Method for testing of a weld, and ultrasonic probe arrangement
A method and arrangement for testing and/or correction of a weld ( 34, 36, 38 ) of a test object ( 26, 102 ), including alignment of an ultrasonic probe ( 16, 128 ) guided by a robot ( 100 ) on a target position of the weld ( 28, 30, 32 ), determination of the actual position ( 34, 36, 38 ) of the weld by means of an optical sensor ( 22, 130 ) and alignment of the ultrasonic probe ( 16 ) on the actual position, and measurement of the weld, where CAD data of the target position of the weld ( 28, 30, 32 ) is made available, on the basis of the CAD data of the weld the ultrasonic probe ( 16, 128 ) is aligned on the target position of the weld, and the ultrasonic probe is placed on the weld with controlled force after determination of the actual position ( 34, 36, 38 ) of the weld by means of the optical sensor ( 22, 130 ).
1. A method for testing a weld of a test object, or of a portion thereof, comprising:
obtaining CAD data on a target position of the weld,
aligning an ultrasonic probe on the target position of the weld based on the CAD data using a first robot,
determining an actual position of the weld using an optical sensor,
aligning the ultrasonic probe on the actual position of the weld,
positioning the ultrasonic probe on the weld using a controlled force, and
measuring a quality of the weld.
2. The method according to claim 1 , comprising assigning at least one calibration body of known CAD data stationary to the first robot,
measuring the calibration body and the test object using a camera or a 3D scanner,
determining a position of the test object using 2D images obtained by the camera, or a 3D point cloud obtained by the 3D scanner, and
transforming the position of the test object into the coordinate system of the first robot based on CAD data of the test object.
3. The method according to claim 1 , comprising placing the ultrasonic probe in a normal direction of the weld wherein the ultrasonic probe acts on the weld with a force P,
wherein P≤N, or 5 N≤P≤15 N, or P is approximately 5 N-10 N, during measurement of the weld.
4. The method according to claim 1 , comprising at least one of:
determining a normal direction of the weld using an ultrasonic sensor of the ultrasonic probe, and
determining a direction of a vector of a force acting on the weld using at least one of force sensor and a torque sensor.
5. The method according to claim 1 , comprising pre-sorting a plurality of welds for testing,
testing a first one of the plurality of welds, and then
testing a second one of the plurality of welds that is closest to the first one of the plurality of welds.
6. The method according to claim 1 , comprising selecting a plurality of welds for testing, and
dividing the plurality of welds into a plurality of groups,
wherein a spacing between a plurality of welds in a group of the plurality of groups is less than a spacing between the plurality of groups.
7. The method according to claim 1 , comprising selecting a plurality of welds for testing, and
holding the test object with a second robot ( 118 ),
wherein the first robot reaches at least all welds of the plurality of welds.
8. The method according to claim 1 , comprising determining a welding defect in the weld, without measuring the weld having the defect.
9. The method according to claim 1 , wherein the ultrasonic probe is swivelable relative to the first robot, and wherein collisions with the test object are avoided by swiveling the ultrasonic probe.
10. The method according to claim 1 , comprising connecting the ultrasonic probe to the optical sensor so that the ultrasonic probe and the optical sensor are synchronously swivelable relative to each other.
11. An ultrasonic probe arrangement, comprising:
a carrier;
an ultrasonic probe having a cover, said ultrasonic probe being connected to the carrier;
a metering device associated with the carrier and located proximate to the ultrasonic probe, said metering device being configured to dispense a coupling medium to the cover, and
a drive device connected to the carrier and the ultrasonic probe, said drive device being configured to provide relative movement between the cover and the metering device.
12. The ultrasonic probe arrangement according to claim 11 ,
wherein the ultrasonic probe is adjustable relative to the metering device when the metering device is configured to be in a stationary position; or
wherein the ultrasonic probe is arranged in a stationary position relative to the metering device when the metering device is configured to be adjustable; or
wherein the ultrasonic probe and the metering device are configured to be adjustable relative to each other.
13. The ultrasonic probe arrangement according to claim 11 , wherein the metering device comprises a nozzle configured to spray a conically-shaped jet of the coupling medium.
14. The ultrasonic probe arrangement according to claim 11 , comprising a base element that is connectable to a robot, or to an arm of the robot.
15. The ultrasonic probe arrangement according to claim 11 , further comprising an optical sensor arranged stationary relative to the ultrasonic probe.
16. The ultrasonic arrangement according to claim 15 , wherein the optical sensor is surrounded by annular lighting.
17. The ultrasonic probe arrangement according to claim 15 , wherein the optical sensor has an optical axis extending along a longitudinal axis of the ultrasonic probe.
18. The ultrasonic probe arrangement according to claim 11 , wherein the ultrasonic probe extends swivelably from a mounting.
19. The ultrasonic probe arrangement according to claim 18 , wherein the metering device is arranged stationary to the mounting, or integrated therein, and the ultrasonic probe is aligned relative to the metering device.
20. The ultrasonic probe arrangement according to claim 11 , wherein the metering device is arranged relative to, or connected to, the mounting so that a longitudinal axis of the spray jet extends along the longitudinal axis of the mounting, and the ultrasonic probe is swivelable about an axis vertical to the longitudinal axis of the mounting, wherein in a swiveled position, the longitudinal axis of the ultrasonic probe extends along the spray jet longitudinal axis, and the cover extends on the spray jet side.
21. The ultrasonic probe arrangement according to claim 11 , wherein an optical axis of the optical sensor extends along the longitudinal axis of the ultrasonic probe, and wherein the optical sensor is shielded, at least in the area of the jet entry side, from the ultrasonic probe when the ultrasonic probe is aligned on the spray jet of the metering device.
22. The ultrasonic probe arrangement according to claim 21 , wherein a shielding element extends in a space between a distal area of the optical sensor, or a housing of the optical sensor,
when the cover of the ultrasonic probe is aligned in a direction of the spray jet.
23. The ultrasonic probe arrangement according to claim 22 , wherein the shielding element extends from the mounting, or is arranged stationary relative to the mounting.
24. The ultrasonic probe arrangement according to claim 15 , wherein the optical sensor has a lens system comprising two polarization filters that are rotatable relative to one another.