METHOD FOR TESTING WELD POINTS USING A ROBOTIC DEVICE COMPRISING AN ULTRASONIC TEST PROBE MOUNTED ON A ROBOTIC ARM AND A CORRESPONDING ROBOTIC DEVICE

摘要

The invention relates to a method for testing weld points (SP) using a robotic device (1) comprising an ultrasonic test probe (10) mounted on a robotic arm. According to said method, test measurements are carried out in succession in various orientations, starting from an initial orientation in relation to the respective weld point (SP) to be tested, until an ultrasonic signal for the weld point (SP) to be tested, which can be classified by a classification device that is connected to the ultrasonic test probe (10), is produced, or the weld point (SP) to be tested is graded by the classification device as unclassifiable. The method comprises the following steps: determination of a first modification direction of the orientation in accordance with a first degree of freedom ( beta ) of the robotic arm in the initial orientation, in which a predetermined parameter (A) of the ultrasonic signal displays an increasing probability for a classification to be carried out; and recording of additional ultrasonic signals when the orientation is modified according to the first degree of freedom ( beta ) in the first modification direction.