CN101470085B - Scanning vehicle and its control method - Google Patents

Abstract

The invention discloses a scanning vehicle, which includes a vehicle body and an arm frame, wherein: the arm frame includes a cross arm frame and a vertical arm frame connected to each other, and the cross arm frame and the vertical arm frame are between an unfolded position and a retracted position The mobile counterweight device is provided on the car body, and the mobile counterweight device can adjust the center of gravity of the entire scanning car along the left and right directions of the car body so that the scanning car is in a left and right balance posture, wherein the mobile counterweight The weight device consists of a counterweight, a guiding mechanism that guides the counterweight to move left and right, and a drive mechanism that drives the counterweight to move left and right, wherein the drive mechanism is a linear push mechanism composed of a hydraulic cylinder or an air cylinder, and the hydraulic cylinder or The cylinder has a telescopic rod, and the telescopic end of the telescopic rod is connected with the counterweight so as to push the counterweight to move linearly along the left-right direction of the vehicle body.

Description

Scanning car and its control method

technical field

The invention relates to a scanning vehicle and a control method thereof.

Background technique

1-2 is a schematic structural diagram of a conventional door frame scanning vehicle 1 . FIG. 1 shows a schematic diagram of such a door frame scanning vehicle 1 scanning and detecting a vehicle 2 to be inspected. As shown in Figure 1, when performing scanning work, the cross arm frame 3 and the vertical arm frame 4 of the scanning vehicle 1 are stretched outwards (that is, to the right) to form a door-shaped frame, and the vehicle 2 to be inspected is opened from the door-shaped frame. Frames are passed in order to be detected. When the vehicle 2 passes through the gate-shaped frame, the radiation source 6 provided on one side of the scanning vehicle body 5 emits rays X to the inspected vehicle 2, and the emitted rays pass through the inspected vehicle 2 and are arranged on the cross arm frame 3 and The detector device in the vertical arm frame 4 receives (not shown). As shown in FIG. 1 , when the scanning vehicle 1 is scanning, the center of gravity G of the vehicle body is just at the geometric symmetry center of the vehicle body 5 , and the vehicle body 5 is in a normal posture of left and right balance. However, as shown in Figure 2, when the scanning vehicle 1 stops working and gradually accommodates the horizontal arm frame 3 and the vertical arm frame 4 inwardly, the center of gravity G of the vehicle body will gradually shift from the center of the vehicle body to the left side of the vehicle body 5. Move, cause whole car body 5 to tilt seriously to the left side, be easy to crush the tire 7 on the left side, even can cause rollover accident.

Contents of the invention

Therefore, the present invention aims to propose a scanning vehicle that can always maintain a correct balance posture no matter it is working or not working.

According to one aspect of the present invention, it provides a scanning car, including a car body and an arm frame, wherein: the arm frame includes a cross arm frame and a vertical arm frame connected to each other, and the cross arm frame and the vertical arm frame are unfolded It is movable between the position and the retracted position, wherein a mobile counterweight device is provided on the vehicle body, and the mobile counterweight device can adjust the center of gravity of the entire scanning vehicle along the left and right directions of the vehicle body so that the scanning vehicle is in a left and right balance posture, Wherein the mobile counterweight device is composed of a counterweight, a guiding mechanism for guiding the counterweight to move left and right, and a driving mechanism for driving the counterweight to move left and right, wherein the driving mechanism is a linear push mechanism composed of a hydraulic cylinder or an air cylinder, The hydraulic cylinder or cylinder has a telescopic rod, and the telescopic end of the telescopic rod is connected with the counterweight so as to push the counterweight to move linearly along the left-right direction of the vehicle body.

In the above technical solution, the guide mechanism is a pair of guide rails, and the pair of guide rails are arranged on the vehicle body in parallel along the left and right directions of the vehicle body, the counterweight is arranged between the pair of guide rails, and the counterweight The two ends of the track are matched with a pair of guide rails by moving rollers so as to move left and right along the guide rails.

In the above technical solution, the guide mechanism is composed of a guide protrusion provided on the vehicle body and a guide groove provided on the counterweight, and the guide protrusion is slidably matched with the guide groove so as to guide the balance weight. The weight moves left and right.

In a modified technical solution, the guide mechanism is composed of a guide protrusion provided on the counterweight and a guide groove provided on the vehicle body, and the guide protrusion is slidably matched with the guide groove so as to Guide the counterweight to move left and right.

According to another aspect of the present invention, it provides a control method according to the aforementioned scanning vehicle, including the following steps:

When the cross arm frame and vertical arm frame of the scanning car are stretched out, the counterweight is controlled to move outward to the outer limit position, so that the scanning car is in a left and right balance posture;

When the cross arm frame and the vertical arm frame of the scanning vehicle are retracted inwardly, the counterweight is controlled to move inwardly to the inner limit position, so that the scanning vehicle is in a left-right balance posture.

According to another aspect of the present invention, it provides a control method according to the aforementioned scanning vehicle, including the following steps:

First control the counterweight to move outward to the outer limit position, and then extend the cross arm frame and vertical arm frame of the scanning vehicle outward, so that the scanning vehicle is in a left and right balance posture;

First control the counterweight to move inward to the inner limit position, and then retract the cross arm frame and vertical arm frame of the scanning car inward, so that the scanning car is in a left-right balance posture.

According to another aspect of the present invention, it provides a control method for the above-mentioned scanning vehicle, including the following steps:

When the cross arm frame and vertical arm frame of the scanning car are gradually extended outward, the control counterweight is also gradually moved outward, so that the scanning car is in a left and right balance posture at any time;

While the cross arm frame and the vertical arm frame of the scanning vehicle are retracted gradually inward, the control counterweight is also gradually moved inward, so that the scanning vehicle is in a left-right balanced posture at any moment.

Compared with the existing scanning vehicle, since the present invention is provided with a mobile counterweight device capable of adjusting the center of gravity of the entire scanning vehicle on the body of the scanning vehicle, the scanning vehicle can always be moved whether it is working or not. Maintain a correct balance posture to effectively prevent accidents such as tire blowout or rollover of the scanning car.

Description of drawings

Fig. 1 is a kind of structure schematic diagram when existing scanning car works;

Fig. 2 is a structural schematic diagram of the scanning car shown in Fig. 1 when it is not working;

Fig. 3 is the schematic diagram of the first embodiment of mobile counterweight device of the present invention;

Figure 4 is a front view of the mobile counterweight device shown in Figure 3;

Fig. 5 is a schematic diagram of a second embodiment of the mobile counterweight device of the present invention.

Detailed ways

【The first embodiment】

Fig. 3 is a schematic view of the first embodiment of the mobile counterweight device of the present invention; Fig. 4 is a front view of the first embodiment of the mobile counterweight device of the present invention. As shown in Fig. 3 and Fig. 4, the scanning car of the present invention includes a car body 5, on which a pair of guide rails 8 are arranged, and a pair of guide rails 8 are arranged on the car body 5 in parallel along the left-right direction of the car body 5 A counterweight 9 is arranged between a pair of guide rails 8, and the two ends of the counterweight 9 cooperate with the pair of guide rails 8 through moving rollers 10 so as to move left and right along the guide rails 8. A hydraulic cylinder 11 is also fixedly arranged on the vehicle body 5, and the telescopic end of the telescopic rod of the hydraulic cylinder 11 is connected with the counterweight 9 so as to promote the counterweight 9 to move along the left and right directions of the vehicle body.

As mentioned above, a pair of guide rails 8 arranged in parallel constitute the guiding mechanism for guiding the counterweight 9 to move left and right according to the present invention; the hydraulic cylinder 11 constitutes the driving mechanism for driving the counterweight 9 to move left and right according to the present invention. The aforementioned counterweight 9, the guiding mechanism and the driving mechanism constitute the mobile counterweight device of the present invention as a whole.

The working principle of the first embodiment of the present invention will be described below with reference to FIG. 1 , FIG. 2 and FIG. 3 . In order to avoid the car body tilting phenomenon shown in Figure 2, when the scanning vehicle 1 stops working and gradually accommodates the horizontal arm frame 3 and the vertical arm frame 4 inwardly (that is, to the left), the hydraulic cylinder 11 gradually moves to the right along the guide rail 8. Push the counterweight 9 freely so that the center of gravity G of the car body is always approximately at the geometric center of the car body, so that the scanning car can always maintain a left-right balance posture, thereby effectively avoiding tire blowout or rollover caused by the serious tilt of the whole car body. ACCIDENT.

Specifically, for the present invention, balance control can be achieved by three different methods.

The first control method: when the cross arm frame 3 and the vertical arm frame 4 of the scanning vehicle 1 are stretched outward (ie to the right) to form a door-shaped frame (see Figure 1), the counterweight 9 is controlled to move outward to the outer limit position (not shown), so as to balance the attitude of the car body 5 and the center of gravity of the scanning car 1 . When the cross arm frame 3 and the vertical arm frame 4 of the scanning vehicle 1 are retracted inwardly, the counterweight 9 is controlled to move inward to the inner limit position (not shown), so as to balance the posture and center of gravity of the body 5 of the scanning vehicle 1 Location. The advantage of this control method is that only two sensors need to be installed at the inner and outer limit positions, and the movement of the moving counterweight can be controlled through simple in-position detection.

The second control mode: just opposite to the first control mode, it is to move the counterweight first, and then expand the boom. When retracting, the counterweight is moved first, and then the boom is retracted. The control method is the same as the first method, but the logic sequence is reversed.

The third control method: when the horizontal arm frame 3 and the vertical arm frame 4 of the scanning vehicle 1 are gradually stretched outwards (i.e. to the right), and the center of gravity of the body 5 of the scanning vehicle 1 is constantly changing, the control counterweight 9 is also controlled accordingly. It moves outwards gradually, so that at any moment and any position, the posture of the body remains balanced, and vice versa. The advantage of the third control method is that it can control the posture of the vehicle body in real time to keep it in balance all the time. The disadvantage is that it has very high requirements for the software and hardware of the control, and the cost is also very high.

[Second Embodiment]

The second embodiment of the present invention is basically the same as the first embodiment, and the only difference is that the moving mechanism of the second embodiment is different from that of the first embodiment. As shown in Figure 5, the moving mechanism of the second embodiment consists of a guide protrusion 12 arranged on the vehicle body and a guide groove 13 arranged on the counterweight, and the guide protrusion 12 is slidably arranged on the In the guide groove 13 so as to guide the counterweight 9 to move left and right.

【Other Variations】

The driving mechanism of the present invention is not limited to a hydraulic cylinder, and may also be a linear driving device such as a cylinder, or may also be a linear driving device composed of a screw, a connecting rod, or a rack and pinion. Since the above-mentioned linear propulsion devices or linear drive devices belong to the prior art, their specific structures will not be described in detail.

The moving mechanism of the second embodiment of the present invention can also be changed to consist of guide protrusions arranged on the counterweight and guide grooves arranged on the vehicle body, and this reciprocal change is obvious.

These changes will be obvious to those skilled in the art by reading this specification, so they will not be listed one by one.

While embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by The appended claims and their equivalents are defined.

Claims (7)

1. a scanning car (1), comprising a car body (5) and an arm frame, wherein: the arm frame includes a cross arm frame (3) and a vertical arm frame (4) connected to each other, and the cross arm frame ( 3) and the vertical arm frame (4) are movable between the deployed position and the retracted position, wherein a mobile counterweight device is provided on the vehicle body (5), and the mobile counterweight device can move along the vehicle body (5) Adjust the center of gravity position (G) of the entire scanning vehicle (1) in the left and right direction so that the scanning vehicle (1) is in a left-right balance posture, wherein the mobile counterweight device is moved left and right by the counterweight (9) and the guide counterweight (9) The guiding mechanism and the driving mechanism that drives the counterweight (9) to move left and right are composed of Wherein said driving mechanism is a linear push mechanism composed of hydraulic cylinder (11) or cylinder, said hydraulic cylinder (11) or cylinder has a telescopic rod, and the telescopic end of said telescopic rod is connected with counterweight (9) so as to promote The counterweight (9) moves linearly along the left and right directions of the vehicle body (5). 2. The scanning vehicle (1) according to claim 1, wherein said guiding mechanism is a pair of guide rails (8), and a pair of guide rails (8) are arranged on the vehicle body in parallel along the left and right directions of the vehicle body (5) (5), the counterweight (9) is arranged between a pair of guide rails (8), and the two ends of the counterweight (9) cooperate with the pair of guide rails (8) through moving rollers (10) so as to move along Guide rail (8) moves left and right. 3. The scanning vehicle (1) according to claim 1, wherein the guiding mechanism consists of a guiding protrusion (12) arranged on the vehicle body (5) and a guiding groove arranged on the counterweight (9) (13) constitutes that the guide protrusion (12) is slidingly engaged with the guide groove (13) so as to guide the balance weight (9) to move left and right. 4. The scanning vehicle (1) according to claim 1, wherein the guide mechanism consists of a guide protrusion (12) arranged on the counterweight (9) and a guide groove arranged on the car body (5) (13) constitutes that the guide protrusion (12) is slidingly engaged with the guide groove (13) so as to guide the balance weight (9) to move left and right. 5. A method for controlling the scanning car according to claim 1, comprising the steps of: When the horizontal arm frame (3) and the vertical arm frame (4) of the scanning vehicle (1) are stretched out, the counterweight (9) is controlled to move outward to the outer limit position, so that the scanning vehicle is in a left-right balance posture; When the horizontal arm frame (3) and the vertical arm frame (4) of the scanning vehicle (1) are retracted inwardly, the counterweight (9) is controlled to move inwardly to the inner limit position, so that the scanning vehicle is in a left-right balance posture. 6. A method for controlling the scanning car according to claim 1, comprising the steps of: First control the counterweight (9) to move outward to the outer limit position, and then extend the cross arm frame (3) and vertical arm frame (4) of the scanning vehicle (1) outward, so that the scanning vehicle is in a left and right balance posture; First control the counterweight (9) to move inward to the inner limit position, and then withdraw the cross arm frame (3) and vertical arm frame (4) of the scanning vehicle (1) inward, so that the scanning vehicle is in a left-right balance posture. 7. A method for controlling the scanning car according to claim 1, comprising the steps of: While the transverse arm frame (3) and vertical arm frame (4) of the scanning vehicle (1) are gradually stretching outward, the control counterweight (9) is also gradually moving outward, so that the scanning vehicle can move at any time. are in a left-right balanced posture; While the horizontal arm frame (3) and vertical arm frame (4) of the scanning vehicle (1) are retracted gradually inward, the control counterweight (9) is also gradually moved inward, so that the scanning vehicle can move at any time. All are in left-right balance.

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