1. An automated apparatus for film X-ray detection, characterized by: the device comprises a machine room (1), a lead door (2), a mechanical arm (3), a clamping structure (5), an X-ray machine (6), a first linear laser (701), a second linear laser (703), a laser range finder (8), a rotary table (9), a cable fixing plate (11), a camera (12), an infrared detector (13) and a control system (14), wherein the lead door (2) is installed outside the machine room (1), an operating handle (307) is placed on one side of the inside of the machine room (1), the camera (12) is installed on the top of the inside of the machine room (1), the infrared detector (13) is installed on one side of the camera (12), the mechanical arm (3) is installed below the camera (12), the clamping structure (5) is installed at the end part of a J6 shaft (306), and the X-ray machine (6) is nested inside the clamping structure (5), base (4) are installed to the opposite side of manipulator (3) is located the below position, revolving stage (9) are installed to one side of base (4), wait to examine work piece (10) have been placed to the top of revolving stage (9), first word laser instrument (701), a second word laser instrument (703) are installed respectively to the side and the bottom of clamping structure (5), first word laser instrument (701), a second word laser instrument (703) are connected through first support (702), second support (704) with clamping structure (5), the inboard of mounting panel (803) is nested has laser range finder (8), the outside of computer lab (1) is arranged in control system (14).

2. An automated apparatus for film X-ray inspection as defined in claim 1, wherein: install cable fixing plate (1101) on manipulator J3 axle (303), clamp (1102) are installed to the both sides of cable fixing plate (1101), bottom plate (501) are installed to manipulator J6 axle (306) below, first support (702) are installed to the lateral part of bottom plate (501), install first letter laser instrument (701) on first support (702), bottom plate (501) are connected with ray apparatus fixing support (502), nested X-ray apparatus (6) have in ray apparatus fixing support (502), and install safety plate (505) on ray apparatus fixing support (502), and first chucking plate (503) and second chucking plate (504) are installed respectively to the both sides of ray apparatus fixing support (502), the externally mounted of fixture (5) has U type frame (801), the externally mounted of U type frame (801) has quick locker (802), and the mounting panel (803) are installed to the tip of U type frame (801), the laser range finder (8) are nested on the mounting plate (803), the second support (704) is installed to ray apparatus fixing support (502) bottom, install a second word laser instrument (703) on second support (704), accessory (804) are installed to chucking plate (503) near one side position.

3. An automated apparatus for film X-ray inspection as defined in claim 1, wherein: the fixing angle steel (901) is connected with the ground through bolts, the fixing angle steel (901) is connected with a supporting column (902), a top plate (903) is installed on the supporting column (902), a rotary bearing (904) is installed on the top plate (903), a flange (910) is installed on one side of the rotary bearing (904), a speed reducer (911) is installed on one side of the flange (910), a servo motor (912) is installed on one side of the speed reducer (911), a tray (905) is installed above the rotary bearing (904), a positioning disc (906) is installed at the middle position of the upper portion of the tray (905), T-shaped grooves (907) with uniform intervals are formed in the tray (905), threaded through holes (908) are formed in the tray (905), and positioning columns (909) are installed above the threaded through holes (908).

4. An automated apparatus for film X-ray inspection as defined in claim 1, wherein: base (401) link to each other through the bolt with ground, and is connected through strengthening rib (403) between base (401) and four stand (404), be connected through spliced pole (402) between stand (404), and stand (404) top installs layer board (405), the middle part of layer board (405) is provided with round hole (406), and manipulator J1 axle (301) are installed to the top of layer board (405).

5. An automated apparatus for film X-ray inspection as defined in claim 1, wherein: the control system (14) is electrically connected with the manipulator (3), the laser range finder (8) and the camera (12) through a network, the control system (14) is electrically connected with the X-ray machine (6) through a serial port, and the control system (14) comprises a host, a display, a keyboard, a mouse and an operation table.

6. An automated apparatus for film X-ray inspection as defined in claim 1, wherein: the utility model discloses an X-ray production apparatus, including infrared detector (13), the output of lead door (14) and the input electric connection of X-ray production apparatus (6), the output of X-ray production apparatus (6) and the input electric connection of control system (14), the output of laser range finder (8), camera (12) and the input electric connection of control system (14), the output of control system (14) and the input electric connection of X-ray production apparatus (6), operating handle (307) output and manipulator (6), the input electric connection of revolving stage (9), the output and the operating handle (307) electric connection of manipulator (3), revolving stage (9).

7. An automated apparatus for film X-ray inspection as defined in claim 1, wherein: the wall body of the machine room (1) is made of concrete, the thickness of the wall body is larger than 700mm, and the length, the width and the height of the machine room (1) are not smaller than 4m multiplied by 3m multiplied by 3.5 m.

8. An automated apparatus for film X-ray inspection as defined in claim 2, wherein: the laser direction of the first linear laser (701) is parallel to the length direction of the X-ray machine (6), and the laser direction of the second linear laser (703) is perpendicular to the length direction of the X-ray machine (6).

9. An automated apparatus for film X-ray inspection as defined in claim 3, wherein: the section of the supporting plate (905) is circular, and the number of the T-shaped grooves (907) in the supporting plate (905) is 18.

10. An automated apparatus for film X-ray inspection as defined in claim 3, wherein: the number of the fixed angle steels (901) is 4, and the number of the reinforcing ribs (403) is 8.

Background

The X-ray film photographic detection has the characteristics of visual defect display, wide applicable objects and the like, and is widely applied to the detection of various parts in the fields of aerospace, ships, weaponry, petroleum and the like. X-ray radiographic inspection is one of the main inspection means for large-scale parts of engines, and because relevant standards of digital radiographic inspection of military products are not established, a film method is still the main inspection means for internal defects of the military products.

When different positions of the transillumination workpiece are transilluminated, the position of the workpiece and the X-ray machine needs to be adjusted, when the size of the workpiece is large and the weight is heavier, the manual position adjustment will take a long time, the labor intensity is high, potential safety hazards exist, and the detection efficiency is low. In addition, because the relative position of the workpiece and the X-ray machine is difficult to accurately restore, the consistency of the images of the same part which are transilluminated for multiple times is difficult to ensure.

Currently, there are few solutions to the above problems. Patent CN201810868312.2 discloses a rotary table type robot X-ray detection system, which uses a manipulator and a rotary table to realize the automatic detection of X-ray, but still has the following problems: 1. the detection object specification is small. For workpieces with dimensions greater than L1500mm XW 400mm XH 1000mm and weights greater than 200kg, the patent is difficult to apply. 2. The record carrier is a digital imaging device and is not suitable for film methods. 3. The record carrier is fixed in position. The record carrier in this patent is placed at the lower end of the positioning support frame, and is fixed in position and difficult to be used for parts with complex structures. 4. The focal length is fixed. The focal length is the distance between the ray source and the film or the detector, and each part of the large part with a complex structure usually needs different focal lengths to obtain better image quality.

Disclosure of Invention

Aiming at the problems brought forward by the background, the invention provides an automatic device for film X-ray radiographic detection, which controls the spatial position of an X-ray machine through a manipulator, controls the deflection angle of a workpiece to be detected through a rotating table, solves the problems of long detection time, potential safety hazard, high labor intensity, poor consistency and the like of large workpieces, and effectively improves the detection efficiency and the stability of detection results.

In order to solve the technical problems, the invention provides the following technical scheme: a automation equipment for film X ray radiographic inspection, including computer lab, plumbous door, manipulator, clamping structure, X-ray machine, first word laser instrument, the first word laser instrument of second, laser range finder, revolving stage, cable fixing plate, camera, infrared detector, control system, the externally mounted of computer lab has plumbous door, and the inside of computer lab is located one side and has placed operating handle, and the inside of computer lab is located the top and install the camera, infrared detector is installed to one side of camera, and the below of camera installs the manipulator, clamping structure is installed to the tip of manipulator J6 axle, clamping structure's inside nestification has the X-ray machine, the opposite side of manipulator is located the below position and installs the base, the revolving stage is installed to one side of base, the revolving stage top has been placed and has been examined the work piece, clamping structure's side and bottom are installed first word laser instrument respectively, The first linear laser, the second linear laser and the clamping structure are connected through the first support and the second support, the laser range finder is nested in the inner side of the mounting plate, and the control system is arranged outside the machine room.

Further, install the cable fixed plate on the manipulator J3 axle, the clamp is installed to the both sides of cable fixed plate, the bottom plate is installed to manipulator J6 axle below, first support is installed to the lateral part of bottom plate, install first card laser instrument on the first support, the bottom plate is connected with ray apparatus fixing support, nested X-ray apparatus that has in the ray apparatus fixing support, and install the safety plate on the ray apparatus fixing support, and first chucking plate and second chucking plate are installed respectively to ray apparatus fixing support's lateral part, fixture externally mounted has U type frame, quick locker is installed to the externally mounted of U type frame, and the mounting panel is installed to the tip of U type frame, nested laser range finder that has on the mounting panel, ray apparatus fixing support installs the second support in the bottom, install the first word laser instrument of second on the second support, and the clamping plate is provided with an accessory at a position close to one side.

Further, fixed angle steel is connected with ground through the bolt, and fixed angle steel is connected with the support column, install the roof on the support column, install slewing bearing on the roof, the flange is installed to slewing bearing's one side, the reduction gear is installed to one side of flange, servo motor is installed to one side of reduction gear, the tray is installed to slewing bearing's top, the top of tray is located the intermediate position and installs the location disc, and is provided with the even T type recess in interval on the tray, and is provided with the screw through-hole on the tray, the reference column is installed to the top of screw through-hole.

Further, the bottom plate passes through the bolt and links to each other with ground, and is connected through the strengthening rib between bottom plate and the four stands, be connected through the spliced pole between the stand, and install the layer board above the stand, the middle part of layer board is provided with the round hole, and installs manipulator J1 axle in the top of layer board.

Furthermore, control system passes through network and manipulator, laser range finder and camera electric connection, and control system passes through serial ports and X-ray production apparatus electric connection, and control system includes host computer, display, keyboard, mouse, operation panel.

Further, the output of infrared detector, plumb door and the input electric connection of X-ray production apparatus, the output of X-ray production apparatus and control system's input electric connection, the output of laser range finder, camera and control system's input electric connection, control system's output and X-ray production apparatus, operating handle's input electric connection, the input electric connection of operating handle output and manipulator, revolving stage, the output and the operating handle electric connection of manipulator, revolving stage.

Furthermore, the wall body of the machine room is made of concrete, the thickness of the wall body is larger than 700mm, and the length, the width and the height of the machine room are not smaller than 4m multiplied by 3m multiplied by 3.5 m.

Further, the laser direction of the first linear laser is parallel to the length direction of the X-ray machine, and the laser direction of the second linear laser is perpendicular to the length direction of the X-ray machine.

Furthermore, the cross-section of layer board is circular, and the T type recess quantity on the layer board is 18, the quantity of fixed angle steel is 4, the quantity of strengthening rib is 8.

Compared with the prior art, the invention has the following beneficial effects: according to the automatic device for the X-ray radiographic detection of the film, the X-ray machine is fixed on the mechanical arm through the clamping structure, the workpiece to be detected is placed on the rotating table, the adjustment of the relative position relation between the workpiece to be detected and the X-ray machine is changed from a traditional manual carrying mode into an automatic mode controlled by the mechanical arm and the rotating table, the labor intensity of operators is reduced, and the detection time is shortened; when a certain part of a workpiece is transilluminated, the space coordinates and the rotation angle of the mechanical arm and the rotating platform are recorded, numbered and stored, when the same part of the same workpiece is transilluminated, the corresponding position parameters are called, and the adjusting process of the mechanical arm and the rotating platform is omitted, so that the detection time is further shortened, and the production efficiency is further improved. In addition, the relative position relationship between the workpiece and the ray source can be accurately restored, so that the consistency of negative images is improved when transillumination is repeated.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it should be obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of an automatic detection device provided by an embodiment of the invention;

fig. 2 is a schematic overall structural diagram of the manipulator 3, the base 4, the clamping structure 5, the ray machine 6, the rotation 9 and the workpiece to be detected 10 in the automatic detection device provided by the embodiment of the invention;

fig. 3 is a schematic front view of the overall structure of the clamping structure 5 and the X-ray machine 6 of the automatic detection device provided by the embodiment of the invention;

fig. 4 is a schematic rear view of the overall structure of the clamping structure 5 and the X-ray machine 6 of the automatic detection device provided by the embodiment of the invention;

FIG. 5 is a schematic structural diagram of a rotary table 9 of the automatic detection apparatus according to the embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a base 4 of the automatic detection device provided by the embodiment of the invention;

fig. 7 is a schematic view of a high-voltage cable fixing plate 11 of the automatic detection device provided by the embodiment of the invention;

fig. 8 is a schematic diagram illustrating a connection relationship between portions of an automatic detection apparatus according to an embodiment of the present invention.

The names corresponding to the reference numbers in the drawings are as follows: 1-machine room, 2-lead door, 3-manipulator, 301-J1 shaft, 302-J2 shaft, 303-J3 shaft, 304-J4 shaft, 305-J5 shaft, 306-J6 shaft, 307-operating handle, 4-base, 401-base, 402-connecting column, 403-reinforcing rib, 404-upright column, 405-supporting plate, 406-round hole, 5-clamping structure, 501-bottom plate, 502-optical machine fixing support, 503-first clamping plate, 504-second clamping plate, 505-safety plate, 6-X-ray machine, 601-cable flange, 602-high-voltage cable elbow, 701-first in-line laser, 702-first support, 703-second in-line laser, 704-second support, 8-laser range finder, 801-U-shaped frame, 802-quick locker, 803-mounting plate, 804-fitting part, 9-rotating table, 901-fixed angle steel, 902-supporting column, 903-top plate, 904-slewing bearing, 905-tray, 906-positioning disk, 907-T-shaped groove, 908-threaded through hole, 909-positioning column, 910-flange, 911-reducer, 912-servo motor, 10-workpiece to be detected, 11-high-voltage cable fixing plate, 1101-fixing plate, 1102-clamp, 12-camera, 13-infrared detector and 14-control system.

Detailed Description

The following is a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements are also considered to be within the scope of the present invention.

The invention is further illustrated by the following figures and examples. Referring to fig. 1 to 8, an automatic device for film radiography detection comprises a machine room 1, a lead door 2, a mechanical arm 3, a clamping structure 5, an X-ray machine 6, a first in-line laser 701, a second in-line laser 703, a laser range finder 8, a rotary table 9, a cable fixing plate 11, a camera 12, an infrared detector 13 and a control system 14, wherein the lead door 2 is installed outside the machine room 1, an operating handle 307 is placed on one side inside the machine room 1, the camera 12 is installed on the top inside the machine room 1, the infrared detector 13 is installed on one side of the camera 12, the mechanical arm 3 is installed below the camera 12, the clamping structure 5 is installed on the end of a J6 shaft 306 of the mechanical arm, the X-ray machine 6 is nested inside the clamping structure 5, a base 4 is installed on the other side of the mechanical arm 3, the rotary table 9 is installed on one side of the base 4, the workpiece 10 to be detected is placed above the rotating table 9, a first linear laser 701 and a second linear laser 703 are respectively installed on the side face and the bottom of the clamping structure 5, the first linear laser 701 and the second linear laser 703 are connected with the clamping structure 5 through a first support 702 and a second support 704, a laser range finder 8 is nested on the inner side of the mounting plate 803, and the control system 14 is arranged outside the machine room 1.

A cable fixing plate 1101 is mounted on a shaft 303 of the manipulator J3, clamps 1102 are mounted on two sides of the cable fixing plate 1101, a bottom plate 501 is mounted below a shaft 306 of the manipulator J6, a first support 702 is mounted on a side portion of the bottom plate 501, a first laser in a shape like a Chinese character 'yi' is mounted on the first support 702, the bottom plate 501 is connected with an optical machine fixing support 502, an X-ray machine 6 is nested in the optical machine fixing support 502, a safety plate 505 is mounted on the optical machine fixing support 502, a first clamping plate 503 and a second clamping plate 504 are respectively mounted on two sides of the optical machine fixing support 502, a U-shaped frame 801 is mounted outside the clamping mechanism 5, a quick locker 802 is mounted outside the U-shaped frame 801, a mounting plate 803 is mounted at an end portion of the U-shaped frame 801, a laser range finder 8 is nested on the mounting plate 803, a second support 704 is mounted at the bottom of the optical machine fixing support 502, a second laser in a shape like a Chinese character 'yi' 703 is mounted on the second support 704, the clamping plate 503 is provided with a fitting 804 near one side.

The fixing angle steel 901 is connected with the ground through bolts, the fixing angle steel 901 is connected with a supporting column 902, a top plate 903 is installed on the supporting column 902, a rotary bearing 904 is installed on the top plate 903, a flange 910 is installed on one side of the rotary bearing 904, a speed reducer 911 is installed on one side of the flange 910, a servo motor 912 is installed on one side of the speed reducer 911, a tray 905 is installed above the rotary bearing 904, a positioning disc 906 is installed on the middle position of the upper portion of the tray 905, T-shaped grooves 907 with uniform intervals are formed in the tray 905, a threaded through hole 908 is formed in the tray 905, and a positioning column 909 is installed above the threaded through hole 908.

The base 401 is connected with the ground through bolts, the base 401 is connected with four upright posts 404 through reinforcing ribs 403, the upright posts 404 are connected through connecting posts 402, a supporting plate 405 is installed above the upright posts 404, a round hole 406 is formed in the middle of the supporting plate 405, and a manipulator J1 shaft 301 is installed above the supporting plate 405. Avoidance (405, 905 repeat changing 905 to a tray

The control system 14 is electrically connected with the manipulator 3, the laser range finder 8 and the camera 12 through a network, the control system 14 is electrically connected with the X-ray machine 6 through a serial port, and the control system 14 comprises a host, a display, a keyboard, a mouse and an operation table.

The output of infrared detector 13, lead door 14 and the input electric connection of X-ray production apparatus 6, the output of X-ray production apparatus 6 and the input electric connection of control system 14, laser range finder 8, the output of camera 12 and the input electric connection of control system 14, the output of control system 14 and X-ray production apparatus 6, the input electric connection of operating handle 307, operating handle 307 output and manipulator 6, the input electric connection of revolving stage 9, manipulator 3, the output and the operating handle 307 electric connection of revolving stage 9.

The wall body of the machine room 1 is made of concrete, the thickness of the wall body is larger than 700mm, and the length, the width and the height of the machine room 1 are not smaller than 4m multiplied by 3m multiplied by 3.5 m.

The laser direction of the first linear laser 701 is parallel to the length direction of the X-ray machine 6, and the laser direction of the second linear laser 703 is perpendicular to the length direction of the X-ray machine 6.

The section of the supporting plate 905 is circular, the number of the T-shaped grooves 907 on the supporting plate 905 is 18, the number of the fixing angle steels 901 is 4, and the number of the reinforcing ribs 403 is 8.

Example (b): the present invention provides the following preferred embodiments: an automatic device for film X-ray photography is characterized in that a lead door 2 is mounted outside a machine room 1, the lead door 2 is opened, closed or scrammed by using a manual button and is interlocked with an X-ray machine 6 through a door machine, when the lead door 2 is in an opening state, the X-ray machine 6 cannot work, an operating handle 307 is placed on one side inside the machine room 1, and the operating handle 307 is used for controlling the space motion of a manipulator 3 and the rotation angle of a rotating table 9; the camera 12 is arranged at the top in the machine room 1, besides the machine room 1, the camera 12 can also transmit position relation images of the workpiece to be detected 10, the rotating platform 9 and the X-ray machine 6 to the control system 14, and the control system 14 judges whether the current transillumination position is consistent with the previous position or not based on the image recognition principle; an infrared detector 13 is installed on one side of the camera 12, the infrared detector 13 is always in an open state, and when an object exceeding a certain amount of heat is detected, the infrared detector 13 will power off the X-ray machine 6. The end of the J6 shaft 306 is provided with a clamping structure 5 which is used for tightly clamping the X-ray machine 6 and connecting and installing the first linear laser 701, the second linear laser 703, the laser range finder 8 and other devices. The high-voltage cable fixing plate 11 is mounted on the J3 shaft 303, and two high-voltage cables of the X-ray machine 6 respectively penetrate through the two side clamps 1102 on the high-voltage cable fixing plate 11, so that the high-voltage cables are prevented from loosening and falling off from the interface caused by the movement of the manipulator 3. A bottom plate 501 is arranged below a J6 shaft 306, a first linear laser 701 is arranged on a first support 702, an X-ray machine 6 is nested in an optical machine fixing support 502, a safety plate 505 is arranged on the optical machine fixing support 502 to enable the optical machine fixing support 502 to be in a tight locking state, a second linear laser 703 is arranged on a second support 704, the light direction of the first laser 701 is parallel to the length direction of the X-ray machine 6, the light direction of the second laser 703 is perpendicular to the length direction of the X-ray machine 6, and the laser focuses of the first laser 701 and the second laser 703 indicate the indication centers of ray bundles. The first clamping plate 503 and the second clamping plate 504 are respectively installed on the side of the optical machine fixing support 502, and are used for fixing the clamping distance of the optical machine fixing support 502 in the length direction of the X-ray machine 6. The outside of the U-shaped frame 801 is fitted with a quick locker 802 for fixing the position of the laser range finder 8 on the side of the X-ray machine 6. A mounting plate 803 is mounted to the end of the U-shaped frame 801. The clamping plate is provided with a fitting 804 near one side. The fixed angle iron 901 is installed on the ground through bolts, the fixed angle iron 901 is connected with a support column 902, a rotary bearing 904 is installed on a top plate 903, a speed reducer 911 is installed on one side of a flange 910, a servo motor 912 is connected into a seventh shaft of the manipulator 3 through a bus and controlled by an operating handle 307, a tray 905 is installed above the rotary bearing 904, and a positioning disc 906 is installed in the middle position above the tray 905. The tray 905 is provided with a threaded through hole with a diameter of 8mm, a positioning column 909 is arranged above the threaded through hole, and the positioning column 909 is used for fixing the workpiece 10 to be detected and preventing the workpiece from sliding when the rotating platform 9 rotates. The tray 905 is provided with evenly spaced T-shaped grooves 907, and the T-shaped grooves 907 can fix M8X 50T-shaped bolts and are used for assisting the positioning posts 909 to fix workpieces. The bottom plate 501 is connected with the ground through bolts, the base 401 is connected with the four upright posts 404 through reinforcing ribs 403, and the upright posts 404 are connected through connecting posts 402, so that the bearing is more stable. A supporting plate 405 is installed above the upright column 404, a round hole is formed in the middle of the supporting plate 405, and a manipulator J1 shaft is installed above the supporting plate 405. The control system 14 is electrically connected with the manipulator 3, the laser range finder 8 and the camera 12 through a network and is electrically connected with the X-ray machine 6 through a serial port. The control system 14 comprises a host, a display, a keyboard, a mouse and an operation table. The output ends of the infrared detector 13 and the lead door 2 are electrically connected with the input end of the X-ray machine 6, the output end of the X-ray machine 6 is electrically connected with the input end of the control system 14, and parameters such as the switch, the tube voltage, the tube current and the exposure time of the X-ray machine 6 can be controlled by the control system 14. The output ends of the laser range finder 8 and the camera 12 are electrically connected with the input end of the control system 14. The output end of the control system 14 is electrically connected with the input ends of the X-ray machine 6 and the operation handle 307, the output end of the operation handle 307 is electrically connected with the input ends of the manipulator 3 and the rotary table 9, and the output ends of the manipulator 3 and the rotary table 9 are electrically connected with the operation handle 307. The space coordinates of the manipulator 3, the rotation angle of the rotating platform 9, the testing distance of the laser distance meter 8 and the transillumination part picture captured by the camera 12 can be stored and called by the control system 14. The wall body of the machine room 1 is made of concrete, and the thickness of the wall body is larger than 700mm, so that good radiation shielding capability is obtained. The length, width and height of the machine room 1 should be not less than 4m multiplied by 3m multiplied by 3.5m, and the transillumination use requirement of the mechanical arm 3 is met. The cross section of the tray 905 is circular, the number of the T-shaped grooves 907 on the tray is 18, the number of the fixing angle steels 901 is 4, and the number of the reinforcing ribs 403 is 8.

The working principle of the invention is as follows: when detecting a workpiece, the automatic apparatus for film radiography according to the present invention opens the lead door 2 first, and at this time, the robot 3 and the rotary table 9 are in the reset position, conveys the workpiece onto the rotary table 9, and fixes the relative position of the workpiece and the rotary table 9 by the positioning column 909. After the initial position is determined, the camera 12 at the top of the machine room 1 records and stores the initial position image. The camera bag filled with the film is placed at the corresponding position of the transillumination part, at the moment, the first linear laser 701 and the second linear laser 703 are in an open state, and the laser focus points indicate the transillumination center of the ray beams. The manipulator 3 and the turntable 9 are controlled to be in positions favorable for defect detection by the operation handle 307, and the focal distance is made appropriate by adjusting the distance displayed by the manipulator 3 and the observation laser range finder 8. After the transillumination position is determined, the space coordinate of the mechanical arm 3, the rotation angle of the rotary table, the exposure parameter of the X-ray machine 6 and the focal length are recorded, named and stored by the control system, and the previous step is repeated until the transillumination of all the transillumination parts of the workpiece is finished, and then the transillumination of the workpiece is finished.

When a similar workpiece is to be inspected, the door of the machine room 1 is opened, the manipulator 3 and the rotary table 9 are in the reset position, the workpiece is conveyed to the rotary table, the relative position between the workpiece and the rotary table 9 is fixed by the positioning column 909, and the control system 14 searches for the corresponding initial position based on the image recognition principle to ensure the accuracy of the initial position. After the initial position is determined, the camera bag filled with the film is placed at the corresponding position of the transillumination part, and the lead door 2 is closed. The detection parameters of the corresponding transillumination part are selected in the control system 14 to start transillumination, the mechanical arm 3 and the rotating platform 9 move to the corresponding recorded position, and at the moment, the control system 14 retrieves the transillumination picture corresponding to the transillumination part to ensure the accuracy of the transillumination position. The X-ray machine 6 can perform transillumination according to the recorded exposure parameters, after the transillumination is finished, the X-ray machine 6 is automatically closed, and the manipulator 3 and the rotary table 9 can automatically move to the transillumination position of the next transillumination part. The lead door 2 is opened, the camera bag is taken out, a new camera bag is placed at the next transillumination position, the lead door 2 is closed, and the control system 14 is operated to start transillumination. Repeating the process until all the transillumination parts of the workpiece are transilluminated, and then the transillumination of the workpiece is finished. Compared with the mode of manually carrying the workpiece and adjusting the X-ray machine 6, the method can greatly shorten the adjusting time of the large workpiece and the X-ray machine 6, further shorten the detection time, improve the detection efficiency, reduce the intensity of labor personnel, eliminate potential safety hazards, ensure the consistency of detected images and have good production benefit.