Test device for non-destructive material test and method for non-destructive material test

Abstract

The invention relates to a test device (1) for a non-destructive material test, comprising: - a base (2) having a coupling (4) for connecting to a robot (5); - a first test head (6) which is coupled by means of a first test head carrier (7) to the base (2) in a manner displaceable relative to the base (2); - a second test head (8) which is coupled by means of a second test head carrier (9) to the base in a manner displaceable relative to the base (2), wherein the first test head (6) and the second test head (8) are arranged one behind the other in a longitudinal extension direction (3) of the base (2) and the first test head (6) and the second test head (8) are shaped differently to one another, wherein the test heads (6, 8) have a first test direction (12) which lies parallel to the longitudinal extension direction (3) of the base (2).

Description

[0001] Test device for non-destructive material testing and a method for non-destructive material testing

[0002] The invention relates to a testing device for non-destructive material testing and a method for non-destructive material testing.

[0003] EP3108235B 1 discloses a device for ultrasonic testing with a test head arrangement having a sound coupling surface, wherein the test head arrangement is movable in a test direction running parallel to a surface of an object to be tested and is arranged displaceably along a first spatial axis running to the test direction and the surface of the object to be tested.

[0004] The ultrasonic testing device known from EP3108235B1 has the disadvantage that it can only be used to test flat surfaces. The ultrasonic testing device is not suitable for testing complex geometries.

[0005] The object of the present invention was to overcome the disadvantages of the prior art and to provide a testing device for non-destructive material testing and a method for non-destructive material testing by means of which even complex geometries can be tested.

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

[0007] The invention relates to a testing device for non-destructive material testing, comprising:

[0008] - a base with a coupling for connecting to a robot;

[0009] - a first test head which is coupled to the base by means of a first test head carrier so as to be displaceable relative to the base;

[0010] - a second test head which is coupled to the base by means of a second test head carrier so as to be displaceable relative to the base, wherein the first test head and the second test head are arranged one behind the other in a longitudinal direction of the base and the first test head and the second test head have a different shape from one another, wherein the test heads have a testing direction which is parallel to the longitudinal direction of the base. The testing device according to the invention has the advantage that complex workpieces can be tested easily with this testing device. In particular, it can be used to test elongated workpieces which have surfaces arranged at an angle to one another with possible transition radii. In particular, the invention can compensate for positioning errors, such as position errors and orientation errors, of the testing device relative to the workpiece to be tested.

[0011] Furthermore, it can be expedient if the first test head is designed to test a flat surface and the second test head is designed to test a radius, in particular an inner radius. The testing device according to the invention has the advantage that complex workpieces can be tested easily using this testing device. In particular, it can be used to test elongated workpieces which have surfaces arranged at an angle to one another with any transition radii. Furthermore, the testing device can also be used to test elongated workpieces which have a curvature or twist in their longitudinal extension. A change in the cross-section, for example a reduction in the size of a top surface, of the elongated workpiece can be compensated for by the testing device according to the invention.

[0012] Due to the different shapes of the first test head and the second test head, it can be achieved that the first test head and the second test head are suitable for testing different geometric sections of the workpieces.

[0013] In particular, it can be provided that the test heads have a different outer shell shape in a cross-section with respect to the longitudinal direction. For example, the first test head can have a test surface for testing the flat surface, and the second test head can have a test curve, which serves to test a radius.

[0014] Furthermore, it can also be provided that the test heads have different effective surfaces on which the test sensors are arranged.

[0015] In particular, it can be provided that the testing device is designed for ultrasonic testing of workpieces. Furthermore, it can be provided that a third test head is formed, which is coupled to the base by means of a third test head carrier so as to be displaceable relative to the base. The third test head is arranged behind the first test head and the second test head in the longitudinal direction of extension, the third test head being designed to test a radius, in particular an outer radius. This has the advantage that this measure can improve the testing accuracy and simultaneously increase the testing speed.

[0016] Furthermore, it may be provided that additional test heads are formed.

[0017] Furthermore, it can be provided that a first test head holder is formed, wherein the first test head is held in the first test head holder so as to be pivotable about a first test head pivot axis, wherein the first test head pivot axis is arranged parallel to the longitudinal direction of extension, wherein the first test head holder is pivotable about a first rotation axis by means of a first rotary holder. This has the advantage that the first test head can be flexibly pressed against a first flank, a top surface and a second flank of an elongated workpiece to be tested and can rotate freely in the process. Furthermore, the rotary holder can ensure that the first test head can be oriented in a first direction or in a second direction.

[0018] Furthermore, it can be provided that the first test head pivot axis and the first rotation axis are arranged at an angle of 90° to each other.

[0019] In addition, the first test head carrier may comprise the following components:

[0020] + a first pivot mount, wherein the first pivot mount is arranged on the base so as to be pivotable about a first pivot axis, wherein the first pivot axis is aligned parallel to the longitudinal direction;

[0021] + a first rotary mount, wherein the first pivot mount has a first pivot bearing for rotatably receiving the first rotary mount, wherein a first axis of rotation of the first rotary mount is arranged at an angle of 90° to the first pivot axis, wherein the first axis of rotation and the first pivot axis are arranged at a distance from one another;

[0022] + a first linear mount, wherein the first rotary mount has a first linear bearing for displaceably receiving the first linear mount along a first linear axis;

[0023] + a first test head holder, wherein the first test head holder is mounted in the first linear holder so as to be pivotable about a first test head holder axis, wherein the first test head is mounted in the first test head holder so as to be pivotable about a first test head pivot axis, wherein the first test head pivot axis is arranged parallel to the longitudinal direction. This has the advantage that this measure allows the first test head to be pressed against the surface to be tested with a constant pressure and in the correct position. The first rotary holder makes it possible for the first test head to be used, depending on the rotational position, to test a first flank, a top surface and a second flank of an elongated workpiece to be tested.

[0024] Another advantageous embodiment is one in which the first rotary mount is designed such that the first linear axis and the first rotary axis are arranged at a first angle to one another, wherein the first rotary mount is mounted on the first pivot mount so as to be pivotable by 180° with respect to the first rotary axis. This has the advantage that this measure allows the first test head to be pressed against the surface to be tested with a constant pressure and in the correct position. The first rotary mount makes it possible for the first test head to be used, depending on the rotational position, to test a first flank of a cover surface and a second flank of an elongated workpiece to be tested. The size of the angle can be selected depending on the geometry of the component to be tested. Furthermore, it is also conceivable for the angle to be adjustable. In particular, the first rotary mount can be L-shaped.

[0025] According to a further development, it is possible for a first front pivot support spring to be formed, wherein the first front pivot support spring acts between the first pivot support and the base, wherein an effective direction of the first front pivot support spring lies tangential to the first pivot axis, wherein the first front pivot support spring is arranged at a first front pivot support spring distance from the first pivot axis. This measure can protect the first test head, since the contact pressure of the first test head can be limited by the first front pivot support spring. If the first workpiece bulges accordingly, the test head can deflect during a longitudinal displacement.This has the advantage that the first swivel mount can be held in position and, at the same time, dynamic loads on the first swivel mount can be compensated, so that the first probe is not exposed to high acceleration values ​​due to shocks. This can increase the service life of the first probe. At the same time, this measure can compensate for unevenness on the workpiece to be tested or inaccurate positioning of the probe carrier relative to the workpiece.

[0026] Furthermore, it may be expedient if a first rear pivot receiving spring is formed, wherein the first rear pivot receiving spring acts between a rear side of the first pivot receiving and the base, wherein an effective direction of the first rear pivot receiving spring is tangential to the first pivot axis, wherein the first front pivot receiving spring and the first rear pivot receiving spring have an effective force facing one another and are arranged coaxially to one another.

[0027] Furthermore, a first pivot drive can be provided, wherein the first pivot drive is designed to rotate the first rotary mount about the first axis of rotation. This offers the advantage that the first rotary mount can be automatically moved between different positions by means of the first pivot drive.

[0028] Furthermore, it may be expedient for the first pivot drive to be designed to pivot the first rotary mount by 180° between end positions. This has the advantage of allowing for easy positioning of the first rotary mount.

[0029] Furthermore, it can be provided that the first rotary actuator is designed as a pneumatic rotary actuator. Such a rotary actuator can have a simple and cost-effective design.

[0030] Furthermore, a first linear support spring can be provided, wherein the first linear support spring acts on the first linear support and urges it into an extended position. This measure can achieve further displaceability of the first test head.

[0031] Also advantageous is a form according to which it can be provided that the second

[0032] Test head carrier comprises the following components: + a second pivot mount, wherein the second pivot mount is arranged on the base so as to be pivotable about a second pivot axis, wherein the second pivot axis is aligned parallel to the longitudinal direction;

[0033] + a second linear mount, wherein the second pivot mount has a second linear bearing for displaceably receiving the second linear mount;

[0034] + a second probe mount, wherein the second probe mount is pivotably mounted in the second linear mount about a second probe mount axis, wherein the second probe is pivotably mounted in the second probe mount about a second probe pivot axis, wherein the second probe pivot axis is arranged parallel to the longitudinal direction. This has the advantage that this measure allows the second probe to be pressed against the radius to be tested with a constant pressure and in the correct position.

[0035] According to a further development, it is possible for the first test head to have a first flat sliding surface, and for a first left-hand curve to be formed on a first side of the first flat sliding surface in the longitudinal direction, and a first right-hand curve to be formed on a second side of the first flat sliding surface. This has the advantage that this measure allows for easy movement of the first test head and prevents the first test head from tilting.

[0036] Furthermore, it may be expedient for the first flat sliding surface to have a first sliding surface longitudinal extension and for the first test head to have a first total longitudinal extension, wherein the first sliding surface longitudinal extension is between 15% and 95%, in particular between 25% and 70%, preferably between 30% and 40% of the first total longitudinal extension. Especially with such a ratio, the test head can be easily guided while still achieving high testing accuracy.

[0037] Furthermore, a first locking device can be provided to lock the pivoting of the first pivot mount relative to the base. This measure can prevent undesired tilting of the first test head when the first pivot mount is in a certain position.

[0038] According to the invention, a method for non-destructive material testing is provided.

[0039] The method comprises the following steps: - Providing a test device according to one of the above embodiments;

[0040] - Providing an elongated workpiece to be tested having a first base surface, a first flank, a first transition radius between the first base surface and the first flank, in particular an elongated workpiece to be tested having a trapezoidal cross-section formed by a first base, a first flank, a first transition radius between the first base and the first flank, a cover surface, a second transition radius between the first flank and the cover surface, a second flank, a third transition radius between the cover surface and the second flank, a second base, a fourth transition radius between the second flank and the second base;

[0041] - First testing of the elongated workpiece to be tested and moving the testing device in a testing direction parallel to the longitudinal direction of the base, wherein the first test head tests the first flank and the second test head tests the first transition radius.

[0042] The method according to the invention has the advantage that the elongated workpiece to be tested can be tested efficiently and with high accuracy.

[0043] Furthermore, it can be provided that the third test head checks the second transition radius during the first inspection of the elongated workpiece to be tested. This measure can further increase the efficiency of the testing process.

[0044] Furthermore, it can be provided that after the first test of the elongated workpiece to be tested, the base is pivoted by 180°. During a second test of the elongated workpiece to be tested, the testing device is moved in a testing direction parallel to the longitudinal extension direction of the base. During the second test, the test is carried out in the opposite direction to the first test, with the first test head testing the second flank and the second test head testing the fourth transition radius. This has the advantage that this measure allows the testing device to be kept as simple as possible and a high level of testing efficiency can be achieved.

[0045] Furthermore, it can be expedient if the third test head tests the third transition radius during the second test of the elongated workpiece to be tested. This measure can further increase the efficiency of the testing method. In addition, it can be provided that after the second test of the elongated workpiece to be tested, the base is pivoted by 180° and the first rotary mount is pivoted by 180°. During a third test of the elongated workpiece to be tested, the testing device is moved in a testing direction parallel to the longitudinal extension direction of the base, with the test being carried out in the same direction as the first test, with the first test head testing the cover surface. This has the advantage that this measure allows the testing device to be kept as simple as possible and a high level of testing efficiency can be achieved.

[0046] The test direction is the direction of movement of the test device during the intended non-destructive material testing.

[0047] In particular, it can be provided that a detection area extends on each of the test heads transversely to the longitudinal direction.

[0048] The individual test heads can be arranged laterally offset one behind the other in the longitudinal direction, whereby the detection areas of the individual test heads can be adjacent to one another or overlap one another.

[0049] In particular, it can be provided that individual test heads are designed in the form of ultrasonic test heads.

[0050] The individual probes can operate based on the so-called pulse-echo method. An electrical pulse from a high-frequency generator can be converted into a sound pulse in the probe using the piezoelectric effect and emitted. The sound wave can be partially or completely scattered and reflected by inhomogeneities in the structure of the workpiece being tested. In the first case, the wave train loses energy and continues with weaker sound pressure until absorption effects completely convert the sound energy into heat. A returning echo is converted into an electrical signal in the probe. Electronics then amplify the signal, evaluate it, and can output it to the user in various ways, for example, on a monitor.

[0051] In two-dimensional procedures, the subsequent sound pulse can be emitted in a slightly different direction by automatically pivoting the sound-generating probe mechanically or electronically. This allows the probe to scan a specific area of ​​the body and generate a two-dimensional cross-sectional image.

[0052] The next pulse can only be transmitted once all echoes from the previous ultrasound pulse have faded away. Thus, the repetition rate depends on the penetration depth; this is the maximum range into the object being examined. The higher the frequency, the smaller the penetration depth of the sound. However, the higher the frequency, the higher the spatial resolution, i.e., the ability to distinguish between closely spaced objects. Therefore, the highest possible frequency must always be selected, which just allows for examination at the desired depth, in order to achieve the best possible resolution.

[0053] In an alternative embodiment, it can be provided that at least one of the test heads is an optical test head.

[0054] In a further alternative embodiment, it can be provided that at least one of the test heads is a magnetic test head.

[0055] In a further alternative embodiment, it can be provided that at least one of the test heads is a magnetic test head.

[0056] In a further alternative embodiment, it can be provided that at least one of the test heads is an X-ray test head.

[0057] In a further alternative embodiment, it can be provided that at least one of the test heads acts on a different test principle.

[0058] To control the testing device or robot, these can be coupled to a digital computer. The digital computer can have storage means for storing the individual process steps.

[0059] The elongated workpieces to be tested can be, for example, extruded profiles or formed sheet metal parts. In particular, it can be provided that the elongated workpieces to be tested are designed as stiffening parts, which can be used, for example, in aircraft construction to stiffen the fuselage of an aircraft. Such stiffening parts can be, for example, stringers. Stringers are longitudinal stiffeners that increase the stiffness of large, flat components and prevent them from bulging. They are used in shipbuilding and in lightweight construction for aircraft, but also in rocket construction. In shipbuilding, the term "wegers" is more commonly used; however, these do not have direct contact with the outer skin but are located on the inside of the frames, while longitudinal stiffeners with a stronger cross-section are called longitudinal frames.Together with the frames, stringers form the supporting framework of an aircraft, with the stringers running at right angles to the frames and thus usually parallel to the longitudinal axis of the component.

[0060] Due to safety regulations in aircraft construction, it may be necessary for each of the elongated workpieces to be inspected for any defects, such as blowholes or other manufacturing defects.

[0061] For a better understanding of the invention, it is explained in more detail using the following figures.

[0062] They show in a highly simplified, schematic representation:

[0063] Fig. 1 shows a first embodiment of a testing device in a first perspective view;

[0064] Fig. 2 shows the first embodiment of the testing device in a second perspective view;

[0065] Fig. 3 shows the first embodiment of the testing device with a workpiece to be tested, wherein the testing device is in a first position relative to the workpiece, in a perspective view;

[0066] Fig. 4 shows the first embodiment of the testing device with a workpiece to be tested, wherein the testing device is in a second position relative to the workpiece, in a perspective view;

[0067] Fig. 5 shows the first embodiment of the testing device with a workpiece to be tested, wherein the testing device is in a third position relative to the workpiece, in a perspective view.

[0068] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied analogously to identical parts with identical reference symbols or 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 applied analogously to the new position in the event of a change in position.

[0069] Figs. 1 and 2 each show a first embodiment of a testing device 1 in two different perspective views. The following description of the figures is based on a synopsis of Figs. 1 and 2. For the sake of clarity, not all of the reference numerals are shown in both figures.

[0070] As can be seen from the figures, the test fixture 1 comprises a base 2, which serves to accommodate the additional components. The base 2 extends in a longitudinal direction 3.

[0071] Furthermore, the base 2 can have a coupling 4, which can be used to connect it to a robot 5. In particular, it can be provided that the robot 5 is designed as an articulated arm robot. Furthermore, it is also conceivable for the robot 5 to be designed as a gantry robot or as another manipulator. In particular, it can be provided that the coupling 4 is designed to detachably hold the testing device 1 on the robot 5. This can preferably be a quick-change coupling. The testing device 1 can thus form the end effector of the robot 5. Furthermore, it can be provided that the coupling 4 has a plurality of media interfaces for transmitting media, such as compressed air, power, electrical signals, hydraulic oil, water for ultrasonic testing, sound coupling medium, etc.

[0072] As further evident from Fig. 1, a first test head 6 can be provided, which can be arranged on a first test head carrier 7. The first test head carrier 7 can serve for the movable connection of the first test head 6 to the base 2.

[0073] As further apparent from Fig. 1, it can be provided that a second test head 8 is formed, which can be arranged on a second test head carrier 9. The second test head carrier 9 can serve for the movable connection of the second test head 8 to the base 2. As further apparent from Fig. 1, it can be provided that a third test head 10 is formed, which can be arranged on a third test head carrier 11. The third test head carrier 11 can serve for the movable connection of the third test head 10 to the base 2.

[0074] As clearly shown in Fig. 1, the test heads 6, 8, 10 can be arranged one behind the other in the longitudinal direction 3, whereby the sequence can vary from the illustrated embodiment. To test a workpiece to be tested, the testing device 1 can be moved in a testing direction 12, whereby the testing direction 12 can be parallel to the longitudinal direction 3.

[0075] Furthermore, it can be provided that the first test head carrier 7 comprises a first pivot mount 13. The first pivot mount 13 can be pivotably mounted on the base 2 about a first pivot axis 14. The first pivot axis 14 can be aligned parallel to the longitudinal direction 3.

[0076] In particular, it can be provided that the first pivot mount 13 has a first bolt mount 15 through which a fastening bolt 16 is guided. The fastening bolt 16 can be received on the base 2. In particular, it can be provided that the fastening bolt 16 is rigidly coupled to the base 2 and that the first pivot mount 13 is pivotally received on the fastening bolt 16. In this case, it can be provided that a bearing, in particular by a plain bearing bush, is formed between the first bolt mount 15 and the fastening bolt 16.

[0077] As can be seen particularly well from Fig. 1, it can be provided that a first locking device 17 is designed to lock the pivotability of the first pivot mount relative to the base 2. The first locking device 17 can be arranged on a locking device carrier 18. The locking device carrier 18 can be rigidly coupled to the base 2. Furthermore, it can be provided that the locking device 17 has a locking device bolt 19 which is designed to be inserted into a corresponding recess 20 in the first pivot mount 13. The locking device 17 can comprise a pneumatic cylinder by means of which the locking device bolt 19 is displaceable. Furthermore, a first rotary mount 21 can be designed, wherein the first pivot mount 13 has a first rotary bearing 22 for rotatably receiving the first rotary mount 21.

[0078] The first rotary mount 21 can be mounted in the first pivot mount 13 by means of the first rotary bearing 22 so as to be rotatable about a first rotation axis 23. In particular, it can be provided that the first rotary bearing 22 comprises plain bearing bushes.

[0079] Furthermore, it can be provided that a first pivot drive 24 is configured, wherein the first pivot drive 24 is configured to rotate the first rotary mount 21 about the first rotation axis 23. In particular, it can be provided that the first pivot drive 24 is configured to pivot the first rotary mount 21 by 180° between end positions. The first pivot drive 24 can be configured as a pneumatic pivot cylinder.

[0080] Furthermore, it can be provided that the first rotation axis 23 of the first rotary mount 21 is arranged at an angle of 90° to the first pivot axis 14. The first rotation axis 23 and the first pivot axis 14 can be arranged at a distance 25 from each other.

[0081] Furthermore, a first sensor 26 can be provided, by means of which the current rotational position of the first rotary mount 21 can be detected. In particular, the first sensor 26 can be designed in the form of a Hall sensor. The first sensor 26 can be rigidly coupled to the base 2.

[0082] Furthermore, it can be provided that a first linear mount 27 is formed. In particular, it can be provided that the first rotary mount 21 has a first linear bearing 28 for displaceably receiving the first linear mount 27 along a first linear axis 29. The first linear bearing 28 can be designed such that the first linear mount 27 is displaceable along the first linear axis 29, but is secured against rotation in the first rotary mount 21. In particular, it can be provided that the first linear mount 27 is displaceable between an extended position and a retracted position.

[0083] Furthermore, it can be provided that the first rotary mount 21 has a bend, wherein the first linear axis 29 and the first rotational axis 23 are arranged at a first angle 30 to one another. The bend or the angular arrangement can ensure that, upon rotation of the first rotary mount 21 by 180° about the first rotational axis 23 with respect to the first pivot mount 13, the orientation or positioning of the first test head 6 is changed.

[0084] As further evident from Fig. 2, a first linear receiving spring 31 can be provided, wherein the first linear receiving spring 31 acts on the first linear receiving member 27 and urges it into an extended position. Thus, the first linear receiving member 27 can be preloaded into its extended position by the first linear receiving spring 31. When the first test head 6 comes into contact with the workpiece 74 to be tested, the first linear receiving member 27 can be urged from the extended position toward the retracted position against the spring force of the first linear receiving spring 31.

[0085] Furthermore, it can be provided that a first front pivot receiving spring 32 is formed, wherein the first front pivot receiving spring 32 acts between the first pivot receptacle 13 and the base 2. In particular, it can be provided that a first pivot receiving spring holder 33 is formed, on which the first front pivot receiving spring 32 is arranged. The first pivot receiving spring holder 33 can, for example, be in the form of a screw or in the form of a bolt, which can be rigidly coupled to the first pivot receptacle 13. Furthermore, it can be provided that a stop 34 is formed, which is rigidly coupled to the base 2. The first front pivot receiving spring 32 can be designed as a compression spring and received between the stop 34 and the first pivot receptacle 13.

[0086] Furthermore, it can be provided that an effective direction of the first front pivot support spring 32 is tangential to the first pivot axis 14. The first front pivot support spring 32 can be arranged at a first front pivot support spring distance 35 from the first pivot axis 14.

[0087] Furthermore, it can be provided that a first rear pivot receiving spring 36 is formed. The first rear pivot receiving spring 36 can act between a rear side of the first pivot receiving 13 and the base 2. In particular, it can be provided that the first rear pivot receiving spring 36 is designed as a compression spring and is received on the first pivot receiving spring holder 33 between the stop 34 and the head of the first pivot receiving spring holder 33. The first pivot receiving spring holder 33 or its head can form the rear side of the first pivot receiving 13, since the first pivot receiving spring holder 33 can be rigidly coupled to the first pivot receiving 13.

[0088] In particular, it can be provided that an effective direction of the first rear pivot receiving spring 36 is tangential to the first pivot axis 14. Furthermore, it can be provided that the first front pivot receiving spring 32 and the first rear pivot receiving spring 36 are arranged coaxially to one another on the first pivot receiving spring holder 33 and have an effective force facing one another.

[0089] Furthermore, a first probe receptacle 37 can be provided. The first probe receptacle 37 can be pivotably mounted in the first linear receptacle 27 about a first probe receptacle axis 38. In particular, it can be provided that the first probe receptacle 37 has a pin that is received in a corresponding bore of the first linear receptacle 27, thereby enabling pivotability about the first probe receptacle axis 38.

[0090] Furthermore, it can be provided that a first receiving stop 39 is formed, by means of which the pivotability of the first test head receiving device 37 about the first test head receiving axis 38 is limited. This can prevent excessive tilting of the first test head receiving device 37.

[0091] In particular, it can be provided that the first test head holder 37 is U-shaped or in the form of a fork, wherein the first test head 6 is pivotably received between the legs of the first test head holder 37 about a first test head pivot axis 40. In particular, it can be provided that the first test head pivot axis 40 is arranged parallel to the longitudinal direction 3.

[0092] The first test head 6 can be pivotally received in the first test head receptacle 37 by means of a first fastening means 41, in particular by means of a bolt.

[0093] Furthermore, it can be provided that a first pivot limiter 42 is formed, by means of which the pivotability of the first test head 6 about the first test head pivot axis 40 is limited. In particular, it can be provided that the first pivot limiter 42 is formed in the form of a screw which is screwed into the first test head 6, wherein an elongated hole is formed in the first test head receptacle 37, which serves as a limit stop for the screw.

[0094] Furthermore, it can be provided that the first test head 6 has a first flat sliding surface 43 and that in the longitudinal direction 3 a first left curve 44 is formed on a first side of the first flat sliding surface 43 and a first right curve 45 is formed on a second side of the first flat sliding surface 43.

[0095] Furthermore, it can be provided that the first flat sliding surface 43 has a first sliding surface longitudinal extension 46 and that the first test head 6 has a first total longitudinal extension 47, wherein the first sliding surface longitudinal extension 46 is between 15% and 95%, in particular between 25% and 70%, preferably between 30% and 40% of the first total longitudinal extension 47.

[0096] Furthermore, it can be provided that one or more first test sensors 69 are arranged in the region of the first flat sliding surface 43, wherein the first test sensors 69 have a first detection of this extension 70 which extends transversely to the longitudinal extension direction 3.

[0097] Furthermore, it can be provided that the second test head carrier 9 comprises a second pivot mount 48. The second pivot mount 48 can be pivotably mounted on the base 2 about a second pivot axis 49. The second pivot axis 49 can be aligned parallel to the longitudinal direction 3. In particular, it can be provided that the first pivot axis 14 and the second pivot axis 49 are coaxial with one another.

[0098] In particular, it can be provided that the second pivot mount 48 has a second bolt mount 50 through which the fastening bolt 16 is guided. In particular, it can be provided that the fastening bolt 16 is rigidly coupled to the base 2 and that the second pivot mount 48 is pivotally mounted on the fastening bolt 16. In this case, it can be provided that a bearing, in particular by a plain bearing bush, is formed between the second bolt mount 50 and the fastening bolt 16.

[0099] Furthermore, it can be provided that a second linear mount 51 is formed. In particular, it can be provided that the second pivot mount 48 has a second linear bearing 52 for displaceably receiving the second linear mount 51 along a second linear axis 53. The second linear bearing 52 can be designed such that the second linear mount 51 is displaceable along the second linear axis 53, but is secured against rotation in the second pivot mount 48. In particular, it can be provided that the second linear mount 51 is displaceable between an extended position and a retracted position.

[0100] As further evident from Fig. 1, a second linear receiving spring 54 can be provided, wherein the second linear receiving spring 54 acts on the second linear receiving member 51 and urges it into an extended position. Thus, the second linear receiving member 51 can be preloaded into its extended position by the second linear receiving spring 54. When the second test head 8 comes into contact with the workpiece 74 to be tested, the second linear receiving member 51 can be urged from the extended position toward the retracted position against the spring force of the second linear receiving spring 54.

[0101] Furthermore, it can be provided that a second front pivot receiving spring 55 is formed, wherein the second front pivot receiving spring 55 acts between the second pivot receptacle 48 and the base 2. In particular, it can be provided that a second pivot receiving spring holder 56 is formed, on which the second front pivot receiving spring 55 is arranged. The second pivot receiving spring holder 55 can, for example, be in the form of a screw or in the form of a bolt, which can be rigidly coupled to the second pivot receptacle 48. Furthermore, it can be provided that a stop 34 is formed, which is rigidly coupled to the base 2. The second front pivot receiving spring 56 can be in the form of a compression spring and can be received between the stop 34 and the second pivot receptacle 48.

[0102] Furthermore, it can be provided that an effective direction of the second front pivot support spring 55 is tangential to the second pivot axis 49. The second front pivot support spring 55 can be arranged at a second front pivot support spring distance from the second pivot axis 49.

[0103] Furthermore, it can be provided that a second rear pivot receiving spring 36 is formed. The second rear pivot receiving spring 57 can act between a rear side of the second pivot receiving spring 48 and the base 2. In particular, it can be provided that the second rear pivot receiving spring 57 is designed as a compression spring and is received on the second pivot receiving spring holder 56 between the stop 34 and the head of the second pivot receiving spring holder 56. The second pivot receiving spring holder 56 or its head can form the rear side of the second pivot receiving spring 48, since the second pivot receiving spring holder 56 can be rigidly coupled to the second pivot receiving spring 48.

[0104] In particular, it can be provided that an effective direction of the second rear pivot receiving spring 57 is tangential to the second pivot axis 49. Furthermore, it can be provided that the second front pivot receiving spring 55 and the second rear pivot receiving spring 57 are arranged coaxially to one another on the second pivot receiving spring holder 56 and have an effective force facing one another.

[0105] Furthermore, a second probe receptacle 58 can be provided. The second probe receptacle 58 can be pivotably mounted in the second linear receptacle 51 about a second probe receptacle axis 59. In particular, the second probe receptacle 58 can have a pin that is received in a corresponding bore in the second linear receptacle 51, thereby enabling pivotability about the second probe receptacle axis 59.

[0106] Furthermore, a second receiving stop 60 can be provided, by means of which the pivotability of the second test head receiving device 58 about the second test head receiving axis 59 is limited. This can prevent excessive tilting of the second test head receiving device 58.

[0107] In particular, it can be provided that the second test head holder 58 is U-shaped or in the form of a fork, wherein the second test head 8 is pivotably received between the legs of the second test head holder 58 about a second test head pivot axis 61. In particular, it can be provided that the second test head pivot axis 61 is arranged parallel to the longitudinal direction 3.

[0108] The second test head 6 can be pivotally received in the second test head receptacle 37 by means of a second fastening means 62, in particular by means of a bolt.

[0109] Furthermore, it can be provided that a second pivot limiter 63 is formed, by means of which the pivotability of the second test head 6 about the second test head pivot axis 61 is limited. In particular, it can be provided that the second pivot limiter 63 is formed in the form of a screw which is screwed into the second test head 6, wherein an elongated hole is formed in the second test head receptacle 58, which serves as a limit stop for the screw.

[0110] Furthermore, it can be provided that the second test head 8 has a second sliding surface 64 with a radius and that in the longitudinal direction 3 a second left curve 65 is formed on a second side of the second sliding surface 64 with a radius and a second right curve 66 is formed on a second side of the second sliding surface 64 with a radius.

[0111] Furthermore, it can be provided that the second sliding surface 64 with radius has a second sliding surface longitudinal extension 67 and that the second test head 8 has a second total longitudinal extension 68, wherein the second sliding surface longitudinal extension 67 is between 15% and 95%, in particular between 25% and 70%, preferably between 30% and 40% of the second total longitudinal extension 68.

[0112] Furthermore, it can be provided that one or more second test sensors 71 are arranged in the region of the second sliding surface 64 with radius, wherein the second test sensors 71 have a second detection extension 72 which extends transversely to the longitudinal extension direction 3.

[0113] Furthermore, it can be provided that a second actuator 73 is formed, which can serve to actively displace the second linear mount 51. In particular, it can be provided that the second actuator 73 is designed in the form of a pneumatic cylinder.

[0114] The third test head carrier 11 can have the same structure as the second test head carrier 9. For reasons of simplicity, a detailed description or illustration of the individual components of the third test head carrier 11 is omitted; instead, reference is made to the description or illustration of the individual components of the third second test head carrier 9.

[0115] Figs. 3, 4, and 5 show a further and possibly independent embodiment of the ..., wherein the same reference numerals or component designations are used for the same parts as in the preceding Figs. ... To avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. ??

[0116] Figs. 3, 4, and 5 each show a perspective view of the first embodiment of the testing device 1 together with a workpiece 74 to be tested, wherein the same reference numerals or component designations as in the preceding Figs. 1 and 2 are used for the same parts. To avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 and 2. Different method steps of a testing process are shown in each of the individual Figs. 3, 4, and 5.

[0117] As can be seen from Fig. 3, it can be provided that the elongated workpiece to be tested has a trapezoidal cross-section. The trapezoidal cross-section can have a first base surface 75 and an adjoining first flank 76. A first transition radius 77 can be formed between the first base surface 75 and the first flank 76. Furthermore, it can be provided that a cover surface 78 is formed. The cover surface 78 can adjoin the first flank 76. Furthermore, it can be provided that a second transition radius 79 is formed between the first flank 76 and the cover surface 78. Furthermore, a second flank 80 can be provided, which can adjoin the cover surface 78. Furthermore, it can be provided that a third transition radius 81 is formed between the second flank 80 and the cover surface 78. Furthermore, a second base surface 82 can be formed, which can adjoin the second flank 80.Furthermore, it can be provided that a fourth transition radius 83 is formed, which is arranged between the second flank 80 and the second base surface 82.

[0118] In a first method step, as shown in Fig. 3, the testing device 1 can be moved in the testing direction 12 relative to the workpiece 74. In this case, the first test head 6 can be brought into contact with the first flank 76. Furthermore, the second test head 8 can be brought into contact with the first transition radius 77. Furthermore, the third test head 10 can be brought into contact with the second transition radius 79. When the testing device 1 is moved in the testing direction 12, the individual test heads 6, 8, 10 can each detect the assigned areas of the workpiece 74. In an alternative embodiment, it is of course also conceivable for the order or position of the individual test heads 6, 8, 10 to be interchanged. Furthermore, it is also conceivable for the testing direction 12 to be in the opposite direction to that shown in a configuration as shown in Fig. 3.

[0119] The testing device 1 can be moved over the entire longitudinal extent of the workpiece 74 to be tested. At the end of the workpiece 74 to be tested, the complete testing device 1 can be rotated by 180° with respect to a robot axis 84 and displaced in the opposite testing direction 12 as shown in Fig. 4. As can be seen from Fig. 4, the first test head 6 can be assigned to the second flank 80. The second test head 8 can be assigned to the fourth transition radius 83. The third test head 10 can be assigned to the third transition radius 81. The test can again be carried out over the entire length of the workpiece 74.

[0120] The springs installed in the individual test head supports 7, 9, 11 or the cardanic suspension of the individual test heads 6, 8, 10 ensure that the individual test heads 6, 8, 10 are guided tightly against the workpiece 74 during the test process.

[0121] In a third method step, as shown in Fig. 5, the testing device 1 can be moved over the workpiece 74 in the same testing direction 12 as in the first method step according to Fig. 3. Here, the first rotary mount 21 of the first test head carrier 7 can be pivoted by 180° so that the first test head 6 can be placed against the cover surface 78.

[0122] Optionally, as shown in Fig. 5, the second test head 8 and the third test head 10 can be positioned at the first transition radius 77 and the second transition radius 79, respectively, as in the illustration according to Fig. 3.

[0123] In an alternative embodiment, it is also conceivable that during the third test according to Fig. 5, the second test head 8 and the third test head 10 are lifted off the workpiece 74. This can be achieved by actively lifting the second test head 8 and the third test head 10 by actively adjusting the second unidirectional receptacle 51 by means of the second actuator 73 or the third unidirectional receptacle by means of the third actuator.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] Reference symbol list

[0129] Test device 31 first linear support spring

[0130] Base 32 first front swivel mount

[0131] Longitudinal extension direction spring

[0132] Coupling 33 first swivel spring holder

[0133] Robot first test head 34 stop first test head carrier 35 first front swivel mount second test head spring distance second test head carrier 36 first rear swivel mount third test head the third test head carrier 37 first test head mount

[0134] Test direction 38 First test head mounting axis First swivel mount 39 First mounting stop First swivel axis 40 First test head swivel axis First bolt mount 41 First fastening means

[0135] Fastening bolt 42 First swivel limiter First locking device 43 First flat sliding surface Locking device carrier 44 First left curve

[0136] Locking device bolt 45 first right rounding

[0137] Recess 46 first sliding surface longitudinal extension first rotary mount 47 first total longitudinal extension first rotary bearing 48 second swivel mount first rotary axis 49 second swivel axis first swivel drive 50 second bolt mount

[0138] Distance first rotary axis - first 51 second linear mount

[0139] Swivel axis 52 second linear bearing first sensor 53 second linear axis first linear mount 54 second linear mount spring first linear bearing 55 second front swivel mount first linear axis spring first angle second swivel mount spring holder second rear swivel mount spring second test head mount second test head mount axis second mount stop second test head swivel axis second fastening means second swivel limit second sliding surface with radius second left curve second right curve second sliding surface longitudinal extent second total longitudinal extent first test sensor first detection extent second test sensor second detection extent second actuator

[0140] Workpiece first base surface first flank first transition radius top surface second transition radius second flank third transition radius second base surface fourth transition radius robot axis

Claims

Patent claims 1. Test device (1) for non-destructive material testing, comprising: - a base (2) with a coupling (4) for connection to a robot (5); - a first test head (6) which is mounted relative to the base by means of a first test head carrier (7) (2) is slidably coupled to the base (2); - a second test head (8) which is coupled to the base (2) by means of a second test head carrier (9) so as to be displaceable relative to the base (2), wherein the first test head (6) and the second test head (8) are arranged in a longitudinal direction (3) of the base (2) are arranged one behind the other and the first test head (6) and the second test head (8) have a different shape to one another, wherein the test heads (6, 8) have a test direction (12) which is parallel to the longitudinal extension direction (3) of the base (2).

2. Testing device (1) according to claim 1, characterized in that the first test head (6) is designed to test a flat surface and the second test head (8) is designed to test a radius, in particular an inner radius.

3. Testing device (1) according to claim 1 or 2, characterized in that a third test head (10) is formed, which is coupled to the base (2) by means of a third test head carrier (11) so as to be displaceable relative to the base (2), wherein the third test head (10) is arranged behind the first test head (6) and the second test head (8) as seen in the longitudinal direction (3), wherein the third test head (10) is designed to test a radius, in particular an outer radius.

4. Testing device (1) according to one of the preceding claims, characterized in that a first test head holder (37) is formed, wherein the first test head (6) is received in the first test head holder (37) so as to be pivotable about a first test head pivot axis (40), wherein the first test head pivot axis (40) is arranged parallel to the longitudinal direction (3), wherein the first test head holder (37) is pivotable about a first rotation axis (23) by means of a first rotary holder (21).

5. Test device (1) according to one of the preceding claims, characterized in that the first test head carrier (7) comprises the following components: + a first pivot mount (13), wherein the first pivot mount (13) is arranged on the base (2) so as to be pivotable about a first pivot axis (14), wherein the first pivot axis (14) is aligned parallel to the longitudinal direction (3); + a first rotary mount (21), wherein the first pivot mount (13) has a first pivot bearing (22) for rotatably receiving the first rotary mount (21), wherein a first axis of rotation (23) of the first rotary mount (21) is arranged at an angle of 90° to the first pivot axis (14), wherein the first axis of rotation (23) and the first pivot axis (14) are arranged at a distance (25) from one another; + a first linear receptacle (27), wherein the first rotary receptacle (21) has a first linear bearing (28) for displaceably receiving the first linear receptacle (27) along a first linear axis (29); + a first test head holder (37), wherein the first test head holder (37) is pivotably received in the first linear holder (27) about a first test head holder axis (38), wherein the first test head (6) is pivotably received in the first test head holder (37) about a first test head pivot axis (40), wherein the first test head pivot axis (40) is arranged parallel to the longitudinal direction (3).

6. Testing device (1) according to claim 4, characterized in that the first rotary holder (21) is designed such that the first linear axis (29) and the first axis of rotation (23) are arranged at a first angle (30) to one another, wherein the first rotary holder (21) is received on the first pivot holder (13) so as to be pivotable through 180° with respect to the first axis of rotation (23).

7. Testing device (1) according to claim 4 or 5, characterized in that a first front pivot receiving spring (32) is formed, wherein the first front pivot receiving spring (32) acts between the first pivot receptacle (13) and the base (2), wherein an effective direction of the first front pivot receiving spring (32) is tangential to the first pivot axis (14), wherein the first front pivot receiving spring (32) is arranged at a first front pivot receiving spring distance (35) to the first pivot axis (14).

8. Testing device (1) according to claim 6, characterized in that a first rear pivot receiving spring (36) is formed, wherein the first rear pivot receiving spring (36) acts between a rear side of the first pivot receptacle (13) and the base (2), wherein an effective direction of the first rear pivot receiving spring (36) is tangential to the first pivot axis (14), wherein the first front pivot receiving spring (32) and the first rear pivot receiving spring (36) have an effective force facing one another and are arranged coaxially to one another.

9. Testing device (1) according to one of claims 4 to 7, characterized in that a first pivot drive (24) is formed, wherein the first pivot drive (24) is designed to rotate the first rotary holder (21) about the first axis of rotation (23).

10. Testing device (1) according to claim 8, characterized in that the first pivot drive (24) is designed to pivot the first rotary holder (21) between end positions by 180°.

11. Testing device (1) according to claim 8 or 9, characterized in that the first pivot drive (24) is designed as a pneumatic pivot drive.

12. Testing device (1) according to one of claims 4 to 10, characterized in that a first linear receiving spring (31) is formed, wherein the first linear receiving spring (31) acts on the first linear receiving means (27) and urges it into an extended position.

13. Test device (1) according to one of the preceding claims, characterized in that the second test head carrier (9) comprises the following components: + a second pivot mount (48), wherein the second pivot mount (48) is arranged on the base (2) so as to be pivotable about a second pivot axis (49), wherein the second pivot axis (49) is aligned parallel to the longitudinal direction (3); + a second linear mount (51), wherein the second pivot mount (48) has a second linear bearing (52) for displaceably receiving the second linear mount (51); + a second test head holder (58), wherein the second test head holder (58) is second test head receiving axis (59) is pivotably received in the second linear receptacle (51), wherein the second test head (8) is pivotably received in the second test head receptacle (58) about a second test head pivot axis (61), wherein the second test head pivot axis (61) is arranged parallel to the longitudinal direction (3).

14. Testing device (1) according to one of the preceding claims, characterized in that the first test head (6) has a first flat sliding surface (43) and that in the longitudinal direction (3) on a first side of the first flat sliding surface (43) a first left curve (44) is formed and on a second side of the first flat sliding surface (43) a first right curve (45) is formed.

15. Testing device (1) according to claim 13, characterized in that the first flat sliding surface (43) has a first sliding surface longitudinal extent (46) and that the first test head (6) has a first total longitudinal extent (47), wherein the first sliding surface longitudinal extent (46) is between 15% and 95%, in particular between 25% and 70%, preferably between 30% and 40% of the first total longitudinal extent (47).

16. Testing device (1) according to one of claims 4 to 14, characterized in that a first locking device (17) is designed to lock the pivotability of the first pivoting receptacle to the base (2).

17. Method for non-destructive material testing, comprising the following process steps: - Providing a testing device (1) according to one of the preceding claims; - Providing an elongate workpiece (74) to be tested, having a first base surface (75), a first flank (76), a first transition radius (77) between the first base surface (75) and the first flank (76), in particular an elongate workpiece (74) having a trapezoidal cross-section formed by the first base surface (75), the first flank (76), the first transition radius (77) between the first base surface (75) and the first flank (76), a cover surface (78), a second transition radius (79) between the first flank (76) and the cover surface (78), a second flank (80), a third transition radius (81) between the cover surface (78) and the second flank (80), a second base surface (82), a fourth transition radius (83) between the second flank (80) and the second base surface (82); - First testing of the elongated workpiece (74) to be tested and moving the testing device (1) in a testing direction (12) parallel to the longitudinal extension direction (3) of the base (2), wherein the first testing head (6) tests the first flank (76) and the second testing head (8) tests the first transition radius (77).

18. The method according to claim 16, characterized in that during the first testing of the elongated workpiece (74) to be tested, the third test head (10) tests the second transition radius (79).

19. Method according to claim 16 or 17, characterized in that after the first testing of the elongate workpiece (74) to be tested, the base (2) is pivoted by 180° and during a second testing of the elongate workpiece (74) to be tested, the testing device (1) is moved in a testing direction (12) parallel to the longitudinal extension direction (3) of the base (2), wherein during the second testing the testing is carried out in the opposite direction to the first testing, the first testing head (6) testing the second flank (80) and the second testing head (8) testing the fourth transition radius (83).

20. The method according to claim 18, characterized in that during the second testing of the elongated workpiece (74) to be tested, the third test head (10) tests the third transition radius (81).

21. Method according to one of claims 18 or 19, characterized in that after the second testing of the elongated workpiece (74) to be tested, the base (2) is pivoted by 180° and the first rotary holder (21) is pivoted by 180° and during a third testing of the elongated workpiece (74) to be tested, the testing device (1) is moved in a testing direction (12) parallel to the longitudinal extension direction (3) of the base (2), the testing being carried out in the same direction as during the first testing, the first testing head (6) testing the cover surface (78).

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