Due to the complicated charging process of the grain and the influence of various factors, defects such as inclusions, shrinkage cavities, air holes and cracks can not be completely avoided, which will destroy the mechanical properties, combustion performance and safety performance of the ammunition and lead to dangerous accidents such as late chamber explosion or early explosion. At present, the traditional manual radiography method is mainly used for detection, which has the problems of low detection efficiency, strong subjective experience dependence and poor quality stability. In order to realize efficient digital ray detection of the burning grain, To meet the requirements of rapid and batch development of grain in the normalized high-intensity and high-density firing situation, a digital X-ray inspection system of grain based on the cooperation of two robots was developed, which mainly realized automatic digital X-ray inspection of grain. The experimental results show that the developed digital X-ray detection system for grain is compatible with various types of grain detection, with high detection efficiency and precision.