Method for the non-destructive testing of a component, and ultrasonic test system for the non-destructive testing of the component

Abstract

The invention relates to a method for the non-destructive testing of a component (2), comprising the method steps of: - providing an ultrasonic test system (1) with an ultrasonic test head (3) and with a handling device (6) for moving the ultrasonic test head (3) and a digital computer (7), wherein the digital computer (7) is coupled to the handling device (6), the handling device comprising (6): - a base (8); - a carousel (11); - a rocker (13); - an arm (15); - a hand (17); - a finger (19); - a test head carrier (21); - providing a digital computer (7), wherein the digital computer (7) is coupled to the ultrasonic test system (1) and is used to control the ultrasonic test system (1); - providing the component (2) to be tested using the ultrasonic test system (1); - testing the component (2) by means of the ultrasonic test system (1), wherein the ultrasonic test head (3) is moved relative to the component (2) during the testing process, wherein the movement of the ultrasonic test head (3) is controlled by the digital computer (7).

Description

[0001] Method for non-destructive testing of a component, as well as an ultrasonic testing system for non-destructive testing of the component

[0002] The invention relates to a method for non-destructive testing of a component, as well as an ultrasonic testing system for non-destructive testing of the component.

[0003] EP4256318A1 discloses an ultrasonic testing device for non-destructive testing of a component, comprising: an ultrasonic test head, a liquid nozzle with a liquid inlet, with a liquid outlet and with an inner surface tapering towards the liquid outlet.

[0004] EP4256318A1 has the disadvantage that complex components can only be tested to a limited extent.

[0005] The object of the present invention was to overcome the disadvantages of the prior art and to provide a method for non-destructive testing of a component, as well as an ultrasonic testing system for non-destructive testing of the component, by means of which components can be tested in an improved manner.

[0006] This object is achieved by a method and a device according to the claims.

[0007] According to the invention, a method for non-destructive testing of a component is provided. The method comprises the following steps:

[0008] - Providing an ultrasonic testing system with an ultrasonic test head with a liquid nozzle and with a handling device for moving the ultrasonic test head and a digital computer, wherein the digital computer is coupled to the handling device and serves to control and / or regulate the handling device, the handling device comprising:

[0009] □ a base;

[0010] □ a carousel mounted on the base for rotation about a first axis of rotation;

[0011] □ a swing arm pivotably mounted on the carousel about a second rotation axis, the second rotation axis being arranged orthogonally to the first rotation axis; □ an arm pivotably mounted on the swing arm about a third rotation axis, the third rotation axis being parallel to the second rotation axis;

[0012] □ a hand which is mounted on the arm so as to be rotatable about a fourth axis of rotation, the fourth axis of rotation running in the longitudinal direction of the arm and being arranged orthogonally to the third axis of rotation;

[0013] □ a finger which is pivotally mounted on the hand about a fifth rotation axis, wherein the fifth rotation axis is arranged orthogonally to the fourth rotation axis;

[0014] □ a probe carrier which is mounted on the finger so as to be rotatable about a sixth rotation axis, wherein the sixth rotation axis runs in the longitudinal direction of the finger and is arranged orthogonally to the fifth rotation axis, wherein the ultrasonic probe is mounted on the probe carrier so as to be pivotable about a seventh rotation axis, wherein the seventh rotation axis is arranged orthogonally to the sixth rotation axis,

[0015] - Providing a digital computer, wherein the digital computer is coupled to the ultrasonic testing system and serves to control and / or regulate the ultrasonic testing system;

[0016] - Preparing the component to be tested with the ultrasonic testing system;

[0017] - Testing the component using the ultrasonic testing system, whereby the ultrasonic test head is moved relative to the component during the testing process, whereby the movement of the ultrasonic test head is controlled by the digital computer.

[0018] The method according to the invention offers the advantage that, thanks to the versatile positioning options of the ultrasonic testing system, even complex components can be tested. In particular, the ability of the ultrasonic test head to pivot around the seventh rotation axis allows for appropriate testing of components even in confined spaces.

[0019] A testing procedure within the meaning of this document is defined as an uninterrupted, continuous inspection of the component. The testing of the component may consist of several testing procedures. In particular, it may be provided that the component is held in position in the ultrasonic testing system by means of a holding device.

[0020] Furthermore, it can be useful if at least one of the rotational axes is locked when the ultrasonic test head is moving during the testing process, and this locked movement is compensated for by the remaining rotational axes and / or linear axes. This has the advantage that this measure can reduce the computing power required when performing the travel movement during the testing process. In this case, the two robot components whose rotational ability relative to each other is locked can be viewed as a single robot component in the controller. Depending on the locking position, the geometric relationships of this individual robot component can be changed. In particular, the geometric structure of the robot component can be adapted to the geometric relationships in the component to be tested in order to ensure good accessibility to all surfaces to be tested within the component to be tested.

[0021] Furthermore, it can be provided that the fourth rotation axis and / or the fifth rotation axis are locked. This has the advantage that locking these rotation axes in particular imposes few restrictions during the testing process and is therefore easy to handle.

[0022] Furthermore, it can be provided that the rotational axis locked during the test process is positioned before the start of the test process in such a way that the remaining rotational axes can take over the movements required for the test process. This has the advantage that, despite the rotational axes being locked, the ultrasonic probe can be moved to the surface of the component to be tested at the correct angle, ensuring good testability and accessibility of the component to be tested.

[0023] Another advantageous embodiment provides for the rotational axis locked during the testing process to be repositioned between individual testing processes. This offers the advantage that the geometry of the robot component, which consists of two robot elements locked relative to one another, can be adapted to ensure good testability of the component to be tested. According to a further development, it is possible for the fourth rotational axis and the fifth rotational axis to be locked during the testing process, with the hand being calculated as a rigid part of the arm and the finger being calculated as a rigid part of the hand in the digital computer, with the sixth rotational axis being treated as the fourth rotational axis in the digital computer and the seventh rotational axis being treated as the fifth rotational axis in the digital computer.This has the advantage that the ultrasonic testing system has sufficient degrees of freedom to test many complex components. By shifting the corresponding rotational axes, the complex seven-axis ultrasonic testing system can be controlled by a relatively simple program logic or a simple digital computer, which only needs to control five axes of motion during the testing process. In particular, controlling and / or regulating the individual angular positions of the robot components relative to the rotational axes during the testing process requires high computing power.

[0024] Thanks to the above-mentioned measures, the entire ultrasonic testing system has only five rotation axes available during the testing process. Since the fluid nozzle has a circular cross-section and the emerging water jet is therefore rotationally symmetrical, a sixth rotation axis can be eliminated, further reducing computing power.

[0025] Furthermore, it may be expedient for the ultrasonic testing system to have a second ultrasonic test head with a second liquid nozzle and a second handling device for moving the second ultrasonic test head, wherein the component is positioned between the ultrasonic test head and the second ultrasonic test head during the testing process and wherein the ultrasonic test head and the second ultrasonic test head are moved together so that a water jet from the ultrasonic test head and a second water jet from the second ultrasonic test head impinge on directly opposite sides of the component, wherein the movement of the second ultrasonic test head is predetermined by the digital computer. This has the advantage that the component to be tested can be tested using a so-called through-transmission method. In this case, one ultrasonic test head can be used as the transmitter and the second ultrasonic test head as the receiver.The described process steps make it possible to perform the most precise inspection of the component possible. Directly opposite, as defined in this document, means the shortest distance between a first impact point on a first side of the component and a second impact point on a second side of the component.

[0026] Furthermore, during the testing process, the ultrasonic probe can be guided at a constant first distance from a first side of the component, and the second ultrasonic probe can be guided at a constant second distance from a second side of the component. This has the advantage that this measure allows for a precise test result from the ultrasonic test.

[0027] Furthermore, it may be useful to move the ultrasonic probe and the second ultrasonic probe at a variable distance from each other during the testing process for components of varying thickness. This has the advantage that, even for components of varying thickness, the two ultrasonic probes can be moved at a constant distance from the respective side of the component. This allows even components of varying thickness to be tested with high accuracy.

[0028] Furthermore, it can be provided that the liquid nozzle of the ultrasonic test head and the second liquid nozzle of the second ultrasonic test head are not directed directly towards each other during the test process, but a gravity-induced deflection of the water jet and the second water jet is taken into account when guiding the ultrasonic test head and the second ultrasonic test head in the control of the movement of the ultrasonic test head and the second ultrasonic test head.

[0029] Furthermore, the base can be mounted on a substructure so that it can be moved along a linear axis, and during the testing process, the base is moved along the linear axis relative to the substructure. This has the advantage that the entire component geometry can be easily tested, especially for long components with a large longitudinal extension of the surface to be tested.

[0030] Another advantageous embodiment is one in which the ultrasonic probe is moved along a line of motion relative to the component during the testing process, with the movement during the testing process occurring exclusively by moving the base along the linear axis relative to the substructure, with the line of motion being parallel to the linear axis. This has the advantage that only the linear axis needs to be moved during the testing process, thus keeping the required computing power as low as possible. In particular, it can be provided that the component to be tested is positioned accordingly to enable such a movement along the line of motion.

[0031] The invention also relates to an ultrasonic testing system for non-destructive testing of a component comprising:

[0032] - an ultrasonic probe with a liquid nozzle;

[0033] - a handling device for moving the ultrasonic probe,

[0034] - a digital computer, wherein the digital computer is coupled to the handling device and serves to control and / or regulate the handling device, the handling device comprising:

[0035] □ a base;

[0036] □ a carousel mounted on the base for rotation about a first axis of rotation;

[0037] □ a rocker which is pivotally mounted on the carousel about a second axis of rotation, wherein the second axis of rotation is arranged orthogonally to the first axis of rotation;

[0038] □ an arm which is pivotally mounted on the rocker arm about a third axis of rotation, the third axis of rotation being parallel to the second axis of rotation;

[0039] □ a hand which is mounted on the arm so as to be rotatable about a fourth axis of rotation, the fourth axis of rotation running in the longitudinal direction of the arm and being arranged orthogonally to the third axis of rotation;

[0040] □ a finger which is pivotally mounted on the hand about a fifth rotation axis, wherein the fifth rotation axis is arranged orthogonally to the fourth rotation axis;

[0041] □ a test head carrier which is mounted on the finger so as to be rotatable about a sixth axis of rotation, the sixth axis of rotation running in the longitudinal direction of the finger and being arranged orthogonally to the fifth axis of rotation, the ultrasonic test head being mounted on the test head carrier so as to be pivotable about a seventh axis of rotation, the seventh axis of rotation being arranged orthogonally to the sixth axis of rotation, the digital computer comprising instructions which cause the ultrasonic testing system to carry out the method according to one of the preceding claims.

[0042] Furthermore, it may be expedient to have a second ultrasonic test head with a second fluid nozzle and a second handling device for moving the second ultrasonic test head. The second ultrasonic test head is positioned such that the component can be positioned between the ultrasonic test head and the second ultrasonic test head during the testing process, and the ultrasonic test head and the second ultrasonic test head are jointly movable and coupled to the digital computer. This offers the advantage that the component to be tested can be tested using a so-called through-transmission method. The described method steps make it possible to test the component as precisely as possible.

[0043] According to the invention, a computer-implemented method for optimizing the positioning of the handling device and the component during the method for non-destructive testing of the component according to claim 1 can be provided. By means of the digital computer,

[0044] - the required position and orientation of the component are pre-calculated and optimised so that the handling device has to perform as few complex movements as possible during the non-destructive testing process of the component and / or,

[0045] - the required alignment of locked rotation axes of the handling device is pre-calculated and optimized so that the locked rotation axes of the handling device have to be repositioned as little as possible during the non-destructive testing process of the component or the handling device has to perform as few complex movements as possible during the non-destructive testing process of the component.

[0046] The ultrasonic testing system can be designed for the following function: An ultrasonic transducer of the ultrasonic probe emits ultrasonic waves, which are transmitted to the component by a liquid jet from the liquid nozzle. The liquid jet is formed by the liquid nozzle, which is attached to the housing of the ultrasonic probe in front of the transducer. In a first embodiment, the reflected ultrasonic waves can be received again at the same ultrasonic transducer. This can be referred to as "pulse echo mode."

[0047] In a second embodiment, the ultrasonic waves pass through the component and are fed via the second fluid jet to a receiver transducer of the second ultrasonic probe. This can be referred to as "through transmission mode."

[0048] The incoming ultrasonic waves are converted into an electrical signal at the ultrasonic transducer or the receiver transducer, which is then evaluated in the digital computer.

[0049] For a better understanding of the invention, it is explained in more detail using the following figures.

[0050] They each show, in a highly simplified, schematic representation: a schematic representation of a first embodiment of an ultrasonic testing system in a perspective view; a schematic representation of the first embodiment of the ultrasonic testing system with locked axes in a perspective view; a schematic representation of a second embodiment of the ultrasonic testing system with two ultrasonic probes in a perspective view; a detail of the second embodiment of the ultrasonic testing system with two ultrasonic probes in a side view.

[0051] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference numerals or identical component designations, whereby the disclosures contained in the entire description can be transferred analogously to identical parts with identical reference numerals or identical component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure, and these positional information must be transferred analogously to the new position in the event of a change in position. Fig. 1 shows a first embodiment of an ultrasonic testing system 1. The ultrasonic

[0052] Test system 1 is used for non-destructive testing of a component 2 to be tested.

[0053] The ultrasonic testing system 1 can comprise an ultrasonic probe 3. The ultrasonic probe 3 can have a liquid nozzle 4. The liquid nozzle 4 can be used to emit a water jet 5. In particular, special test water, such as osmosis water or distilled water, can be used here. The water jet 5 can be used to couple the ultrasonic probe 3 to the component 2 to be tested, in particular for sound transmission.

[0054] Furthermore, it can be provided that the ultrasonic test head 3 is arranged on a handling device 6. The handling device 6 can serve to guide the ultrasonic test head 3. Furthermore, it can be provided that a digital computer 7 is formed, which can be coupled to the handling device 6 and can serve to control and / or regulate the handling device 6. Furthermore, it can also be provided that the digital computer 7 is coupled to the ultrasonic test head 3 and serves to evaluate the measurement results of the ultrasonic test head 3.

[0055] As can be seen from Fig. 1, the handling device 6 can be provided with a base 8. The base 8 can be mounted on a substructure 10 so that it can be displaced about a linear axis 9. Of course, corresponding guides (not shown) can be provided, by means of which the base 8 is mounted on the substructure 10 so that it can be displaced along the linear axis 9.

[0056] Furthermore, it can be provided that a carousel 11 is formed, wherein the carousel 11 can be rotatably mounted on the base 8 about a first rotation axis 12. In particular, it can be provided that the first rotation axis 12 is formed vertically.

[0057] Furthermore, it can be provided that a rocker arm 13 is formed, which can be arranged on the carousel 11 so as to be pivotable about a second axis of rotation 14. In particular, it can be provided that the second axis of rotation 14 is arranged orthogonally to the first axis of rotation 12. Furthermore, it can be provided that the second axis of rotation 14 is aligned horizontally. Furthermore, it can be provided that an arm 15 is arranged on the rocker arm 13, wherein the arm 15 can be received on the rocker arm 13 so as to be pivotable about a third axis of rotation 16. In particular, it can be provided that the rocker arm is coupled to the carousel 11 at a first longitudinal end and to the arm 15 at a second longitudinal end. Furthermore, it can be provided that the second axis of rotation 14 and the third axis of rotation 16 are arranged at a distance from one another.In particular, it can be provided that the second rotation axis 14 and the third rotation axis 16 are arranged parallel to each other. Furthermore, it can be provided that the third rotation axis 16 is arranged horizontally.

[0058] Furthermore, it can be provided that a hand 17 is formed which is arranged on the arm 15 so as to be rotatable about a fourth axis of rotation 18. In particular, it can be provided that the fourth axis of rotation 18 is arranged orthogonally to the third axis of rotation 16. The fourth axis of rotation 18 can extend along a longitudinal extent of the arm 15. In particular, it can be provided that a first longitudinal end of the arm 15 is coupled to the rocker 13. Furthermore, it can be provided that a second longitudinal end of the arm 15 is coupled to the hand 17. In particular, it can be provided that the hand 17 is formed as an extension of the arm 15 and is rotatable about the fourth axis of rotation 18.

[0059] Furthermore, it can be provided that a finger 19 is formed, which can be pivotably coupled to the hand 17 about a fifth rotation axis 20. In particular, it can be provided that the fifth rotation axis 20 is arranged orthogonally to the fourth rotation axis 18. As can be seen from Fig. 1, it can be provided that the hand 17 is U-shaped or in the form of a fork, and the finger 19 is arranged between the two legs.

[0060] Furthermore, it can be provided that a test head carrier 21 is formed, which can be arranged on the finger 19 so as to be rotatable about a sixth rotation axis 22. In particular, it can be provided that the test head carrier 21 is detachably coupled to the finger 19. In particular, it can be provided that a quick-change coupling is formed between the test head carrier 21 and the finger 19.

[0061] Furthermore, it can be provided that the test head carrier 21 is coupled to a vibration damper. This has the advantage that the test result can be improved. In particular, it can be provided that the vibration damper is installed in the finger 19 if the finger 19 is very long. The vibration damper can, for example, be in the form of a wire which runs through a finger 19 designed as a hollow body. By changing the prestress of the wire, the natural frequency of the finger 19 can be changed. Thus, by changing the prestress accordingly, it can be achieved that when the test head carrier 21 is moved, an oscillation frequency of the test head carrier 21 caused by the movement does not overlap with the natural frequency of the finger 19.

[0062] A vibration damper with a wire designed in this way can be installed not only in the finger 19, but also in other components of the handling device 6.

[0063] In an alternative embodiment, a particle damper can also be arranged on the probe carrier 21 or elsewhere in the vicinity of the ultrasonic probe 3. The particle damper can comprise a container filled with a plurality of particles. When the particle damper oscillates, the particles can rub against each other, thereby achieving a damping effect.

[0064] In a further alternative embodiment, it can be provided that the finger 19 or another component of the handling device 6 can have a sandwich construction. The sandwich construction allows individual layers to be formed that can rub against each other, thereby achieving damping.

[0065] In particular, it can be provided that the sixth axis of rotation 22 extends in the longitudinal direction of the finger 19.

[0066] Furthermore, it can be provided that the ultrasonic test head 3 is arranged on the test head carrier 21 so as to be pivotable about a seventh rotation axis 23.

[0067] Fig. 2 shows the ultrasonic testing system 1 of the first embodiment according to Fig. 1 in a further operating state. In the operating state according to Fig. 2, the fourth rotation axis 18 and the fifth rotation axis 20 can be locked during the testing process. In the control system, the hand 17 and the finger 19 can thus be assumed to be rigidly connected to the arm 15. From a control perspective, the arm 15 can thus have a greater extension, with the geometric relationships of the arm 15 being adjusted depending on the position of the hand 17 and the finger 19.

[0068] From a control perspective, the sixth rotation axis 22 can be treated as if it were the fourth rotation axis in a conventional swivel-arm robot. The seventh rotation axis 23 can be treated as if it were the fifth rotation axis in a conventional swivel-arm robot. With this approach, the sixth rotation axis of a conventional swivel-arm robot can be omitted, since rotation of the fluid nozzle 4 around its own axis is not necessary.

[0069] The exemplary embodiment of the ultrasonic testing system 1 can be designed such that the reflected ultrasonic waves are received again at the same ultrasonic probe 3 from which they were emitted. This can be referred to, for example, as pulse-echo mode.

[0070] Fig. 3 shows a further and possibly independent embodiment of the ultrasonic testing system 1, wherein the same reference numerals or component designations are used for the same parts as in the preceding Figs. 1 and 2. To avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 and 2.

[0071] As can be seen from Fig. 3, it can be provided that the ultrasonic testing system 1 has the ultrasonic test head 3 or the handling device 6, as already described in connection with Fig. 1.

[0072] Additionally, a second ultrasonic test head 24 can be provided, which has a second liquid nozzle 25. The second ultrasonic test head 24 can be moved or controlled by means of a second handling device 26. The second handling device 26 can have a similar structure to the handling device 6. In particular, it can be provided that the handling device 6 and the second handling device 26 are structurally identical. For this reason, a detailed description of the second handling device 26 is omitted; instead, reference is made to the description of the handling device 6. The second ultrasonic test head 24 can also be of the same design or of the same construction as the ultrasonic test head 3. Locking of the axes, as described in connection with Fig. 2, is also possible for the handling device 6 as well as for the second handling device 26.

[0073] In particular, it can be provided that the second liquid nozzle 25 is designed to emit a second water jet 27. Furthermore, it can be provided that the water jet 5 impinges on a first side 28 of the component 2 to be tested. Furthermore, it can be provided that the second water jet 27 is emitted onto a second side 29 of the component 2 to be tested.

[0074] Fig. 4 shows a side view of the component 2 to be tested with the ultrasonic test head 3 and the liquid nozzle 4 as well as the second ultrasonic test head 24 and the second liquid nozzle 25. As can be seen from Fig. 4, it can be provided that the liquid nozzle 4 is guided at a first distance 30 to the first side 28 of the component 2. Furthermore, it can be provided that the second liquid nozzle 25 is guided at a second distance 31 to the second side 29 of the component 2. The first distance 30 and the second distance 31 can be the same. The component 2 can have a thickness 32. As can be seen from Fig. 4, it can be provided that the liquid nozzle 4 and the second liquid nozzle 25 are positioned such that the water jet 5 and the second water jet 27 impinge on points on the component 2 that are directly opposite one another.Particularly when the first side 28 and the second side 29 of the component 2 are not arranged vertically, the liquid nozzle 4 to the first side 28 of the component 2 and the second liquid nozzle 25 to the second side 29 of the component 2 can have different angular positions, so that the different gravitational influences of the upwardly spraying nozzle and the downwardly spraying nozzle are compensated accordingly.

[0075] The embodiments show possible embodiments, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather various combinations of the individual embodiments with each other are also possible and this possibility of variation lies within the skill of the person skilled in the art in this technical field due to the teaching of technical action by means of the objective invention.

[0076] The scope of protection is determined by the claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions. The problem underlying these independent inventive solutions can be derived from the description.

[0077] All information on value ranges in this description is to be understood as including any and all sub-ranges thereof, e.g. the information 1 to 10 is to be understood as including all sub-ranges starting from the lower limit of 1 and the upper limit of 10, ie all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0078] For the sake of clarity, it should finally be pointed out that, in order to better understand the structure, some elements have been shown out of scale and / or enlarged and / or reduced in size.

[0079] Reference symbol list

[0080] Ultrasonic testing system 32 thickness

[0081] component

[0082] Ultrasonic probe

[0083] Liquid nozzle

[0084] water jet

[0085] Handling device

[0086] digital computer

[0087] base

[0088] Linear axis

[0089] Substructure

[0090] Carousel first rotation axis

[0091] Swing second rotation axis

[0092] Arm third rotation axis

[0093] Hand fourth rotation axis

[0094] Finger fifth rotation axis

[0095] Probe carrier sixth rotation axis seventh rotation axis second ultrasonic probe second fluid nozzle second handling device second water jet first side second side first distance second distance

Claims

Patent claims 1. A method for non-destructive testing of a component (2), comprising the method steps: - Providing an ultrasonic testing system (1) with an ultrasonic test head (3) with a liquid nozzle (4) and with a handling device (6) for moving the ultrasonic test head (3) and a digital computer (7), wherein the digital computer (7) is coupled to the handling device (6) and serves to control the handling device (6), the handling device (6) comprising: a base (8); a carousel (11) which is mounted on the base (8) for rotation about a first rotation axis (12); a rocker (13) which is mounted on the carousel for rotation about a second rotation axis (14) (11), wherein the second axis of rotation (14) is orthogonal to the first axis of rotation (12); an arm (15) which is pivotable about a third rotation axis (16) on the rocker (13), wherein the third axis of rotation (16) is formed parallel to the second axis of rotation (14); a hand (17) which is mounted on the arm (15) so as to be rotatable about a fourth axis of rotation (18), wherein the fourth axis of rotation (18) runs in the longitudinal direction of the arm (15) and is arranged orthogonally to the third axis of rotation (16); a finger (19) which is mounted on the hand (17) so as to be pivotable about a fifth axis of rotation (20), wherein the fifth axis of rotation (20) is arranged orthogonally to the fourth axis of rotation (18);a test head carrier (21) which is mounted on the finger (19) so as to be rotatable about a sixth axis of rotation (22), the sixth axis of rotation (22) running in the longitudinal direction of the finger (19) and being arranged orthogonally to the fifth axis of rotation (20), the ultrasonic test head (3) being mounted on the test head carrier (21) so as to be pivotable about a seventh axis of rotation (23), the seventh axis of rotation (23) being arranged orthogonally to the sixth axis of rotation (22); - Providing a digital computer (7), wherein the digital computer (7) is coupled to the ultrasonic testing system (1) and serves to control the ultrasonic testing system (1); - Providing the component (2) to be tested with the ultrasonic testing system (1); - Testing the component (2) by means of the ultrasonic testing system (1), wherein the ultrasonic test head (3) is moved relative to the component (2) during the testing process, wherein the movement of the ultrasonic test head (3) is controlled by the digital computer (7).

2. Method according to claim 1, characterized in that during the movement of the ultrasonic test head (3) during the testing process, at least one of the rotation axes (12, 14, 16, 18, 20, 22, 23) is blocked and this blocked movement possibility is compensated by the remaining rotation axes (12, 14, 16, 18, 20, 22, 23) and / or linear axis (9).

3. Method according to claim 2, characterized in that the fourth rotation axis (18) and / or the fifth rotation axis (20) is locked.

4. Method according to claim 1 or 2, characterized in that the rotation axis (12, 14, 16, 18, 20, 22, 23) blocked during the testing process is positioned before the start of the testing process in such a way that the rotation axes (12, 14, 16, 18, 20, 22, 23) remaining for movement can take over the movements necessary for the testing process.

5. Method according to one of claims 2 to 4, characterized in that between individual test processes the rotation axis (12, 14, 16, 18, 20, 22, 23) which is blocked during the test process is repositioned.

6. Method according to one of claims 3 to 5, characterized in that during the testing process the fourth rotation axis (18) and the fifth rotation axis (20) are blocked, wherein in the digital computer (7) the hand (17) is calculated as a rigid part of the arm (15) and the finger (19) is calculated as a rigid part of the hand (17), wherein the sixth rotation axis (22) is treated in the digital computer (7) as the fourth rotation axis (18) and the seventh rotation axis (23) is treated in the digital computer (7) as the fifth rotation axis (20).

7. Method according to one of the preceding claims, characterized in that the ultrasonic testing system (1) has a second ultrasonic test head (24) with a second liquid nozzle (25) and with a second handling device (26) for moving the second ultrasonic test head (24), wherein the component (2) is positioned between the ultrasonic test head (3) and the second ultrasonic test head (24) during the testing process and wherein the ultrasonic test head (3) and the second ultrasonic test head (24) are moved together so that a water jet (5) of the ultrasonic test head (3) and a second water jet (27) of the second ultrasonic test head (24) impinge on directly opposite sides (28, 29) of the component (2), wherein the movement of the second ultrasonic test head (24) is predetermined by the digital computer (7).

8. The method according to claim 7, characterized in that during the testing process the ultrasonic test head (3) is guided at a constant first distance (30) to a first side (28) of the component (2) and the second ultrasonic test head (24) is guided at a constant second distance (31) to a second side (29) of the component (2).

9. Method according to claim 8, characterized in that during the testing process the ultrasonic test head (3) and the second ultrasonic test head (24) are guided at a variable distance (31) from one another in the case of components (2) with a variable thickness (32).

10. Method according to one of claims 7 to 9, characterized in that the liquid nozzle (4) of the ultrasonic test head (3) and the second liquid nozzle (25) of the second ultrasonic test head (24) are not directed directly towards one another during the test process, but a deflection of the water jet (5) and the second water jet (27) due to gravity when guiding the ultrasonic test head (3) and the second ultrasonic test head (24) is taken into account in the control of the movement of the ultrasonic test head (3) and the second ultrasonic test head (24).

11. Method according to one of the preceding claims, characterized in that the base (8) is mounted on a substructure (10) so as to be displaceable along a linear axis (9) and during the testing process the base (8) is displaced along the linear axis (9) relative to the substructure (10).

12. The method according to claim 11, characterized in that the ultrasonic test head (3) is moved during the testing process in a movement along a line of movement relative to the component (2), wherein the movement during the testing process takes place exclusively by moving the base (8) along the linear axis (9) relative to the substructure (10), wherein the line of movement is parallel to the linear axis (9).

13. Ultrasonic testing system (1) for non-destructive testing of a component (2) comprising: - an ultrasonic probe (3) with a liquid nozzle (4); - a handling device (6) for moving the ultrasonic test head (3), - a digital computer (7), wherein the digital computer (7) is coupled to the handling device (6) and serves to control the handling device (6), the handling device (6) comprising: a base (8); a carousel (11) which is mounted on the base (8) so as to be rotatable about a first axis of rotation (12); a rocker (13) which is mounted on the carousel (11) so as to be pivotable about a second axis of rotation (14), wherein the second axis of rotation (14) is arranged orthogonally to the first axis of rotation; an arm (15) which is mounted on the rocker (13) so as to be pivotable about a third axis of rotation (16), wherein the third axis of rotation (16) is formed parallel to the second axis of rotation; a hand (17) which is mounted on the arm (15) so as to be rotatable about a fourth axis of rotation (18), the fourth axis of rotation (18) extending in the longitudinal direction of the arm (15) and being arranged orthogonally to the third axis of rotation;a finger (19) which is mounted on the hand (17) so as to be pivotable about a fifth axis of rotation (20), the fifth axis of rotation (20) being arranged orthogonally to the fourth axis of rotation; a test head carrier (21) which is mounted on the finger (19) so as to be rotatable about a sixth axis of rotation (22), the sixth axis of rotation (22) running in the longitudinal direction of the finger (19) and being arranged orthogonally to the fifth axis of rotation, the ultrasonic test head (3) being mounted on the test head carrier (21) so as to be pivotable about a seventh axis of rotation (23), the seventh axis of rotation (23) being orthogonal to the sixth; axis of rotation, wherein the digital computer (7) comprises commands which cause the ultrasonic testing system (1) to carry out the method according to one of the preceding claims.

14. Ultrasonic testing system (1) according to claim 13, characterized in that a second ultrasonic test head (24) is designed with a second liquid nozzle (25) and with a second handling device (26) for moving the second ultrasonic test head (24), wherein the second ultrasonic test head (24) is positioned such that the component (2) can be positioned between the ultrasonic test head (3) and the second ultrasonic test head (24) during the testing process and wherein the ultrasonic test head (3) and the second ultrasonic test head (24) are movable together and are coupled to the digital computer (7).

15. Computer-implemented method for optimizing the positioning of the handling device (6) and the component (2) during the method for non-destructive testing of the component (2) according to claim 1, characterized in that by means of the digital computer (7) - the required position and orientation of the component (2) is pre-calculated and optimized so that the handling device (6) has to perform as few complex movements as possible during the process for non-destructive testing of the component (2) and / or, - the required alignment of locked rotation axes (12, 14, 16, 18, 20, 22, 23) of the handling device (6) is pre-calculated and optimized so that the locked rotation axes (12, 14, 16, 18, 20, 22, 23) of the handling device (6) have to be repositioned as little as possible during the method for non-destructive testing of the component (2) or the handling device (6) has to perform as few complex movements as possible during the method for non-destructive testing of the component (2).

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