Workpiece X-ray detection grabbing and overturning mechanism

Abstract

The invention discloses a workpiece X-ray detection grabbing and overturning mechanism which comprises a base table, a detection bin, a mounting disc and a center bin. In the using process, after an upper clamping plate and a lower clamping plate finish reverse rotation, flaw detection is conducted through the other end of an X-ray detector, the situation that a wound in a tubular workpiece is omitted is avoided, and the detection efficiency is improved. According to the detection device, the tubular workpiece can be effectively detected, an arranged electric telescopic rod can push an electromagnetic chuck to expand outwards, and finally, the electromagnetic chuck is tightly attached to the outer surface of the tubular workpiece and adsorbed to the outer surface of the tubular workpiece; the special-shaped chucks on the rotating rollers installed at the two ends of the anti-skid block can rotate from being parallel to the surface of the tubular workpiece to being attached to the surface of the end of the tubular workpiece, so that the two ends of the tubular workpiece are locked in the overturning process, the tubular workpiece is effectively prevented from falling off in the flaw detection process, and effective detection of the tubular workpiece is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece X-ray detection, and in particular to a workpiece X-ray detection grabbing and flipping mechanism. Background Art

[0002] X-ray flaw detection refers to the use of X-rays to penetrate metal materials. Due to the different absorption and scattering effects of the materials on the rays, the film sensitivity is different, thus forming images of different blackness on the film, and based on this, an inspection method is used to judge the internal defects of the material.

[0003] The main reasons why X-rays are widely used in non-destructive testing technology are: they can penetrate materials that visible light cannot penetrate; they have attenuation effects and attenuation laws in materials; they can produce photochemical effects, ionization effects, and fluorescence phenomena on certain materials. Moreover, these effects will increase with the increase of X-ray intensity. X-ray testing is an experimental technology that uses X-ray technology to observe, study, and inspect the microstructure, chemical composition, surface or internal structural defects of materials. Such as X-ray powder diffraction, X-ray fluorescence spectroscopy, X-ray photography, X-ray morphology, etc.

[0004] In the prior art, a workpiece X-ray detection grasping and flipping mechanism disclosed in publication number "CN117755807A" includes a door-type frame and a clamping assembly, the clamping assembly includes a connecting frame, a clamping arm, a clamp fixing plate, a flipping motor, a connecting shaft, a first gear, a second gear, a lifting component and a clamping component, the connecting frame is connected to the door-type frame through a lifting component, the clamping arm is connected to the connecting frame through a clamping component, the clamp fixing plate is rotatably connected to the clamp arm, the flipping motor is arranged on the clamp arm, the connecting shaft is connected to the output end of the flipping motor, the first gear is fixedly connected to the connecting shaft, the second gear is fixedly connected to the clamp fixing plate and meshed with the first gear, the lifting component is arranged on the door-type frame and connected to the connecting frame, the clamping component is arranged on the connecting frame and connected to the clamping arm, and the rotation of the clamp fixing plate is driven by the synchronous drive output of the flipping motor to realize the flipping of the workpiece, thereby reducing the labor intensity of the operator and greatly improving the work efficiency during detection.

[0005] However, the existing technology still has major deficiencies, such as:

[0006] In the above device and prior art:

[0007] When inspecting a workpiece by X-ray, it is necessary to grasp the X-shaped tubular workpiece. The surface of the X-shaped tubular workpiece is relatively smooth. When the tubular workpiece is clamped between adjacent clamp arms, the tubular workpiece is easily caused to fall off between the clamp arms during the process of flipping the tubular workpiece by the clamp arms, causing damage to the surface of the tubular workpiece. Summary of the invention

[0008] The object of the present invention is to provide a workpiece X-ray detection grasping and flipping mechanism to solve the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions: a workpiece X-ray detection grasping and flipping mechanism, comprising a base, a detection chamber, a mounting plate and a central chamber, the detection chamber is installed on the top of the base, a grasping unit is arranged on the top of the base, the mounting plate is installed on the grasping unit, and the central chamber is arranged in the bottom area of ​​the mounting plate;

[0010] A tubular workpiece clamping and locking unit, which is arranged outside the mounting plate and is used to clamp the tubular workpiece to be inspected during inspection;

[0011] A tubular workpiece gripping and flipping unit, which is disposed in the bottom area of ​​the mounting plate and is used to flip the gripped tubular workpiece during the inspection process so as to perform internal flaw detection;

[0012] The tubular workpiece flipping and locking unit is arranged in the tubular workpiece clamping and flipping unit area, and is used to lock the tubular workpiece during the flipping process, so that the tubular workpiece maintains the original clamping state and avoids the tubular workpiece from falling off during the flipping process.

[0013] Preferably, the tubular workpiece clamping and locking unit includes a vertical frame, which is installed between the mounting plate and the central warehouse, and the vertical frames are arranged into several groups, a first movable arm is hingedly installed between adjacent vertical frames, a second movable arm is hingedly installed at one end of the first movable arm, a mounting frame is provided on the outer surface of the central warehouse, a clamping arm is hingedly installed on the mounting frame, a fixed seat is installed at the bottom of the clamping arm, a first electric roller is installed between adjacent fixed seats, a rotating block is installed on the rotating end of the first electric roller, a driven block is installed on one side of the rotating block, and one end of the second movable arm is hinged to the driven block.

[0014] Preferably, the tubular workpiece clamping and flipping unit includes an electric turntable, which is installed on one side of the rotating block. A mounting seat is installed on the rotating end of the electric turntable, and the mounting seat is arranged in an arc shape. A first driving roller is installed on the top adjacent to the mounting seat, and a second driving roller is installed on the bottom adjacent to the mounting seat. An upper clamping plate is installed on the rotating end of the first driving roller, and a lower clamping plate is installed on the rotating end of the second driving roller.

[0015] Preferably, the tubular workpiece flipping and locking unit includes an anti-sliding block, which is respectively mounted on the upper clamping plate and the lower clamping plate, and rotating rollers are respectively provided at both ends of the anti-sliding block, and a special-shaped chuck is installed on the rotating end of the rotating roller, and an electric telescopic rod is also installed on the rotating end of the electric turntable, and an electromagnetic suction cup is installed on the output end of the electric telescopic rod.

[0016] Preferably, the grasping unit includes a mechanical base, which is installed on the top of the base, and a single-axis joint is installed on the top of the mechanical base, a two-axis joint is installed on the movable end of the single-axis joint, a three-axis joint is installed on the movable end of the two-axis joint, and a four-axis joint is installed on the movable end of the three-axis joint.

[0017] Preferably, a five-axis joint is installed on the movable end of the four-axis joint, a six-axis joint is installed on the movable end of the five-axis joint, and the mounting plate is installed on the movable end of the six-axis joint.

[0018] Preferably, a flipping power locking unit is installed on the top of the central warehouse, and the flipping power locking unit includes a vertical movable cylinder, which is installed inside the central warehouse, and an oblique positioning block is installed on the movable end of the vertical movable cylinder, a lifting ring is installed on the top of the oblique positioning block, and a lifting block is installed on the top of the lifting ring, and the lifting block is hinged to one end of the first movable arm.

[0019] Preferably, the flip power locking unit also includes a transversely movable cylinder, which is arranged in two groups. The two groups of transversely movable cylinders are symmetrically mounted on the top of the central warehouse, and the output end of the transversely movable cylinder is hinged to one side of the clamping arm.

[0020] Preferably, an anti-slip layer is provided on one side of the anti-slip block.

[0021] Preferably, a detection channel is provided on the top of the detection chamber, and an X-ray detector is provided inside the detection chamber.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. When in use, the adjacent lower clamping plate is lifted by the second driving roller, so that the lower clamping plate clamps and fixes the tubular workpiece, and the upper clamping plate is lowered by the first driving roller, and the upper clamping plate and the lower clamping plate are used to lock and support the tubular workpiece on both sides, further ensuring that the tubular workpiece is fixed during the X-ray detection process;

[0024] 2. When in use, after the upper and lower clamping plates have completed forward rotation, flaw detection is performed through one end of the set X-ray detector. After waiting for the detection to be completed, the upper and lower clamping plates are driven by the set electric turntable to rotate in the opposite direction again. After the upper and lower clamping plates have completed reverse rotation, flaw detection is performed through the other end of the set X-ray detector to avoid missing internal wounds of the tubular workpiece and ensure effective detection of the tubular workpiece;

[0025] 3. When in use, the electric telescopic rod will push the electromagnetic suction cup to expand outward, and finally make the electromagnetic suction cup fit tightly to the outer surface of the tubular workpiece and adsorb on the outer surface of the tubular workpiece. During the flipping process of the tubular workpiece, the special-shaped chucks on the rotating rollers installed at both ends of the anti-sliding block will rotate from being parallel to the surface of the tubular workpiece to being fitted to the end surface of the tubular workpiece, thereby completing the locking of the two ends of the tubular workpiece during the flipping process, thereby effectively preventing the tubular workpiece from falling off during the flaw detection process and ensuring the effective detection of the tubular workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an overall schematic diagram of the device of the present invention;

[0027] Figure 2 It is a schematic diagram of the mechanical base part of the present invention;

[0028] Figure 3 It is a schematic diagram of the installation disk part of the present invention;

[0029] Figure 4 It is a partial schematic diagram of the special-shaped chuck in the present invention;

[0030] Figure 5 It is a schematic diagram of the lifting ring part in the present invention;

[0031] Figure 6 It is a schematic diagram of the rotating block part in the present invention;

[0032] Figure 7 It is a partial schematic diagram of the anti-slip block and the anti-slip layer in the present invention;

[0033] Figure 8 It is a partial schematic diagram of the electric telescopic rod and the electromagnetic suction cup in the present invention.

[0034] In the figure: 1, base; 2, detection chamber; 21, detection channel; 22, X-ray detector; 3, mechanical base; 31, one-axis joint; 32, two-axis joint; 33, three-axis joint; 34, four-axis joint; 35, five-axis joint; 36, six-axis joint; 4, mounting plate; 41, vertical frame; 42, first movable arm; 421, lifting block; 43, second movable arm; 5, central chamber; 51, mounting frame; 52, clamping arm; 53, fixing seat; 531, first electric roller; 54, horizontal movable cylinder; 55, vertical movable cylinder; 56, oblique positioning block; 57, lifting ring; 6, rotating block; 61, driven block; 7, electric turntable; 71, mounting seat; 711, first driving roller; 712, second driving roller; 8, lower clamping plate; 81, anti-slip block; 811, anti-slip layer; 82, rotating roller; 83, special-shaped chuck; 84, upper clamping plate; 9, electric telescopic rod; 91, electromagnetic suction cup. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-8 , the present invention provides a technical solution:

[0037] Embodiment 1: A workpiece X-ray detection grabbing and flipping mechanism: comprising a base 1, a detection chamber 2, a mounting plate 4 and a central chamber 5, wherein the detection chamber 2 is mounted on the top of the base 1, a grabbing unit is arranged on the top of the base 1, the mounting plate 4 is mounted on the grabbing unit, and the central chamber 5 is arranged at the bottom area of ​​the mounting plate 4;

[0038] The gripping unit includes a mechanical base 3, which is installed on the top of the base 1. A single-axis joint 31 is installed on the top of the mechanical base 3. A two-axis joint 32 is installed on the movable end of the single-axis joint 31. A three-axis joint 33 is installed on the movable end of the two-axis joint 32. A four-axis joint 34 is installed on the movable end of the three-axis joint 33.

[0039] A five-axis joint 35 is mounted on the movable end of the four-axis joint 34 , a six-axis joint 36 is mounted on the movable end of the five-axis joint 35 , and the mounting plate 4 is mounted on the movable end of the six-axis joint 36 .

[0040] A detection channel 21 is arranged on the top of the detection chamber 2 , and an X-ray detector 22 is arranged inside the detection chamber 2 .

[0041] In this embodiment, when it is necessary to perform X-ray flaw detection on the tubular workpiece, the mounting plate 4 is operated to continuously move close to the tubular workpiece through the one-axis joint 31, two-axis joint 32, three-axis joint 33, four-axis joint 34, five-axis joint 35 and six-axis joint 36, and then the vertical frame 41 at the bottom of the mounting plate 4 and the first movable arm 42 and the second movable arm 43 are close to the tubular workpiece, and then the rotating block 6 is driven to rotate through the first electric roller 531. When the two groups of rotating blocks 6 rotate close to each other, the tubular workpiece will be picked up, so that the tubular workpiece remains stable during X-ray flaw detection.

[0042] A tubular workpiece clamping and locking unit, which is arranged outside the mounting plate 4 and is used to clamp the tubular workpiece to be inspected during inspection;

[0043] The tubular workpiece clamping and locking unit includes a vertical frame 41, which is installed between the mounting plate 4 and the central warehouse 5. The vertical frame 41 is arranged into several groups, and a first movable arm 42 is hingedly installed between adjacent vertical frames 41, and a second movable arm 43 is hingedly installed at one end of the first movable arm 42. A mounting frame 51 is arranged on the outer surface of the central warehouse 5, and a clamping arm 52 is hingedly installed on the mounting frame 51. A fixed seat 53 is installed at the bottom of the clamping arm 52, and a first electric roller 531 is installed between adjacent fixed seats 53. A rotating block 6 is installed on the rotating end of the first electric roller 531, and a driven block 61 is installed on one side of the rotating block 6. One end of the second movable arm 43 is hinged to the driven block 61.

[0044] In this embodiment, when the two groups of rotating blocks 6 rotate close to each other, the tubular workpiece is picked up. When the rotating block 6 rotates close to each other, the first movable arm 42 and the second movable arm 43 are tightened through the driven block 61, so that the first movable arm 42 and the second movable arm 43 are supported on the surface of the driven block 61 outside the rotating block 6, so that the driven block remains stable. Subsequently, the adjacent lower clamping plate 8 is lifted by the second driving roller 712, so that the lower clamping plate 8 clamps and fixes the tubular workpiece, and the upper clamping plate 84 is lowered by the first driving roller 711. The tubular workpiece is locked and supported on both sides by the upper clamping plate 84 and the lower clamping plate 8, thereby further ensuring that the tubular workpiece is fixed during the X-ray detection process.

[0045] A tubular workpiece gripping and flipping unit, which is arranged at the bottom area of ​​the mounting plate 4 and is used to flip the gripped tubular workpiece during the inspection process so as to perform internal flaw detection;

[0046] The tubular workpiece clamping and flipping unit includes an electric turntable 7, which is installed on one side of the rotating block 6. A mounting seat 71 is installed on the rotating end of the electric turntable 7. The mounting seat 71 is arranged in an arc shape. A first driving roller 711 is installed on the top of the adjacent mounting seat 71, and a second driving roller 712 is installed on the bottom of the adjacent mounting seat 71. An upper clamping plate 84 is installed on the rotating end of the first driving roller 711, and a lower clamping plate 8 is installed on the rotating end of the second driving roller 712.

[0047] In this embodiment, after the upper clamp 84 and the lower clamp 8 have locked the tubular workpiece, the one-axis joint 31, the two-axis joint 32, the three-axis joint 33, the four-axis joint 34, the five-axis joint 35 and the six-axis joint 36 are driven to move again, so that the tubular workpiece fixed by the upper clamp 84 and the lower clamp 8 is placed into the inspection chamber 2 through the inspection channel 21, and then the outer surface flaw detection of the tubular workpiece is performed by the X-ray detector 22 arranged in the inspection chamber 2. During the inspection process, the upper clamp 84 and the lower clamp 8 can be driven by the electric turntable 7 to rotate forward. When the upper clamp 84 and the lower clamp 8 have completed the forward rotation, the flaw detection is performed through one end of the X-ray detector 22. After waiting for the inspection to be completed, the upper clamp 84 and the lower clamp 8 are driven by the electric turntable 7 to rotate reversely again. When the upper clamp 84 and the lower clamp 8 have completed the reverse rotation, the flaw detection is performed through the other end of the X-ray detector 22 to avoid missing the internal wound of the tubular workpiece and ensure effective inspection of the tubular workpiece.

[0048] The tubular workpiece flipping and locking unit is arranged in the tubular workpiece gripping and flipping unit area, and is used to lock the tubular workpiece during the flipping process, so that the tubular workpiece maintains the original clamping state, and prevents the tubular workpiece from falling off during the flipping process;

[0049] The tubular workpiece flipping locking unit includes an anti-sliding block 81, which is respectively installed on the upper clamping plate 84 and the lower clamping plate 8, and rotating rollers 82 are respectively provided at both ends of the anti-sliding block 81. A special-shaped chuck 83 is installed on the rotating end of the rotating roller 82, and an electric telescopic rod 9 is also installed on the rotating end of the electric turntable 7, and an electromagnetic suction cup 91 is installed on the output end of the electric telescopic rod 9.

[0050] An anti-slip layer 811 is provided on one side of the anti-slip block 81 .

[0051] In this embodiment, when the upper clamping plate 84 and the lower clamping plate 8 clamp and flip the tubular workpiece in the forward and reverse directions, in order to prevent the tubular workpiece from falling off, anti-sliding blocks 81 are installed at the ends of the upper clamping plate 84 and the lower clamping plate 8. The anti-sliding blocks 81 can increase the contact area between the upper clamping plate 84 and the lower clamping plate 8 and the tubular workpiece, thereby improving the locking effect of the tubular workpiece. At the same time, the electric telescopic rod 9 will push the electromagnetic suction cup 91 to expand outward, and finally make the electromagnetic suction cup 91 fit tightly against the outer surface of the tubular workpiece and adsorb on the outer surface of the tubular workpiece.

[0052] Embodiment 2:

[0053] Based on the first embodiment, the second embodiment takes into account that the outer wall surface of the tubular workpiece can be clamped and fixed by the upper clamping plate 84 and the lower clamping plate 8, which can ensure the stability of the tubular workpiece in a parallel state. However, the tubular workpiece needs to be turned over during X-ray flaw detection, and the tubular workpiece will experience a change from a parallel state to a vertical state. When the tubular workpiece is converted into a vertical state, the two ends of the tubular workpiece lack a locking structure, which easily causes the tubular workpiece to slip from the upper clamping plate 84 and the lower clamping plate 8. Therefore, a turning power locking unit is provided in the second embodiment to avoid the above-mentioned problem.

[0054] A flipping power locking unit is installed on the top of the central warehouse 5, and the flipping power locking unit includes a vertical movable cylinder 55, which is installed inside the central warehouse 5, and an oblique positioning block 56 is installed on the movable end of the vertical movable cylinder 55. A lifting ring 57 is installed on the top of the oblique positioning block 56, and a lifting block 421 is installed on the top of the lifting ring 57. The lifting block 421 is hinged to one end of the first movable arm 42.

[0055] The flipping power locking unit also includes a transverse movable cylinder 54, which is arranged in two groups. The two groups of transverse movable cylinders 54 are symmetrically installed on the top of the central warehouse 5, and the output end of the transverse movable cylinder 54 is hinged to one side of the clamping arm 52.

[0056] In this embodiment, during the flipping process of the tubular workpiece, the special-shaped chucks 83 on the rotating rollers 82 installed at both ends of the anti-sliding block 81 will rotate from being parallel to the surface of the tubular workpiece to being in contact with the end surface of the tubular workpiece, thereby completing the locking of the two ends of the tubular workpiece during the flipping process, thereby effectively preventing the tubular workpiece from falling off during the flaw detection process and ensuring the effective detection of the tubular workpiece.

[0057] Working principle: During the use of this device,

[0058] When it is necessary to perform X-ray flaw detection on the tubular workpiece, the mounting plate 4 is operated to continuously move close to the tubular workpiece through the one-axis joint 31, the two-axis joint 32, the three-axis joint 33, the four-axis joint 34, the five-axis joint 35 and the six-axis joint 36, and then the vertical frame 41 at the bottom of the mounting plate 4 and the first movable arm 42 and the second movable arm 43 are close to the tubular workpiece, and then the rotating block 6 is driven to rotate through the first electric roller 531. When the two groups of rotating blocks 6 rotate close to each other, the tubular workpiece will be picked up, so that the tubular workpiece remains stable during the X-ray flaw detection;

[0059] When the two groups of rotating blocks 6 rotate close to each other, the tubular workpiece is picked up. When the rotating block 6 rotates close to each other, the first movable arm 42 and the second movable arm 43 are driven to be tightened through the driven block 61, so that the first movable arm 42 and the second movable arm 43 are supported on the surface of the driven block 61 outside the rotating block 6, so that the driven block remains stable. Then, the adjacent lower clamping plate 8 is lifted by the second driving roller 712, so that the lower clamping plate 8 clamps and fixes the tubular workpiece, and the upper clamping plate 84 is lowered by the first driving roller 711. The tubular workpiece is locked and supported on both sides by the upper clamping plate 84 and the lower clamping plate 8, so as to further ensure that the tubular workpiece is fixed during the X-ray detection process.

[0060] After the upper clamping plate 84 and the lower clamping plate 8 have locked the tubular workpiece, the one-axis joint 31, the two-axis joint 32, the three-axis joint 33, the four-axis joint 34, the five-axis joint 35 and the six-axis joint 36 are driven to move again, so that the tubular workpiece fixed by the upper clamping plate 84 and the lower clamping plate 8 is placed into the inspection chamber 2 through the inspection channel 21, and then the outer surface flaw detection of the tubular workpiece is performed through the X-ray detector 22 arranged in the inspection chamber 2. During the inspection process, the upper clamping plate 84 and the lower clamping plate 8 can be driven to rotate in the forward direction by the arranged electric turntable 7. When the upper clamping plate 84 and the lower clamping plate 8 have completed the forward rotation, the flaw detection is performed through one end of the arranged X-ray detector 22. After waiting for the inspection to be completed, the upper clamping plate 84 and the lower clamping plate 8 are driven to rotate in the reverse direction again by the arranged electric turntable 7. When the upper clamping plate 84 and the lower clamping plate 8 have completed the reverse rotation, the flaw detection is performed through the other end of the arranged X-ray detector 22 to avoid missing the internal wound of the tubular workpiece.

[0061] When the upper clamping plate 84 and the lower clamping plate 8 perform forward and reverse clamping and flipping of the tubular workpiece, in order to prevent the tubular workpiece from falling off, the ends of the upper clamping plate 84 and the lower clamping plate 8 are equipped with anti-slip blocks 81. The anti-slip blocks 81 can increase the contact area between the upper clamping plate 84 and the lower clamping plate 8 and the tubular workpiece, thereby improving the locking effect of the tubular workpiece. At the same time, the electric telescopic rod 9 provided will push the electromagnetic suction cup 91 to expand outward, and finally make the electromagnetic suction cup 91 fit tightly to the outer surface of the tubular workpiece and adsorb on the outer surface of the tubular workpiece. During the flipping process of the tubular workpiece, the special-shaped chucks 83 on the rotating rollers 82 installed at both ends of the anti-slip blocks 81 will rotate from being parallel to the surface of the tubular workpiece to being fitted to the end surface of the tubular workpiece, thereby completing the locking of the two ends of the tubular workpiece during the flipping process, thereby effectively preventing the tubular workpiece from falling off during the flaw detection process and ensuring the effective detection of the tubular workpiece.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A workpiece X-ray detection grabbing and flipping mechanism, characterized in that: The invention comprises a base (1), a detection chamber (2), a mounting plate (4) and a central chamber (5), wherein the detection chamber (2) is mounted on the top of the base (1), a gripping unit is arranged on the top of the base (1), the mounting plate (4) is mounted on the gripping unit, and the central chamber (5) is arranged in the bottom area of ​​the mounting plate (4); A tubular workpiece clamping and locking unit, the tubular workpiece clamping and locking unit being arranged outside the mounting plate (4) and being used for clamping the tubular workpiece to be inspected during inspection; A tubular workpiece gripping and flipping unit, the tubular workpiece gripping and flipping unit being arranged in the bottom area of ​​the mounting plate (4) and used for flipping the gripped tubular workpiece during the detection process so as to perform internal flaw detection; The tubular workpiece flipping and locking unit is arranged in the tubular workpiece clamping and flipping unit area, and is used to lock the tubular workpiece during the flipping process, so that the tubular workpiece maintains the original clamping state and avoids the tubular workpiece from falling off during the flipping process.

2. The workpiece X-ray detection grabbing and flipping mechanism according to claim 1 is characterized in that: The tubular workpiece clamping and locking unit comprises a vertical frame (41), wherein the vertical frame (41) is installed between the installation plate (4) and the central warehouse (5), and the vertical frames (41) are arranged into a plurality of groups, wherein a first movable arm (42) is hingedly installed between adjacent vertical frames (41), and a second movable arm (43) is hingedly installed at one end of the first movable arm (42), and an installation frame (51) is arranged on the outer surface of the central warehouse (5), wherein a clamping arm (52) is hingedly installed on the installation frame (51), and a fixed seat (53) is installed at the bottom of the clamping arm (52), and a first electric roller (531) is installed between adjacent fixed seats (53), and a rotating block (6) is installed on the rotating end of the first electric roller (531), and a driven block (61) is installed on one side of the rotating block (6), and one end of the second movable arm (43) is hingedly connected to the driven block (61).

3. The workpiece X-ray detection grabbing and flipping mechanism according to claim 2 is characterized in that: The tubular workpiece gripping and flipping unit comprises an electric turntable (7), wherein the electric turntable (7) is mounted on one side of the rotating block (6), a mounting seat (71) is mounted on the rotating end of the electric turntable (7), the mounting seat (71) is arranged in an arc shape, a first driving roller (711) is mounted on the top adjacent to the mounting seat (71), a second driving roller (712) is mounted on the bottom adjacent to the mounting seat (71), an upper clamping plate (84) is mounted on the rotating end of the first driving roller (711), and a lower clamping plate (8) is mounted on the rotating end of the second driving roller (712).

4. The workpiece X-ray detection grabbing and flipping mechanism according to claim 3 is characterized in that: The tubular workpiece flipping locking unit comprises an anti-sliding block (81), the anti-sliding block (81) being respectively mounted on the upper clamping plate (84) and the lower clamping plate (8), rotating rollers (82) being respectively arranged at both ends of the anti-sliding block (81), a special-shaped chuck (83) being mounted on the rotating end of the rotating roller (82), an electric telescopic rod (9) being also mounted on the rotating end of the electric turntable (7), and an electromagnetic suction cup (91) being mounted on the output end of the electric telescopic rod (9).

5. The workpiece X-ray detection grabbing and flipping mechanism according to claim 1 is characterized in that: The gripping unit comprises a mechanical base (3), the mechanical base (3) is mounted on the top of the base (1), a single-axis joint (31) is mounted on the top of the mechanical base (3), a two-axis joint (32) is mounted on the movable end of the single-axis joint (31), a three-axis joint (33) is mounted on the movable end of the two-axis joint (32), and a four-axis joint (34) is mounted on the movable end of the three-axis joint (33).

6. The workpiece X-ray detection grabbing and flipping mechanism according to claim 5, characterized in that: A five-axis joint (35) is installed on the movable end of the four-axis joint (34), a six-axis joint (36) is installed on the movable end of the five-axis joint (35), and the mounting plate (4) is installed on the movable end of the six-axis joint (36).

7. The workpiece X-ray detection grabbing and flipping mechanism according to claim 2 is characterized in that: A flipping power locking unit is installed on the top of the central warehouse (5), and the flipping power locking unit includes a vertical movable cylinder (55). The vertical movable cylinder (55) is installed inside the central warehouse (5), and an oblique positioning block (56) is installed on the movable end of the vertical movable cylinder (55). A lifting ring (57) is installed on the top of the oblique positioning block (56), and a lifting block (421) is installed on the top of the lifting ring (57). The lifting block (421) is hinged to one end of the first movable arm (42).

8. The workpiece X-ray detection grabbing and flipping mechanism according to claim 7 is characterized in that: The flip power locking unit also includes a transverse movable cylinder (54), which is arranged in two groups. The two groups of transverse movable cylinders (54) are symmetrically installed on the top of the central warehouse (5), and the output end of the transverse movable cylinder (54) is hinged to one side of the clamping arm (52).

9. The workpiece X-ray detection grabbing and flipping mechanism according to claim 4, characterized in that: An anti-slip layer (811) is provided on one side of the anti-slip block (81).

10. The workpiece X-ray detection grabbing and flipping mechanism according to claim 1, characterized in that: The top of the detection chamber (2) is provided with a detection channel (21), and an X-ray detector (22) is provided inside the detection chamber (2).

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