An X-ray detection grasping and flipping mechanism for workpieces

Abstract

The present invention discloses a workpiece X-ray detection grasping and flipping mechanism, including a base platform, a detection chamber, a mounting disc and a central chamber. During the use of the present invention, after the upper clamping plate and the lower clamping plate rotate in opposite directions, flaw detection is performed through the other end of the provided X-ray detector, avoiding omission of internal wounds of tubular workpieces and ensuring effective detection of tubular workpieces. The provided electric telescopic rod will push the electromagnetic chuck to expand outwards, and finally the electromagnetic chuck will closely fit on 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 fitting on the end surface of the tubular workpiece, thereby completing the locking of both ends of the tubular workpiece during the flipping process, effectively avoiding the falling off of the tubular workpiece during the flaw detection process and ensuring effective detection of the tubular workpiece.

Description

Technical Field

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

[0002] X-ray flaw detection refers to a testing method that uses X-rays to penetrate metal materials. Due to the different absorption and scattering effects of the materials on the rays, the film is sensitized differently, so images with different blackness levels are formed on the negative film, and based on this, the internal defect conditions of the materials are judged.

[0003] The main reasons why X-rays can be widely used in non-destructive testing technology are as follows: It can penetrate substances that visible light cannot penetrate; it has attenuation effects and attenuation laws in substances; it can cause photochemical effects, ionization effects, and fluorescence phenomena on certain substances. Moreover, these effects will all increase with the increase in the intensity of X-rays. X-ray detection is an experimental technology that uses X-ray technology to observe, study, and test the microscopic structure, chemical composition, surface, or internal structure defects of materials. Such as X-ray powder diffraction, X-ray fluorescence spectrometry, X-ray radiography, X-ray topography, etc.

[0004] In the prior art, a workpiece X-ray detection grasping and flipping mechanism disclosed in the publication number "CN117755807A" includes a gantry frame and a clamping assembly. The clamping assembly includes a connecting frame, clamping arms, a fixture fixing disk, a flipping motor, a connecting shaft, a first gear, a second gear, a lifting member, and a clamping member. The connecting frame is connected to the gantry frame through the lifting member, the clamping arms are connected to the connecting frame through the clamping member, the fixture fixing disk is rotatably connected to the clamping arms, the flipping motor is arranged on the clamping arms, 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 fixture fixing disk and meshes with the first gear, the lifting member is arranged on the gantry frame and connected to the connecting frame, and the clamping member is arranged on the connecting frame and connected to the clamping arms. By driving the rotation of the fixture fixing disk through the synchronous drive output of the flipping motor, the flipping of the workpiece is realized to reduce the labor intensity of the operator and greatly improve the working efficiency during detection.

[0005] However, there are still significant deficiencies in the prior art, such as:

[0006] In the above-mentioned device and the prior art:

[0007] When detecting a workpiece by X-rays, it is necessary to grasp an X-shaped tubular workpiece. The surface of the X-shaped tubular workpiece is relatively smooth. When clamping the tubular workpiece between adjacent clamping arms, the tubular workpiece is likely to fall off between the clamping arms during the flipping process of the clamping arms, resulting in 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-mentioned background technology.

[0009] To achieve the above object, the present invention provides the following technical solution: A workpiece X-ray detection grasping and flipping mechanism, including a base, a detection chamber, a mounting disk and a central chamber. The detection chamber is installed on the top of the base. A grasping unit is provided on the top of the base. The mounting disk is installed on the grasping unit. The central chamber is arranged in the bottom area of the mounting disk.

[0010] A tubular workpiece clamping and locking unit is arranged outside the mounting disk and is used to clamp the tubular workpiece to be detected during detection.

[0011] A tubular workpiece clamping and flipping unit is arranged in the bottom area of the mounting disk and is used to flip the clamped tubular workpiece during the detection process for internal flaw detection.

[0012] A tubular workpiece flipping and locking unit is arranged in the area of the tubular workpiece clamping and flipping unit and is used to lock the tubular workpiece during the flipping process so that the tubular workpiece maintains its original clamped state and prevent the tubular workpiece from falling off during the flipping process.

[0013] Preferably, the tubular workpiece clamping and locking unit includes a vertical frame installed between the mounting disk and the central chamber. The vertical frame is provided in several groups. A first movable arm is hingedly installed between adjacent vertical frames. One end of the first movable arm is hingedly installed with a second movable arm. An installation frame is arranged on the outer surface of the central chamber. A clamping arm is hingedly installed on the installation 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. 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 installed on one side of the rotating block. An installation seat is installed on the rotating end of the electric turntable. The installation seat is arc-shaped. A first driving roller is installed on the top of adjacent installation seats. A second driving roller is installed on the bottom of adjacent installation seats. An upper clamping plate is installed on the rotating end of the first driving roller. 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 anti-slip blocks, which are respectively installed on the upper clamping plate and the lower clamping plate. Rotating rollers are arranged at both ends of the anti-slip blocks, and special-shaped chucks are installed on the rotating ends of the rotating rollers. An electric telescopic rod is also installed on the rotating end of the electric turntable, and an electromagnetic chuck 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 platform. A first-axis joint is installed on the top of the mechanical base, a second-axis joint is installed on the movable end of the first-axis joint, a third-axis joint is installed on the movable end of the second-axis joint, and a fourth-axis joint is installed on the movable end of the third-axis joint.

[0017] Preferably, a fifth-axis joint is installed on the movable end of the fourth-axis joint, a sixth-axis joint is installed on the movable end of the fifth-axis joint, and the mounting plate is installed on the movable end of the sixth-axis joint.

[0018] Preferably, a flipping power locking unit is installed on the top of the central bin. The flipping power locking unit includes a vertically movable cylinder, which is installed inside the central bin. An inclined positioning block is installed on the movable end of the vertically movable cylinder, a lifting ring is installed on the top of the inclined positioning block, 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 flipping power locking unit further includes two horizontally movable cylinders, which are symmetrically installed on the top of the central bin. The output ends of the two horizontally movable cylinders are 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 bin, and an X-ray detector is installed inside the detection bin.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. During use, the adjacent lower clamping plate is lifted by the provided second driving roller, so that the lower clamping plate clamps and fixes the tubular workpiece, and the upper clamping plate is lowered by the provided first driving roller. The upper clamping plate and the lower clamping plate lock and support the tubular workpiece on both sides, further ensuring the fixation of the tubular workpiece during the X-ray detection process.

[0024] 2. During use, after the upper clamping plate and the lower clamping plate rotate in the forward direction, flaw detection is performed through one end of the provided X-ray detector. After the detection is completed, the upper clamping plate and the lower clamping plate are driven to rotate in the reverse direction again by the provided electric turntable. After the upper clamping plate and the lower clamping plate rotate in the reverse direction, flaw detection is performed through the other end of the provided X-ray detector, avoiding omission of internal wounds of the tubular workpiece and ensuring effective detection of the tubular workpiece.

[0025] 3. During use, the provided electric telescopic rod will push the electromagnetic chuck to expand outwards, and finally make the electromagnetic chuck closely fit on 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 parallel to the surface of the tubular workpiece to fit on the end surface of the tubular workpiece, thus completing the locking of both ends of the tubular workpiece during the flipping process, effectively avoiding the falling off of the tubular workpiece during the flaw detection process and ensuring effective detection of the tubular workpiece. Brief Description of the Drawings

[0026] Figure 1 It is a schematic diagram of the overall 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 mounting plate part of the present invention;

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

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

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

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

[0033] Figure 8 It is a schematic diagram of the electric telescopic rod and the electromagnetic chuck part of the present invention.

[0034] In the figure: 1, base; 2, detection chamber; 21, detection channel; 22, X-ray detector; 3, mechanical base; 31, first-axis joint; 32, second-axis joint; 33, third-axis joint; 34, fourth-axis joint; 35, fifth-axis joint; 36, sixth-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, fixed seat; 531, first electric roller; 54, horizontal movable cylinder; 55, vertical movable cylinder; 56, inclined 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 chuck. Detailed implementation

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figure 1-8 , the present invention provides a technical solution:

[0037] Embodiment 1: An X-ray detection, grasping and flipping mechanism for workpieces: It includes a base 1, a detection chamber 2, a mounting plate 4 and a central chamber 5. The detection chamber 2 is installed on the top of the base 1. A grasping unit is provided on the top of the base 1. The mounting plate 4 is installed on the grasping unit. The central chamber 5 is arranged in the bottom area of the mounting plate 4;

[0038] The grasping unit includes a mechanical base 3. The mechanical base 3 is installed on the top of the base 1. A first-axis joint 31 is installed on the top of the mechanical base 3. A second-axis joint 32 is installed on the movable end of the first-axis joint 31. A third-axis joint 33 is installed on the movable end of the second-axis joint 32. A fourth-axis joint 34 is installed on the movable end of the third-axis joint 33.

[0039] A fifth-axis joint 35 is installed on the movable end of the fourth-axis joint 34. A sixth-axis joint 36 is installed on the movable end of the fifth-axis joint 35. The mounting plate 4 is installed on the movable end of the sixth-axis joint 36.

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

[0041] In this embodiment, when X-ray flaw detection is required for a tubular workpiece, 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 are set to operate the mounting plate 4 to continuously move closer to the tubular workpiece. Subsequently, the vertical frame 41 at the bottom of the mounting plate 4, as well as the first movable arm 42 and the second movable arm 43, approach the tubular workpiece. Then, the first electric roller 531 is set to drive the rotating block 6 to rotate. When the two rotating blocks 6 rotate closer, the tubular workpiece will be picked up, so that the tubular workpiece remains stable during X-ray flaw detection.

[0042] The tubular workpiece clamping and locking unit is arranged outside the mounting plate 4 and is used to clamp the tubular workpiece to be detected during detection.

[0043] The tubular workpiece clamping and locking unit includes a vertical frame 41. The vertical frame 41 is installed between the mounting plate 4 and the central bin 5. The vertical frame 41 is set in several groups. A first movable arm 42 is hinged between adjacent vertical frames 41. One end of the first movable arm 42 is hinged with a second movable arm 43. An installation frame 51 is arranged on the outer surface of the central bin 5. A clamping arm 52 is hinged on the installation frame 51. A fixed seat 53 is installed at the bottom of the clamping arm 52. 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. A driven block 61 is installed on one side of the rotating block 6. One end of the second movable arm 43 is hinged with the driven block 61.

[0044] In this embodiment, when the two rotating blocks 6 rotate closer, the tubular workpiece is picked up. When the rotating block 6 rotates closer, it will drive the first movable arm 42 and the second movable arm 43 to be tightened through the driven block 61, so that the first movable arm 42 and the second movable arm 43 support on the surface of the driven block 61 outside the rotating block 6 to keep the driven block stable. Subsequently, the adjacent lower clamping plate 8 is lifted by the second driving roller 712 set, so that the lower clamping plate 8 clamps and fixes the tubular workpiece, and the upper clamping plate 84 is lowered through the first driving roller 711 set. The tubular workpiece is locked and supported on both sides by the upper clamping plate 84 and the lower clamping plate 8, further ensuring the fixation of the tubular workpiece during X-ray detection.

[0045] The tubular workpiece clamping and flipping unit is arranged in the bottom area of the mounting plate 4 and is used to flip the clamped tubular workpiece during detection for internal flaw detection.

[0046] The tubular workpiece clamping and flipping unit includes an electric turntable 7. The electric turntable 7 is installed on one side of the rotating block 6. An installation seat 71 is installed on the rotating end of the electric turntable 7. The installation seat 71 is arranged in an arc shape. A first driving roller 711 is installed on the top of adjacent installation seats 71, and a second driving roller 712 is installed on the bottom of adjacent installation seats 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 clamping plate 84 and the lower clamping plate 8 lock the tubular workpiece, the first-axis joint 31, the second-axis joint 32, the third-axis joint 33, the fourth-axis joint 34, the fifth-axis joint 35, and the sixth-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 detection chamber 2 through the detection channel 21. Subsequently, the outer surface flaw detection of the tubular workpiece is carried out by the X-ray detector 22 arranged inside the detection chamber 2. During the detection process, the electric turntable 7 can be used to drive the upper clamping plate 84 and the lower clamping plate 8 to rotate in the forward direction. After the upper clamping plate 84 and the lower clamping plate 8 rotate in the forward direction, flaw detection is carried out through one end of the X-ray detector 22 arranged. After waiting for the detection to be completed, the electric turntable 7 is used to drive the upper clamping plate 84 and the lower clamping plate 8 to rotate in the reverse direction again. After the upper clamping plate 84 and the lower clamping plate 8 rotate in the reverse direction, flaw detection is carried out through the other end of the X-ray detector 22 arranged, avoiding the omission of internal wounds of the tubular workpiece and ensuring the effective detection of the tubular workpiece.

[0048] The tubular workpiece flipping and locking unit is arranged in the area of the tubular workpiece clamping and flipping unit and is used to lock the tubular workpiece during the flipping process, so that the tubular workpiece maintains its original clamped state and avoids falling off during the flipping process of the tubular workpiece.

[0049] The tubular workpiece flipping and locking unit includes anti-slip blocks 81. The anti-slip blocks 81 are respectively installed on the upper clamping plate 84 and the lower clamping plate 8. Rotating rollers 82 are respectively arranged at both ends of the anti-slip blocks 81. An irregular chuck 83 is installed on the rotating end of the rotating roller 82. An electric telescopic rod 9 is also installed on the rotating end of the electric turntable 7. An electromagnetic chuck 91 is installed on the output end of the electric telescopic rod 9.

[0050] An anti-slip layer 811 is arranged 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 avoid the falling off of the tubular workpiece, anti-slip blocks 81 are installed at the ends of the upper clamping plate 84 and the lower clamping plate 8. 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 arranged will push the electromagnetic chuck 91 to expand outwards, and finally the electromagnetic chuck 91 will closely fit on the outer surface of the tubular workpiece and adsorb on the outer surface of the tubular workpiece.

[0052] Embodiment 2:

[0053] Based on Embodiment 1, in this Embodiment 2, it is considered 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 provided, which can ensure the stability of the tubular workpiece in a parallel state. However, when the tubular workpiece is subjected to X-ray flaw detection, it needs to be flipped, and the tubular workpiece will experience a change from a parallel state to a vertical state. When the tubular workpiece is transformed into a vertical state, there is no locking structure at both ends of the tubular workpiece, which is likely to cause the tubular workpiece to slip off between the upper clamping plate 84 and the lower clamping plate 8. Therefore, a flipping power locking unit is provided in this Embodiment 2 to avoid the above problems;

[0054] A flipping power locking unit is installed at the top of the central bin 5. The flipping power locking unit includes a vertical moving cylinder 55, which is installed inside the central bin 5. An inclined positioning block 56 is installed on the moving end of the vertical moving cylinder 55. A jacking ring 57 is installed on the top of the inclined positioning block 56. A jacking block 421 is installed on the top of the jacking ring 57. The jacking block 421 is hinged to one end of the first moving arm 42.

[0055] The flipping power locking unit further includes two sets of horizontal moving cylinders 54, which are symmetrically installed at the top of the central bin 5. The output ends of the two sets of horizontal moving cylinders 54 are 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 parallel to the surface of the tubular workpiece to fit the end surface of the tubular workpiece, thereby completing the locking of both ends of the tubular workpiece during the flipping process, effectively avoiding the falling off of the tubular workpiece 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 X-ray flaw detection needs to be performed on the tubular workpiece, through the provided first-axis joint 31, second-axis joint 32, third-axis joint 33, fourth-axis joint 34, fifth-axis joint 35 and sixth-axis joint 36, the operation mounting plate 4 is operated to continuously move closer to the tubular workpiece. Subsequently, the vertical frame 41 at the bottom of the mounting plate 4, as well as the first moving arm 42 and the second moving arm 43, approach the tubular workpiece. Subsequently, the first electric roller 531 is used to drive the rotating block 6 to rotate. When the two rotating blocks 6 rotate closer, the tubular workpiece will be picked up, so that the tubular workpiece remains stable during the X-ray flaw detection;

[0059] When the two sets of rotating blocks 6 rotate closer, the tubular workpiece is picked up. When the rotating block 6 rotates closer, it will drive the first movable arm 42 and the second movable arm 43 to tighten through the driven block 61, so that the first movable arm 42 and the second movable arm 43 support on the surface of the driven block 61 outside the rotating block 6, making the driven block stable. Subsequently, the adjacent lower clamping plate 8 is lifted by the second driving roller 712 provided, 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 provided. The upper clamping plate 84 and the lower clamping plate 8 lock and support the tubular workpiece on both sides, further ensuring the fixation of the tubular workpiece during the X-ray detection process;

[0060] After the upper clamping plate 84 and the lower clamping plate 8 lock the tubular workpiece, the first axis joint 31, the second axis joint 32, the third axis joint 33, the fourth axis joint 34, the fifth axis joint 35 and the sixth 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 put into the detection chamber 2 through the detection channel 21. Subsequently, the outer surface flaw detection of the tubular workpiece is carried out by the X-ray detector 22 arranged inside the detection chamber 2. During the detection process, the upper clamping plate 84 and the lower clamping plate 8 can be driven to rotate in the forward direction by the electric turntable 7 provided. After the upper clamping plate 84 and the lower clamping plate 8 rotate in the forward direction, flaw detection is carried out through one end of the X-ray detector 22 provided. After waiting for the detection 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 electric turntable 7 provided. After the upper clamping plate 84 and the lower clamping plate 8 rotate in the reverse direction, flaw detection is carried out through the other end of the X-ray detector 22 provided, avoiding the omission of internal wounds of the tubular workpiece;

[0061] 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 avoid the dropping of the tubular workpiece, anti-slip blocks 81 are installed at the ends of the upper clamping plate 84 and the lower clamping plate 8. 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 chuck 91 to expand outwards, and finally make the electromagnetic chuck 91 closely fit on 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 parallel to the surface of the tubular workpiece to fit on the end surface of the tubular workpiece, thus completing the locking of both ends of the tubular workpiece during the flipping process, effectively avoiding the dropping of the tubular workpiece during the flaw detection process and ensuring the effective detection of the tubular workpiece.

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

Claims

1. An X-ray detection grasping and flipping mechanism for workpieces, characterized in that: It includes a base (1), a detection bin (2), a mounting disc (4) and a central bin (5). The detection bin (2) is installed on the top of the base (1). A grasping unit is provided on the top of the base (1). The mounting disc (4) is installed on the grasping unit. The central bin (5) is arranged in the bottom area of the mounting disc (4). A tubular workpiece clamping and locking unit is provided on the outside of the mounting disc (4) and is used to clamp the tubular workpiece to be detected during detection. The tubular workpiece clamping and locking unit includes a vertical frame (41). The vertical frame (41) is installed between the mounting disc (4) and the central bin (5). A number of groups of the vertical frames (41) are provided. A first movable arm (42) is hingedly installed between adjacent vertical frames (41). One end of the first movable arm (42) is hingedly installed with a second movable arm (43). An installation frame (51) is provided on the outer surface of the central bin (5). A clamping arm (52) is hingedly installed on the installation frame (51). A fixed seat (53) is installed at the bottom of the clamping arm (52). 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). 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). A tubular workpiece clamping and flipping unit is provided in the bottom area of the mounting disc (4) and is used to flip the clamped tubular workpiece during the detection process for internal flaw detection. The tubular workpiece clamping and flipping unit includes an electric turntable (7). The electric turntable (7) 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 arc-shaped. A first driving roller (711) is installed on the top of adjacent mounting seats (71). A second driving roller (712) is installed on the bottom of adjacent mounting seats (71). An upper clamping plate (84) is installed on the rotating end of the first driving roller (711). A lower clamping plate (8) is installed on the rotating end of the second driving roller (712). A tubular workpiece flipping and locking unit is provided in the area of the tubular workpiece clamping and flipping unit and is used to lock the tubular workpiece during the flipping process so that the tubular workpiece maintains its original clamped state and prevent the tubular workpiece from falling off during the flipping process. The tubular workpiece flipping and locking unit includes anti-sliding blocks (81). The anti-sliding blocks (81) are respectively installed on the upper clamping plate (84) and the lower clamping plate (8). Rotating rollers (82) are respectively provided at both ends of the anti-sliding blocks (81). An irregular chuck (83) is installed on the rotating end of the rotating roller (82). An electric telescopic rod (9) is also installed on the rotating end of the electric turntable (7). An electromagnetic chuck (91) is installed on the output end of the electric telescopic rod (9).

2. The X-ray detection, grasping and flipping mechanism for a workpiece according to claim 1, characterized in that: The grasping unit includes a mechanical base (3), the mechanical base (3) is installed on the top of the base (1), a first-axis joint (31) is installed on the top of the mechanical base (3), a second-axis joint (32) is installed on the movable end of the first-axis joint (31), a third-axis joint (33) is installed on the movable end of the second-axis joint (32), and a fourth-axis joint (34) is installed on the movable end of the third-axis joint (33).

3. The X-ray detection, grasping and flipping mechanism for a workpiece according to claim 2, characterized in that: A fifth-axis joint (35) is installed on the movable end of the fourth-axis joint (34), a sixth-axis joint (36) is installed on the movable end of the fifth-axis joint (35), and the mounting plate (4) is installed on the movable end of the sixth-axis joint (36).

4. A workpiece X-ray detection grasping and flipping mechanism according to claim 1, characterized in that: A turnover power locking unit is installed on the top of the central bin (5). The turnover power locking unit includes a vertically movable cylinder (55), the vertically movable cylinder (55) is installed inside the central bin (5), an obliquely positioned block (56) is installed on the movable end of the vertically movable cylinder (55), a lifting ring (57) is installed on the top of the obliquely positioned block (56), a lifting block (421) is installed on the top of the lifting ring (57), and the lifting block (421) is hinged to one end of the first movable arm (42).

5. The X-ray inspection, grasping and flipping mechanism for workpiece according to claim 4, wherein: The turnover power locking unit further includes two horizontally movable cylinders (54). The two horizontally movable cylinders (54) are symmetrically installed on the top of the central bin (5), and the output end of the horizontally movable cylinder (54) is hinged to one side of the clamping arm (52).

6. The X-ray inspection, grasping and flipping mechanism for a workpiece according to claim 1, characterized in that: An anti-slip layer (811) is provided on one side of the anti-slip block (81).

7. The X-ray detection and grasping and flipping mechanism for workpieces according to claim 1, characterized in that: A detection channel (21) is provided on the top of the detection bin (2), and an X-ray detector (22) is provided inside the detection bin (2).

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