Equipment for detecting large casting based on X-rays

Abstract

The utility model provides equipment for detecting large castings based on X-rays, and relates to integrated equipment for detecting large castings such as vehicle bodies, the equipment comprises a lead room, a three-dimensional conveying group, a detection group, a feeding group and a discharging group, the three-dimensional conveying group comprises a bottom horizontal conveying line, a top horizontal conveying line, a positioning mechanism and a vertical lifting mechanism, the feeding set is used for grabbing workpieces under the assistance of a 3D camera and placing the workpieces on a clamp of the vertical lifting mechanism on the input side, the positioning mechanism is used for positioning the workpieces so that the detection set can conduct X-ray detection, the discharging set is used for grabbing the workpieces under the assistance of the 3D camera for discharging, and the vertical lifting mechanism on the output side is used for driving the clamp with empty materials to ascend. The utility model aims to solve the problems that in the prior art, the workload of workers is large, the positioning requirement for feeding and discharging of a robot is high, the occupied area of a common double-inlet double-outlet and plane circulation mode is large, and automatic production is not facilitated.

Description

Technical Field

[0001] The utility model relates to inspection equipment for large castings such as integrated vehicle bodies, in particular to equipment for inspecting large castings based on X-rays. Background Technique

[0002] At present, integrated die-casting is the trend in the field of automotive parts production. Whether there are defects in large castings such as integrated vehicle bodies plays a decisive role in the stability and safety of vehicles.

[0003] Existing equipment for inspecting large castings by X-rays mainly uses manual loading and unloading or robotic loading and unloading after accurately positioning the material frame. Manual loading and unloading is not only time-consuming, but also the workload of workers is extremely large, which is not conducive to automated production. Accurately positioning the material frame for robotic loading and unloading requires high precision of the system. If there is a little deviation in the material frame or workpiece, it will be difficult for the robot to grasp the workpiece, and the ordinary double-in and double-out mode and in-plane recirculation mode occupy a large area of the factory building. Content of the Utility Model

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide equipment for inspecting large castings based on X-rays, aiming to solve the problems in the prior art such as large workload of workers, high positioning requirements for robotic loading and unloading, large floor area occupied by ordinary double-in and double-out and plane circulation modes, and being not conducive to automated production.

[0005] The utility model provides the following technical solutions:

[0006] Equipment for inspecting large castings based on X-rays, including a lead room, a three-dimensional conveying group, an inspection group, a loading group, and an unloading group. The three-dimensional conveying group includes a bottom horizontal conveying line, a top horizontal conveying line, a positioning mechanism, and a vertical lifting mechanism. There are two groups of vertical lifting mechanisms arranged outside the lead room and located at both ends of the parallel bottom horizontal conveying line and top horizontal conveying line. The bottom conveying line is located inside the lead room, and the top horizontal conveying line is arranged on the upper layer outside the lead room. The loading group is used to grasp the workpiece with the assistance of a 3D camera and place it on the fixture of the input-side vertical lifting mechanism. There are two segmented groups of bottom horizontal conveying lines. One group of bottom horizontal conveying lines is used to receive the fixture conveyed by the input-side vertical lifting mechanism. A positioning mechanism is arranged between the two groups of bottom horizontal conveying lines. The positioning mechanism is used to position the workpiece for the inspection group to perform X-ray inspection. The other group of bottom horizontal conveying lines is used to receive the workpiece after inspection and output it to the output-side vertical lifting mechanism. The unloading group is used to grasp and unload the workpiece with the assistance of a 3D camera. The output-side vertical lifting mechanism is used to drive the empty fixture to rise and input it to the top horizontal conveying line. The input-side vertical lifting mechanism is used to receive the fixture input by the top horizontal conveying line and drive the fixture to descend to align with the bottom horizontal conveying line;

[0007] In a device for detecting large castings based on X-rays according to the present utility model, the workflow for detecting a group of workpieces is as follows: S1: The loading group grasps the workpiece with the assistance of a 3D camera and places it on the fixture of the input-side vertical lifting mechanism; S2: The input-side vertical lifting mechanism transports the fixture to the bottom horizontal conveyor line on one side; S3: The bottom horizontal conveyor line receives the fixture carrying the workpiece and transports it to the positioning mechanism. The positioning mechanism positions the fixture, and the detection group performs X-ray detection on the workpiece on the fixture; S4: After detection, the positioning mechanism transports the fixture and the workpiece to the bottom horizontal conveyor line on the other side. The bottom conveyor line receives the fixture carrying the workpiece and transports it to the output-side vertical lifting mechanism; S5: The unloading group grasps the workpiece for unloading with the assistance of a 3D camera, and the vertical lifting mechanism drives the fixture with empty material to rise and inputs it to the top horizontal conveyor line; S6: The top horizontal conveyor line inputs the fixture to the input-side vertical lifting mechanism. After the input-side vertical lifting mechanism receives the fixture input by the top horizontal conveyor line, it drives the fixture to descend until it aligns with the bottom horizontal conveyor line;

[0008] So far, the cooperation between the automated and three-dimensionally distributed three-dimensional conveying group and the lead room can ensure that on the basis of the lead room's isolation work, the overall floor area can also be greatly reduced. Moreover, since the loading group and the unloading group complete the grasping and loading / unloading of the workpiece with the assistance of their respective 3D cameras, that is, because the loading / unloading is guided by 3D vision, the positioning requirements for the material frame can be less strict;

[0009] The material frame is generally provided by the customer. 3 or 4 large castings can be placed in the material frame, and the castings are placed in the same posture in the material frame, which is convenient for the vision camera to capture and the gripper to grasp. During actual inspection, the integrated body casting to be inspected is placed in the loading material frame, and the loading material frame is placed in the designated area by an AGV cart or a forklift. The loading group uses a loading robot to slide on the ground rail to near the material frame. The 3D camera takes pictures of the material frame. After analysis by the vision system, the loading robot is guided to grasp the workpiece from the material frame. The loading robot holds the workpiece and moves on the ground rail to the loading position. At the loading position, the workpiece is placed on the fixture of the vertical lifting mechanism. The fixture at the loading end is transferred to the lead room along with the conveyor line until it reaches the inspection station of the positioning mechanism. The workpiece door is closed, and the inspection group executes the pre-programmed procedure to perform X-ray inspection on the integrated body casting. After the inspection is completed, the workpiece door is opened. The fixture is transferred to the unloading end along with the conveyor line. The unloading group, that is, the unloading robot, grasps the workpiece from the unloading position. After obtaining the judgment result of qualified or unqualified, it slides on the ground rail to the corresponding unloading material frame. The 3D camera takes pictures of the material frame. The vision system guides the robot to place the workpiece in the material frame. The empty fixture at the unloading end is driven by the vertical lifting mechanism to rise from the bottom to the top of the lead room. The conveyor line operation transfers the empty fixture to the top of the lead room for caching. Then, under the action of the vertical lifting mechanism, the empty fixture is lowered to the bottom position to complete a cycle. The whole system can be equipped with 3 fixtures. One group of fixtures is buffered and static in the lead room. And while the fixture carrying the workpiece moves out of the lead room from the inspection station, the fixture at the loading station enters the lead room along with the conveyor line to save the beat.

[0010] Preferably, two groups of workpiece doors controlled by a controller to open and close simultaneously are installed on the front and rear sides of the lead room. The two groups of workpiece doors are used to isolate between the two groups of vertical lifting mechanisms and the bottom horizontal conveyor line. Therefore, when the workpiece enters the bottom horizontal conveyor line from the vertical lifting mechanism on the input side, the controller can close the two groups of workpiece doors simultaneously to more safely ensure radiation leakage. Two groups of service doors are also installed on the left and right sides of the lead room. The two groups of service doors are used for personnel and equipment to pass through during maintenance. And glass observation windows are also provided on the service doors and the workpiece doors for personnel to observe the internal situation through the glass.

[0011] Preferably, the inspection group includes an inspection robot, a C-arm, an X-ray source, and a flat panel receiver. The C-arm is fixed at the driving end of the inspection robot. The X-ray source is installed at the top of the C-arm. The flat panel receiver is correspondingly installed at the bottom of the C-arm below the X-ray source. And there are two groups of inspection robots arranged oppositely. The C-arms of the two groups of inspection robots are used to hold both sides of the workpiece on the positioning mechanism to achieve overall inspection of the workpiece.

[0012] Preferably, the positioning mechanism includes a conveying carrier. The fixture is an I-shaped industrial carrier. The top support of the industrial carrier is used to support and position the workpiece. Its bottom plate support is placed on the conveying carrier and is driven forward by the first conveying rollers on both sides of the conveying carrier. On both sides of the conveying carrier, there are also limit side plates for limiting both sides of the bottom plate support, and a positioning cylinder is installed inside. The driving end of the positioning cylinder is equipped with a positioning pin, and the positioning pin is used to insert into the bottom plate support to position the industrial carrier during detection.

[0013] Preferably, the positioning mechanism further includes a lifting and rotating mechanism installed below the conveying carrier. The lifting and rotating mechanism includes a turntable and a lifting cylinder. The lifting cylinder is installed on the turntable, and its driving end is installed with the conveying carrier. During normal operation, the rotating function of this lifting and rotating mechanism is not activated. Large castings such as integrated bodies can be fully covered by the detection robots on both sides. However, it is used when one side of the robot breaks down and needs to be repaired. Without the rotating mechanism, the single-sided robot in the lead room cannot cover large castings, and there is a risk of the entire production line stopping. Therefore, by setting this lifting and rotating mechanism, after one side of the detection robot has finished detecting half of the workpiece, the lifting and rotating mechanism can drive the fixture and the workpiece to rotate 180°, and then complete the detection of the other half of the workpiece, increasing the ability of the entire system to cope with the risk of downtime.

[0014] Preferably, the vertical lifting mechanism includes a vertical frame, a lifting carrier, and a lifting drive screw rod. The lifting carrier is slidably installed between two vertical frames and is driven to lift by the lifting drive screw rod. There are also second conveying rollers arranged thereon for driving the horizontal conveying of the industrial carrier, and at one end away from the bottom horizontal conveying line and the top horizontal conveying line, there are also blocks for limiting the movement of the industrial carrier in place.

[0015] The beneficial effects of the present utility model are:

[0016] In the present utility model, the workflow for inspecting a set of workpieces is as follows: S1: The loading group grabs the workpieces with the assistance of a 3D camera and places them on the fixture of the input-side vertical lifting mechanism; S2: The input-side vertical lifting mechanism transports the fixture to the bottom horizontal conveyor line on one side; S3: The bottom horizontal conveyor line receives the fixture carrying the workpiece and transports it to the positioning mechanism. The positioning mechanism positions the fixture, and the inspection group performs X-ray inspection on the workpiece on the fixture; S4: After inspection, the positioning mechanism transports the fixture and the workpiece to the bottom horizontal conveyor line on the other side. The bottom conveyor line receives the fixture carrying the workpiece and transports it to the output-side vertical lifting mechanism; S5: The unloading group grabs and unloads the workpieces with the assistance of a 3D camera, and the vertical lifting mechanism drives the fixture with empty material to rise and inputs it to the top horizontal conveyor line; S6: The top horizontal conveyor line inputs the fixture to the input-side vertical lifting mechanism. After the input-side vertical lifting mechanism receives the fixture input by the top horizontal conveyor line, it drives the fixture to descend until it aligns with the bottom horizontal conveyor line;

[0017] So far, the cooperation between the automated and three-dimensionally distributed three-dimensional conveyor group and the lead house can ensure that, on the basis of isolating the work in the lead house, the overall floor area can be greatly reduced. Moreover, since the loading group and the unloading group complete the grasping and loading / unloading of the workpieces with the assistance of their respective 3D cameras, that is, because the loading / unloading is guided by 3D vision, the positioning requirements for the material frame can be less stringent;

[0018] The material frame is generally provided by the customer. 3 or 4 large castings can be placed in the material frame, and the castings are placed in the same posture in the material frame, which is convenient for the vision camera to capture and the gripper to grasp. During actual inspection, the integrated body casting to be inspected is placed in the loading material frame, and the loading material frame is placed in the designated area by the AGV cart or forklift. The loading group uses the loading robot to slide on the ground rail to near the material frame. The 3D camera takes pictures of the material frame. After analysis by the vision system, the loading robot is guided to grasp the workpiece from the material frame. The loading robot holds the workpiece and moves on the ground rail to the loading position. At the loading position, the workpiece is placed on the fixture of the vertical lifting mechanism. The fixture at the loading end is transferred to the lead house along with the conveyor line until it reaches the inspection station of the positioning mechanism. The workpiece door is closed, and the inspection group executes the pre-programmed procedure to perform X-ray inspection on the integrated body casting. After the inspection is completed, the workpiece door is opened, and the fixture is moved to the unloading end along with the conveyor line. The unloading group, that is, the unloading robot, grasps the workpiece from the unloading position. After obtaining the judgment result of qualified or unqualified, it slides on the ground rail to the corresponding unloading material frame. The 3D camera takes pictures of the material frame, and the vision system guides the robot to place the workpiece into the material frame. The empty fixture at the unloading end is driven by the vertical lifting mechanism to rise from the bottom to the top of the lead house, and the conveyor line operation moves the empty fixture to the top buffer of the lead house. Then, under the action of the vertical lifting mechanism, the empty fixture is lowered to the bottom position to complete a cycle. The entire system can be equipped with 3 fixtures. One set of fixtures is buffered and static in the lead house. And while the fixture carrying the workpiece moves out of the lead house from the inspection station, the fixture at the loading station enters the lead house along with the conveyor line to save the beat. Description of the Drawings

[0019] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0020] Figure 1 is a schematic three-dimensional structure diagram showing the layout of two groups of lead houses in the present invention;

[0021] Figure 2 is Figure 1 the top view of

[0022] Figure 3 is a schematic structure diagram of the three-dimensional conveying group;

[0023] Figure 4 is a schematic structure diagram of the detection group emitting X-rays;

[0024] Figure 5 is a partial schematic diagram of the vertical lifting mechanism;

[0025] Figure 6 is a schematic structure diagram when two groups of detection robots detect the workpiece state;

[0026] Figure 7It is a schematic structural diagram of a work carrier;

[0027] Figure 8 It is a partial schematic diagram of the structure on the conveying carrier;

[0028] Markings in the figure:

[0029] 1. Lead room; 2. Three-dimensional conveying group; 3. Detection group; 4. Loading group; 5. Unloading group; 6. Work carrier; 7. Workpiece; 21. Bottom horizontal conveying line; 22. Top horizontal conveying line; 23. Positioning mechanism; 24. Vertical lifting mechanism; 31. Detection robot; 32. C-arm; 33. X-ray source; 34. Flat panel receiver; 231. Conveying carrier; 232. First conveying roller; 233. Limiting side plate; 234. Positioning pin; 241. Upright frame; 242. Lifting carrier; 243. Stop block. Detailed implementation mode

[0030] Embodiment 1

[0031] As Figure 1-8 shown, a device for detecting large castings based on X-ray includes, in this embodiment, a lead room 1, a three-dimensional conveying group 2, a detection group 3, a loading group 4 and an unloading group 5. The three-dimensional conveying group 2 includes a bottom horizontal conveying line 21, a top horizontal conveying line 22, a positioning mechanism 23 and a vertical lifting mechanism 24. There are two sets of the vertical lifting mechanism 24 arranged outside the lead room 1 and located at both ends of the parallel bottom horizontal conveying line 21 and top horizontal conveying line 22. The bottom conveying line is located inside the lead room 1, and the top horizontal conveying line 22 is arranged on the upper layer outside the lead room 1. The loading group 4 is used to grab the workpiece 7 with the assistance of a 3D camera and place it on the fixture of the input-side vertical lifting mechanism 24. There are two segmented sets of the bottom horizontal conveying line 21. One set of the bottom horizontal conveying line 21 is used to receive the fixture conveyed by the input-side vertical lifting mechanism 24. The positioning mechanism 23 is arranged between the two sets of the bottom horizontal conveying line 21 and is used to position the workpiece 7 for the detection group 3 to perform X-ray detection. The other set of the bottom horizontal conveying line 21 is used to receive the workpiece 7 after detection and output it to the output-side vertical lifting mechanism 24. The unloading group 5 is used to grab and unload the workpiece 7 with the assistance of a 3D camera. The output-side vertical lifting mechanism 24 is used to drive the empty fixture to rise and input it to the top horizontal conveying line 22. The input-side vertical lifting mechanism 24 is used to receive the fixture input from the top horizontal conveying line 22 and drive the fixture to descend to align with the bottom horizontal conveying line 21;

[0032] So far, the cooperation between the three-dimensional conveying group 2 with automatic and three-dimensional distribution and the lead chamber 1 can ensure that on the basis of the isolation of the lead chamber 1 during operation, the overall floor area can be greatly reduced. Moreover, since the loading group 4 and the unloading group 5 complete the grasping, loading and unloading of the workpiece 7 with the assistance of their respective 3D cameras, that is, because the loading and unloading are guided by 3D vision, the positioning requirements for the material frame can be less stringent.

[0033] In a device for detecting large castings based on X-rays in this embodiment, two workpiece doors controlled by a controller to open and close simultaneously are installed on the front and rear sides of the lead chamber 1. The two workpiece doors are used to isolate between the two vertical lifting mechanisms 24 and the bottom horizontal conveyor line 21. Therefore, when the workpiece 7 enters the bottom horizontal conveyor line 21 from the vertical lifting mechanism 24 on the input side, the controller can close the two workpiece doors simultaneously to more safely ensure radiation leakage. Two service doors are also installed on the left and right sides of the lead chamber 1. The two service doors are used for personnel and equipment to pass through during maintenance. Glass observation windows are also provided on the service doors and the workpiece doors for personnel to observe the internal situation through the glass.

[0034] The detection group 3 includes a detection robot 31, a C-shaped arm 32, an X-ray source 33, and a flat panel receiver 34. The C-shaped arm 32 is fixed to the driving end of the detection robot 31. The X-ray source 33 is installed at the top of the C-shaped arm 32. The flat panel receiver 34 is correspondingly installed at the bottom end of the C-shaped arm 32 below the X-ray source 33. And there are two sets of detection robots 31 arranged oppositely. The C-shaped arms 32 of the two sets of detection robots 31 are used to embrace both sides of the workpiece 7 on the positioning mechanism 23 to realize the overall detection of the workpiece 7.

[0035] The positioning mechanism 23 includes a conveying carrier 231. The fixture is an I-shaped industrial carrier 6. The top support of the industrial carrier 6 is used to support and position the workpiece 7. Its bottom plate support is placed on the conveying carrier 231 and is driven forward by the conveying rollers 232 on both sides of the conveying carrier 231. Limiting side plates 233 for limiting both sides of the bottom plate support are also provided on both sides of the conveying carrier 231. A positioning cylinder is installed inside it. The driving end of the positioning cylinder is installed with a positioning pin 234. The positioning pin 234 is used to insert into the bottom plate support to position the industrial carrier 6 during detection.

[0036] The vertical lifting mechanism 24 includes a vertical frame 241, a lifting carrier 242, and a lifting driving screw rod. The lifting carrier 242 is slidably installed between the two vertical frames 241 and is driven to lift by the lifting driving screw rod. Conveying rollers 2 for driving the horizontal conveying of the industrial carrier 6 are also arranged on it. And a stop block 243 for limiting the movement of the industrial carrier 6 in place is also provided at one end away from the bottom horizontal conveyor line 21 and the top horizontal conveyor line 22.

[0037] Among them, the material frame is generally provided by the customer. 3 or 4 large castings can be placed in the material frame, and the placement postures of the castings in the material frame are the same, which is convenient for the vision camera to capture and the gripper to grasp. During actual detection, the integrated body casting to be detected is placed in the loading material frame, and the loading material frame is placed in the designated area by an AGV cart or a forklift. The loading group 4 uses a loading robot to slide on the ground rail to near the material frame. The 3D camera takes pictures of the material frame. After analysis by the vision system, the loading robot is guided to grasp the workpiece 7 from the material frame. The loading robot holds the workpiece 7 and moves on the ground rail to the loading position. At the loading position, the workpiece 7 is placed on the fixture of the vertical lifting mechanism 24. The fixture at the loading end is transferred to the lead chamber 1 along with the conveyor line until it reaches the detection station of the positioning mechanism 23. The workpiece door is closed, and the detection group 3 executes the pre-programmed procedure to perform X-ray detection on the integrated body casting. After the detection is completed, the workpiece door is opened. The fixture is transferred to the unloading end along with the conveyor line. The unloading group 5, that is, the unloading robot, grasps the workpiece 7 from the unloading position. After obtaining the judgment result of qualified or unqualified, it slides on the ground rail to the corresponding unloading material frame. The 3D camera takes pictures of the material frame. The vision system guides the robot to place the workpiece 7 into the material frame. The empty fixture at the unloading end is driven by the vertical lifting mechanism 24 to rise from the bottom to the top of the lead chamber 1. The conveyor line operation moves the empty fixture to the top buffer of the lead chamber 1. Then, under the action of the vertical lifting mechanism 24, the empty fixture is lowered to the bottom position to complete a cycle. The entire system can be equipped with 3 fixtures. One group of fixtures is buffered and static in the lead chamber 1. And while the fixture carrying the workpiece 7 moves out of the lead chamber 1 from the detection station, the fixture at the loading station enters the lead chamber 1 along with the conveyor line to save the beat.

[0038] Embodiment 2

[0039] An equipment for detecting large castings based on X-ray. In this embodiment, the positioning mechanism 23 further includes a lifting and rotating mechanism installed below the conveying carrier 231. The lifting and rotating mechanism includes a turntable and a lifting cylinder. The lifting cylinder is installed on the turntable, and its driving end is installed with the conveying carrier 231. During normal operation, the rotating function of this lifting and rotating mechanism is not turned on. For large castings such as integrated bodies, the workpiece 7 can be fully covered by the detection robots 31 on both sides. However, it is used when one side robot fails and needs to be repaired. Without the rotating mechanism, the single-sided robot in the lead chamber 1 cannot cover the large castings, and there is a risk of the entire production line stopping. Therefore, by setting this lifting and rotating mechanism, after one side of the detection robot 31 finishes detecting half of the workpiece 7, the lifting and rotating mechanism can drive the fixture and the workpiece 7 to rotate 180°. Then, the detection of the other half of the workpiece 7 is completed, and the ability of the entire system to cope with the risk of stopping is increased.

[0040] The working principle of the present utility model is as follows: In a device for detecting large castings based on X-ray in the present utility model, the working process for detecting a group of workpieces 7 is as follows: S1: The loading group 4 grabs the workpiece 7 with the assistance of a 3D camera and places it on the fixture of the input-side vertical lifting mechanism 24; S2: The input-side vertical lifting mechanism 24 transports the fixture to the bottom horizontal conveyor 21 on one side; S3: The bottom horizontal conveyor 21 receives the fixture carrying the workpiece 7 and transports it to the positioning mechanism 23, and the positioning mechanism 23 positions the fixture, and the detection group 3 performs X-ray detection on the workpiece 7 on the fixture; S4: After detection, the positioning mechanism 23 transports the fixture and the workpiece 7 to the bottom horizontal conveyor 21 on the other side, and the bottom conveyor receives the fixture carrying the workpiece 7 and transports it to the output-side vertical lifting mechanism 24; S5: The unloading group 5 grabs and unloads the workpiece 7 with the assistance of a 3D camera, and the vertical lifting mechanism 24 drives the fixture with empty material to rise and inputs it to the top horizontal conveyor 22; S6: The top horizontal conveyor 22 inputs the fixture to the input-side vertical lifting mechanism 24, and after the input-side vertical lifting mechanism 24 receives the fixture input by the top horizontal conveyor 22, it drives the fixture to descend until it aligns with the bottom horizontal conveyor 21.

[0041] The foregoing is only the preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent substitution on some of the technical features. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A device for detecting large castings based on X-rays, characterized in that: The invention comprises a lead room (1), a three-dimensional conveying group (2), a detection group (3), a loading group (4) and a unloading group (5); the three-dimensional conveying group (2) comprises a bottom horizontal conveying line (21), a top horizontal conveying line (22), a positioning mechanism (23) and a vertical lifting mechanism (24); the vertical lifting mechanism (24) comprises two groups arranged outside the lead room (1) and located at both ends of the parallel bottom horizontal conveying line (21) and the top horizontal conveying line (22); the bottom conveying line is located inside the lead room (1), and the top horizontal conveying line (22) is arranged on the upper layer outside the lead room (1); the loading group (4) is used to grab a workpiece (7) with the assistance of a 3D camera and place it on a fixture of the input side vertical lifting mechanism (24); the bottom horizontal conveying line (21) comprises two groups of sections, one group of the bottom horizontal conveying line (23) and the other group of the top horizontal conveying line (23) are arranged at the upper layer outside the lead room (1); 1) is used to receive the fixture transported by the vertical lifting mechanism (24) on the input side, a positioning mechanism (23) is arranged between the two groups of bottom horizontal conveying lines (21), the positioning mechanism (23) is used to position the workpiece (7) for the inspection group (3) to perform X-ray inspection, and the other group of bottom horizontal conveying lines (21) is used to receive the inspected workpiece (7) and output it to the vertical lifting mechanism (24) on the output side, the unloading group (5) is used to grab the workpiece (7) for unloading with the assistance of a 3D camera, and the vertical lifting mechanism (24) on the output side is used to drive the empty fixture to rise and input it to the top horizontal conveying line (22), the vertical lifting mechanism (24) on the input side is used to receive the fixture input by the top horizontal conveying line (22) and drive the fixture to descend to align with the bottom horizontal conveying line (21).

2. The device for detecting large castings based on X-ray according to claim 1, characterized in that: Two sets of workpiece doors which are controlled by a controller to open and close simultaneously are installed on the front and rear sides of the lead room (1), and the two sets of workpiece doors are used to isolate between the two sets of vertical lifting mechanisms (24) and the bottom horizontal conveyor line (21). Two sets of service doors are also installed on the left and right sides of the lead room (1), and the two sets of service doors are used to allow personnel and equipment to pass through during maintenance. Glass observation windows are also provided on the service doors and workpiece doors, so that personnel can observe the internal conditions through the glass.

3. The device for detecting large castings based on X-ray according to claim 1, characterized in that: The detection group (3) comprises a detection robot (31), a C-shaped arm (32), an X-ray source (33) and a flat receiver (34); the C-shaped arm (32) is fixed to the driving end of the detection robot (31); the X-ray source (33) is installed at the top of the C-shaped arm (32); the flat receiver (34) is installed corresponding to the bottom of the C-shaped arm (32) below the X-ray source (33); and the detection robot (31) is provided with two groups of detection robots (31) arranged opposite to each other. The C-shaped arms (32) of the two groups of detection robots (31) are used to embrace the two sides of the workpiece (7) on the positioning mechanism (23) to realize the overall detection of the workpiece (7).

4. The device for detecting large castings based on X-ray according to claim 1, characterized in that: The positioning mechanism (23) comprises a conveying carrier (231), the clamp is an I-shaped work tool (6), the top support of the work tool (6) is used to support and position the workpiece (7), and the bottom plate support is placed on the conveying carrier (231) and driven forward by conveying rollers (232) on both sides of the conveying carrier (231), and the two sides of the conveying carrier (231) are also provided with limiting side plates (233) for limiting on both sides of the bottom plate support, and a positioning cylinder is also installed therein, and a positioning pin (234) is installed at the driving end of the positioning cylinder, and the positioning pin (234) is used to be inserted in the bottom plate support to position the work tool (6) during detection.

5. The device for detecting large castings based on X-ray according to claim 4, characterized in that: The positioning mechanism (23) also includes a lifting and rotating mechanism installed below the conveying carrier (231), and the lifting and rotating mechanism includes a turntable and a lifting cylinder. The lifting cylinder is installed on the turntable, and the conveying carrier (231) is installed on the driving end of the lifting cylinder.

6. The device for detecting large castings based on X-ray according to claim 4, characterized in that: The vertical lifting mechanism (24) comprises a vertical frame (241), a lifting carrier (242) and a lifting drive screw. The lifting carrier (242) is slidably mounted between two sets of vertical frames (241) and is driven to be lifted and lowered by the lifting drive screw. A conveying roller 2 for driving the tooling tool (6) to be transported horizontally is arranged on the lifting carrier. A stopper (243) for limiting the tooling tool (6) to move into position is also arranged at one end thereof away from the bottom horizontal conveying line (21) and the top horizontal conveying line (22).

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