conveyor device starts to transport the inspected vehicle forward to complete the scanning of the inspected vehicle, and after the vehicle inspection is completed, the gantry-type guided transport vehicle extracts the inspected vehicle from the unloading point of the plate chain conveyor device and transports it to the exit intersection of the inspection station, and the driver takes the vehicle away at the exit interaction area.

[0028] The vehicle conveying system for safety inspection disclosed in the present invention has higher efficiency and higher pass rate, and has lower parking requirements for drivers, and is safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The scanning process of the vehicle conveying system for security inspection according to an embodiment of the present disclosure is shown;

[0030] Figure 2 is a schematic diagram of a vehicle conveying system for security inspection according to an embodiment of the present disclosure;

[0031] Figure 3 is a schematic diagram of a plate chain conveyor according to an embodiment of the present disclosure;

[0032] Figure 4a is a front view of a guided transport vehicle according to an embodiment of the present disclosure;

[0033] Figure 4b It is a left side view of the guided transport vehicle according to an embodiment of the present disclosure;

[0034] Figure 4c is a top view of a guided transport vehicle according to an embodiment of the present disclosure;

[0035] Figure 5 A structural layout of a vehicle conveying system for security inspection according to an embodiment of the present disclosure is shown; and

[0036] Figure 6 Another structural layout of a vehicle conveying system for security inspection according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0037] Exemplary embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements. In addition, in the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In other cases, known structures and devices are embodied in a schematic manner to simplify the drawings.

[0038] According to the overall concept of the present disclosure, a vehicle conveying system for security inspection is provided, wherein the vehicle conveying system comprises: a plate chain conveying device for conveying the vehicle through a scanning area of ​​a detection device; and at least one guide transport vehicle for conveying the vehicle from an initial position to the plate chain conveying device or from the plate chain conveying device to a vehicle pickup position, wherein the guide transport vehicle is a gantry-type guide transport vehicle.

[0039] The vehicle conveying system of the present disclosure is described below by taking an X-ray scanning inspection of a small passenger vehicle as an example. It should be noted that the vehicle conveying system for safety inspection of the present disclosure can also be used to convey other types of vehicles, or to perform other forms of inspection, but the vehicle conveying system for safety inspection of the present disclosure is particularly advantageous for conveying small passenger vehicles and for use in an X-ray inspection system.

[0040] The plate chain conveyor device and the guide transport vehicle constitute the main device of the vehicle conveying system, wherein the number of the guide transport vehicle can be one or more. Figure 1 The scanning process of the vehicle conveying system for safety inspection according to an embodiment of the present disclosure is shown, which is explained by taking a plate chain conveyor device and two guided transport vehicles as examples. Here, the guided transport vehicle is an automated guided vehicle (AGV), which is equipped with an electromagnetic or optical automatic guidance device, can travel along a specified guidance path, and has safety protection and various transfer functions.

[0041] In process one, vehicle 1 is parked at an initial position, such as the entrance of an inspection system. After the driver parks vehicle 1 at this position, he can turn off the engine, pull the handbrake, and leave. This is in line with the driver's parking habits. The initial position can be far away from the scanning area 4 of the detection device, so that, for example, X-rays in the scanning area 4 will not pose a safety threat to the driver; in process two, the guide transport vehicle 2 (the first guide transport vehicle) moves to the parking position of vehicle 1, raises the position of vehicle 1, lifts vehicle 1, and moves toward the plate chain conveyor 3; in process three, the guide transport vehicle 2 transports vehicle 1 to the plate chain conveyor 3, lowers the position of vehicle 1, and moves vehicle 1 toward the plate chain conveyor 3. The vehicle 1 is placed on the plate chain conveyor 3; in process four, the guide transport vehicle 2 drives away from the plate chain conveyor 3, and the plate chain conveyor 3 conveys the vehicle 1 through the scanning area 4; in process five, the guide transport vehicle 2 drives to another vehicle to be inspected, and the vehicle that has completed the inspection is transported to the exit end of the plate chain conveyor 3; in process six, the vehicle that has completed the inspection is lifted by another guide transport vehicle (the second guide transport vehicle); in process seven, the vehicle that has completed the inspection is transported to the pick-up position by the second guide transport vehicle, and the driver can take the vehicle away at the pick-up position; processes eight and nine are used to sequentially transport and inspect other vehicles.

[0042] according to Figure 1 In the embodiment, the plate chain conveyor 3 is used to convey the vehicle 1 through the scanning area 4 of the detection device 5, and the guide transport vehicle 2 is used to convey the vehicle 1 from the initial position to the plate chain conveyor 3 or from the plate chain conveyor 3 to the vehicle pickup position. The combination of the plate chain conveyor 3 and the guide transport vehicle 2 completes the transportation of the vehicle during the inspection process. Advantageously, the guide transport vehicle 2 is a gantry-type guide transport vehicle, which can ensure the stability of the vehicle during transportation.

[0043] Figure 2 The vehicle conveying system for security inspection according to an embodiment of the present disclosure is shown in more detail. Figure 2 It can be seen that the plate chain conveyor 3 and the guide transport vehicle 2 are combined. After the guide transport vehicle 2 on the left side of the plate chain conveyor 3 lifts the vehicle and moves to the plate chain conveyor 3, the guide transport vehicle 2 straddles the plate chain conveyor 3, and then places the vehicle on the plate chain conveyor 3 and drives away from the plate chain conveyor 3. After completing the inspection of the vehicle, the guide transport vehicle 2 on the right side of the plate chain conveyor 3 lifts the vehicle from the plate chain conveyor 3, and then transports the vehicle away from the plate chain conveyor 3. According to an embodiment of the present disclosure, the vehicle conveying system may include a positioning module for positioning the guide transport vehicle 2 relative to the plate chain conveyor 3.

[0044] Figure 3 Schematic diagram of a plate chain conveyor according to an embodiment of the present disclosure, Figure 3As shown, the plate chain conveyor 3 includes an input part, a detection section and an output part, the input part, the detection section and the output part are connected in sequence, the detection section is located between the input part and the output part, and the input part is located between the input part and the output part. Figure 3 The output section is located on the left side of Figure 3 The right side of the detection section. The detection section adopts an unpowered roller, the input part is used to input the vehicle 1 into the detection section, the vehicle moves forward through the unpowered roller of the detection section, and the output part is used to output the vehicle 1 from the detection section. The input part includes two sub-conveyors arranged in parallel, each of which includes a motor 31, a reducer 32, a transmission shaft 33, a sprocket 34 and a chain plate 35. The motor 31 provides power for the sub-conveyor, and the rotation of the motor 31 is transmitted to the transmission shaft 33 after the reducer 32, driving the chain plate 35 to move along the conveying path. Exemplarily, the right or left motor may be one or two. Similarly, the output part includes two sub-conveyors arranged in parallel, each of which includes a motor 31, a reducer 32, a transmission shaft 33, a sprocket 34 and a chain plate 35.

[0045] Figure 4a-4c A guided transport vehicle according to an embodiment of the present disclosure is shown. Figure 4a-4c As shown, the guided transport vehicle 2 includes a gantry 21, an actuating portion 22, running wheels 23 and a fork arm bracket 24, wherein the gantry 21 is configured to cover the vehicle 1 from above, including a horizontal portion located above the vehicle 1 and two side portions located on the sides of the vehicle 1, and when viewed from the side of the vehicle 1, the two side portions are respectively roughly triangular, wherein the fork arm bracket 24 is used to lift the vehicle 1 off the ground, the actuating portion 22 is used to actuate the fork arm bracket 24, and the running wheels 23 are used to make the guided transport vehicle 2 move along the ground or turn.

[0046] The controller is used to control the operation of the guided transport vehicle 2, and the communication device is used to communicate with the central control console. The guided transport vehicle 2 also includes a distance sensor and an image acquisition device, wherein the data measured by the distance sensor and the image acquired by the image acquisition device are sent to the controller, and the controller determines the position of the guided transport vehicle 2 according to the data measured by the distance sensor and the image acquired by the image acquisition device, and plans the travel route of the guided transport vehicle 2.

[0047] According to an embodiment of the present disclosure, the guided transport vehicle 2 further includes a weight sensor for measuring the weight of the vehicle 1 , and the controller of the guided transport vehicle 2 can determine whether the guided transport vehicle is unloaded based on the measurement result of the weight sensor.

[0048] According to an embodiment of the present disclosure, the guided transport vehicle 2 includes an anti-collision module, and when the anti-collision module detects an obstacle on the travel route of the guided transport vehicle 2, it stops the guided transport vehicle 2 and issues an alarm.

[0049] The vehicle conveying system for safety inspection of the embodiment of the present disclosure adopts a gantry-type guided transport vehicle combined with a plate chain conveyor device to convey small passenger vehicles, and is particularly suitable for use in an inspection system for small passenger vehicles for X-ray scanning. Its basic operation mode is: the driver only needs to park the vehicle at the entrance intersection of the inspection station, lock the vehicle and leave, the inspection system can automatically identify the vehicle and model, the gantry-type guided transport vehicle picks up the vehicle at the parking entrance intersection according to the operation instructions issued by the dispatching center, and automatically and flexibly completes the transportation of the inspected small vehicle. When it is transported to the loading point of the plate chain conveyor device of the small vehicle inspection system, the gantry-type guided transport vehicle drives away to carry out the next transportation process, the plate chain conveyor device starts to transport the inspected vehicle forward to complete the scanning of the inspected vehicle, and after the vehicle inspection is completed, the gantry-type guided transport vehicle extracts the inspected vehicle from the unloading point of the plate chain conveyor device and transports it to the exit intersection of the inspection station, and the driver takes the vehicle away at the exit interaction area.

[0050] The vehicle conveying system for safety inspection disclosed in the present invention has higher efficiency and higher pass rate, and has lower parking requirements for drivers, and is safer.

[0051] The above embodiment uses a combination of a plate chain conveyor device and two guided transport vehicles as an example to illustrate the vehicle conveying system of the present invention. However, the combined vehicle conveying system of the present invention can give various different layout schemes based on comprehensive factors such as the application scenario, the size of the customer's site, and the scanning pass rate requirements. Figure 5 A structural layout of a vehicle conveying system for security inspection according to an embodiment of the present disclosure is shown, which is a combination of a single-gantry automatic guided transport vehicle and four parking spaces; Figure 6 Another structural layout of the vehicle conveying system for security inspection according to an embodiment of the present disclosure is shown, which is a combination of a double-gantry automatic guided transport vehicle and four parking space modes. It can be seen that the combined vehicle conveying system of the present disclosure can be combined into different security inspection stations according to the site size and the pass rate requirements.

[0052] The combined vehicle conveying system disclosed in the present invention can be used to construct an intelligent small passenger vehicle safety inspection station. The conveying mode combining the gantry guided transport vehicle and the plate chain conveying device has the characteristics of intelligence, automation, flexibility, etc., and is flexible in application. It is suitable for safety inspection of small passenger vehicles in places with large traffic volume such as land ports, public security checkpoints, and large parking lots.

[0053] As an intelligent conveying system, this combined conveying structure has high technical content and is applied to a wider range of safety inspection systems, expanding the form of small vehicle transportation. It has the following main advantages:

[0054] The scanned image is unobstructed and does not affect the system indicators. The detection efficiency is improved, the automatic guided transport vehicle moves quickly, the positioning is fast and accurate, and multiple automatic continuous operations reduce waiting time. Safety accidents are reduced, there are no random errors in manual operation, and the automatic guided transport vehicle has multiple safety protections. Labor costs are reduced, and no personnel operation command is required. The automatic guided transport vehicle can automatically run according to the program; the on-site order is standardized, and the automatic guided transport vehicle runs in sequence along the designated path, neatly and uniformly, with a clear rhythm, and no sense of disorder; the overall operation is automated, intelligent, and information-based, with a high degree of technology.

[0055] Although the embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the present disclosure. The scope of application of the present disclosure is defined by the appended claims and their equivalents.

[0056] List of reference numerals:

[0057] 1 Vehicle

[0058] 2 Guided transport vehicle

[0059] 3 Plate chain conveyor

[0060] 4 Scanning area

[0061] 5. Detection device

[0062] 21 Door frame

[0063] 22 Actuator

[0064] 23 Travel wheels

[0065] 24 Fork arm bracket

[0066] 31 Motor

[0067] 32 Reducer

[0068] 33 Drive shaft

[0069] 34 Sprocket

[0070] 35 Chain plate.

Claims

1. A gantry-type guided transport vehicle, include: A gantry (21), the gantry (21) comprising a horizontal portion and two side portions extending downward from both ends of the horizontal portion, the horizontal portion and the two side portions forming a passage for accommodating a vehicle (1); a fork arm bracket (24), the fork arm bracket (24) being used to lift the vehicle (1) off the ground; an actuating portion (22), the actuating portion (22) being used to actuate the fork arm bracket (24); and running wheels (23), the running wheels (23) being used to enable the guided transport vehicle (2) to move along the ground or turn.

2. The gantry-type guided transport vehicle according to claim 1, It is characterized in that The actuating portion (22) is disposed in a side portion of the door frame (21), and the fork arm bracket (24) is configured to extend from the side portion of the door frame (21) into the channel.

3. The gantry-type guided transport vehicle according to claim 2, It is characterized in that In a direction parallel to the passage, one walking wheel (23) is respectively arranged at both ends of each side portion of the door frame (21).

4. The gantry-type guided transport vehicle according to claim 3, It is characterized in that In a direction parallel to the passage, on the same side of the door frame (21), the walking wheel (23) is further away from the horizontal portion than the actuating portion (22).

5. The gantry-type guided transport vehicle according to any one of claims 1 to 4, It is characterized in that Two fork arm brackets (24) are respectively arranged on both sides of the channel.

6. The gantry-type guided transport vehicle according to any one of claims 1 to 4, It is characterized in that In a direction parallel to the passage, the side of the door frame (21) is substantially triangular.

7. The gantry-type guided transport vehicle according to any one of claims 1 to 4, further comprising a controller and a communication device, wherein the controller is used to control the operation of the guided transport vehicle, and the communication device is used to communicate with a central control console.

8. The gantry-type guided transport vehicle according to claim 7 further includes a distance sensor and an image acquisition device, wherein the data measured by the distance sensor and the image acquired by the image acquisition device are sent to the controller, and the controller determines the position of the guided transport vehicle based on the data measured by the distance sensor and the image acquired by the image acquisition device, and plans the travel route of the guided transport vehicle.

9. The portal-type guided transport vehicle according to any one of claims 1 to 4, further comprising a weight sensor for determining whether the guided transport vehicle is unloaded.

10. The gantry-type guided transport vehicle according to any one of claims 1 to 4, further comprising an anti-collision module, wherein the anti-collision module stops the guided transport vehicle and issues an alarm when an obstacle is detected on the travel route of the guided transport vehicle.

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