阅读说明：本技术 一种冶金自动测温枪的探头套接/拔除检测实现方法 (Method for realizing sleeve joint/pull-out detection of probe of automatic metallurgical temperature measuring gun ) 是由 宋希韬 吴瑞珉 魏振红 孙兴洪 于 2020-05-19 设计创作，主要内容包括：本发明公开了一种冶金自动测温枪的探头套接/拔除检测实现方法,将激光测距传感器安装于驱动装置的执行机构上,所述驱动装置带动所述激光测距传感器对所述自动测温枪进行分区域扫略,通过计算单元计算得到所述自动测温枪的位置及姿态信息,根据所述自动测温枪的位置及姿态信息,所述执行机构上的手爪对所述自动测温枪实施探头的套接/拔除作业。本发明无需对现有自动测温枪进行改进,只需利用外部传感器进行套接/拔除检测,使得套接/拔除作业准确进行。(The invention discloses a method for realizing the sleeve joint/pull-out detection of a probe of a metallurgical automatic temperature measuring gun, which is characterized in that a laser distance measuring sensor is arranged on an actuating mechanism of a driving device, the driving device drives the laser distance measuring sensor to sweep the automatic temperature measuring gun in a subarea manner, the position and posture information of the automatic temperature measuring gun is obtained through calculation of a calculating unit, and according to the position and posture information of the automatic temperature measuring gun, a paw on the actuating mechanism carries out the sleeve joint/pull-out operation of the probe on the automatic temperature measuring gun. The invention does not need to improve the prior automatic temperature measuring gun, and only needs to use an external sensor to carry out the sleeving/pulling-out detection, so that the sleeving/pulling-out operation is accurately carried out.)

1. A method for realizing the sleeve joint/pull-out detection of a probe of a metallurgical automatic temperature measuring gun is characterized by comprising the following steps: the method comprises the steps that a laser ranging sensor is installed on an executing mechanism of a driving device, the driving device drives the laser ranging sensor to conduct regional scanning on an automatic temperature measuring gun, the position and posture information of the automatic temperature measuring gun is obtained through calculation of a calculating unit, and according to the position and posture information of the automatic temperature measuring gun, a paw on the executing mechanism conducts probe sleeving/pulling-out operation on the automatic temperature measuring gun.

2. The method for realizing the probe sleeve connection/removal detection of the metallurgical automatic temperature measuring gun according to claim 1, is characterized in that: the method also comprises a probe sleeve connection detection procedure and a probe pull-out detection procedure.

3. The method for realizing the probe sleeve connection/removal detection of the metallurgical automatic temperature measuring gun according to claim 2, is characterized in that: the probe sleeve joint detection process comprises the following steps:

1) a sleeving set area is arranged on the periphery of the automatic temperature measuring gun, a sleeving detection set height III is arranged at the bottom of the sleeving set area, a sleeving detection set height II is arranged at the top of the sleeving set area, a sleeving detection set height I is arranged above the sleeving detection set height II, and the tail end of the automatic temperature measuring gun is located in the sleeving set area;

2) the driving device drives the actuating mechanism to enable the laser ranging sensor to move and scan the automatic temperature measuring gun along the + Y direction of a world coordinate system O-XYZ on the sleeving detection set height I and the sleeving detection set height II, central points of the automatic temperature measuring gun on the sleeving detection set height I and the sleeving detection set height II are obtained respectively, and the calculating unit calculates and obtains position and posture information of the axis of the automatic temperature measuring gun consisting of the two central points;

3) the driving device drives the executing mechanism to enable the laser ranging sensor to perform moving scanning to the sleeving detection set height III along the position and the posture information of the axis of the automatic temperature measuring gun obtained in the step 2), so that the position and the posture information of the central point of the tail end of the axis of the automatic temperature measuring gun are obtained;

4) according to the position and the posture information of the central point of the axis tail end of the automatic temperature measuring gun, the driving device drives the actuating mechanism to enable the paw to grab the probe, and the probe is sleeved on the tail end of the automatic temperature measuring gun in the sleeving set area.

4. The method for realizing the probe sleeve connection/removal detection of the metallurgical automatic temperature measuring gun according to claim 2, is characterized in that: the probe removal detection process comprises the following steps:

a) a pulling-out setting area is arranged on the periphery of the automatic temperature measuring gun, a pulling-out detection setting height I is arranged at the top of the pulling-out setting area, a pulling-out detection setting height II is arranged above the pulling-out detection setting height I, a pulling-out detection setting height III is arranged above the pulling-out detection setting height II, and a probe on the automatic temperature measuring gun is positioned in the pulling-out setting area;

b) the driving device drives the actuating mechanism to enable the laser ranging sensor to move and scan the automatic temperature measuring gun along the + Y direction of a world coordinate system O-XYZ on the removal detection set height I and the removal detection set height II, so that central points of the automatic temperature measuring gun on the removal detection set height I and the removal detection set height II are obtained respectively, and the calculating unit calculates and obtains position and posture information of the probe axis consisting of the two central points;

c) the driving device drives the executing mechanism to enable the laser ranging sensor to move and scan to the unplugging detection set height III along the position and posture information of the probe axis obtained in the step 2), and position information of the upper end face of the probe is obtained;

d) according to the position and posture information of the axis of the probe and the position information of the upper end face, the driving device drives the actuating mechanism to enable the paw to grab the probe, and the probe is pulled out of the automatic temperature measuring gun in the sleeving set area.

5. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection realization method according to claim 3 or 4, characterized in that: the sleeve joint setting area and the pull-out setting area are all set to be rectangular bodies, and three edges of the sleeve joint setting area and the pull-out setting area are parallel to three coordinate axes of the world coordinate system O-XYZ.

6. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection implementation method according to claim 3, characterized in that: the position of the sleeve joint detection set height III is lower than the tail end position of the automatic temperature measuring gun.

7. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection implementation method according to claim 3, characterized in that: in the step 4), the paw grasping the probe is driven by the driving device to feed along the position and the posture of the tail end of the automatic temperature measuring gun and the position and the posture of the axis of the automatic temperature measuring gun, so that the probe is sleeved.

8. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection implementation method according to claim 3, characterized in that: in the step 4), after the gripper of the probe is driven by the driving device to sleeve the probe to a small section at the tail end of the automatic temperature measuring gun, the automatic temperature measuring gun is pulled back to a sleeve position with an axis parallel to the Z axis of the world coordinate system O-XYZ, and then the probe is sleeved.

9. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection implementation method according to claim 4, characterized in that: the position of the pull-out detection set height III is higher than the position of the upper end face of the probe on the automatic temperature measuring gun.

10. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection implementation method according to claim 4, characterized in that: in the step d), the paw grabbing the probe is driven by the driving device to feed along the position and the posture of the axis of the probe, so that the probe is pulled out.

11. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection implementation method according to claim 4, characterized in that: in the step d), the gripper grasping the probe pulls the probe back to a pulling-out position with an axis parallel to the Z axis of the world coordinate system O-XYZ under the driving of the driving device, and then the probe is pulled out.

12. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection realization method according to claim 3 or 4, characterized in that: the driving device is a six-degree-of-freedom industrial robot.

13. A metallurgical automatic temperature measurement gun probe sleeve joint/pull-out detection realization method according to claim 3 or 4, characterized in that: the opening degree of the paw is larger than the outer diameter of the probe on the automatic temperature measuring gun.

Technical Field

The invention relates to the technology of an automatic temperature measuring gun in the metallurgical industry, in particular to a method for realizing the sleeve joint/pull-out detection of a probe of the automatic temperature measuring gun in the metallurgical industry.

Background

A large number of automatic temperature measuring guns exist in a metallurgical area, but the sleeving operation and the pulling operation of the adaptive probes are still mainly completed manually.

The metallurgical area has a severe working environment, has the characteristics of high temperature and much dust, and has higher labor intensity and risk in manual operation.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a method for realizing the sleeve joint/removal detection of the probe of the metallurgical automatic temperature measuring gun, which does not need to improve the prior automatic temperature measuring gun, and only needs to use an external sensor to carry out the sleeve joint/removal detection, so that the sleeve joint/removal operation is accurately carried out.

In order to achieve the purpose, the invention adopts the following technical scheme:

a method for realizing sleeve joint/pull-out detection of a probe of a metallurgical automatic temperature measuring gun comprises the steps of installing a laser distance measuring sensor on an executing mechanism of a driving device, driving the laser distance measuring sensor to conduct regional scanning on the automatic temperature measuring gun through the driving device, obtaining position and posture information of the automatic temperature measuring gun through calculation of a calculating unit, and conducting sleeve joint/pull-out operation of the probe on the automatic temperature measuring gun through a paw on the executing mechanism according to the position and posture information of the automatic temperature measuring gun.

Preferably, the method further comprises a probe sleeve connection detection procedure and a probe pull-out detection procedure.

Preferably, the probe sleeve joint detection process includes the following steps:

1) a sleeving set area is arranged on the periphery of the automatic temperature measuring gun, a sleeving detection set height III is arranged at the bottom of the sleeving set area, a sleeving detection set height II is arranged at the top of the sleeving set area, a sleeving detection set height I is arranged above the sleeving detection set height II, and the tail end of the automatic temperature measuring gun is located in the sleeving set area;

2) the driving device drives the actuating mechanism to enable the laser ranging sensor to move and scan the automatic temperature measuring gun along the + Y direction of a world coordinate system O-XYZ on the sleeving detection set height I and the sleeving detection set height II, central points of the automatic temperature measuring gun on the sleeving detection set height I and the sleeving detection set height II are obtained respectively, and the calculating unit calculates and obtains position and posture information of the axis of the automatic temperature measuring gun consisting of the two central points;

3) the driving device drives the executing mechanism to enable the laser ranging sensor to perform moving scanning to the sleeving detection set height III along the position and the posture information of the axis of the automatic temperature measuring gun obtained in the step 2), so that the position and the posture information of the central point of the tail end of the axis of the automatic temperature measuring gun are obtained;

4) according to the position and the posture information of the central point of the axis tail end of the automatic temperature measuring gun, the driving device drives the actuating mechanism to enable the paw to grab the probe, and the probe is sleeved on the tail end of the automatic temperature measuring gun in the sleeving set area.

Preferably, the probe removal detection process includes the following steps:

a) a pulling-out setting area is arranged on the periphery of the automatic temperature measuring gun, a pulling-out detection setting height I is arranged at the top of the pulling-out setting area, a pulling-out detection setting height II is arranged above the pulling-out detection setting height I, a pulling-out detection setting height III is arranged above the pulling-out detection setting height II, and a probe on the automatic temperature measuring gun is positioned in the pulling-out setting area;

b) the driving device drives the actuating mechanism to enable the laser ranging sensor to move and scan the automatic temperature measuring gun along the + Y direction of a world coordinate system O-XYZ on the removal detection set height I and the removal detection set height II, so that central points of the automatic temperature measuring gun on the removal detection set height I and the removal detection set height II are obtained respectively, and the calculating unit calculates and obtains position and posture information of the probe axis consisting of the two central points;

c) the driving device drives the executing mechanism to enable the laser ranging sensor to move and scan to the unplugging detection set height III along the position and posture information of the probe axis obtained in the step 2), and position information of the upper end face of the probe is obtained;

d) according to the position and posture information of the axis of the probe and the position information of the upper end face, the driving device drives the actuating mechanism to enable the paw to grab the probe, and the probe is pulled out of the automatic temperature measuring gun in the sleeving set area.

Preferably, the set-in area and the set-out area are rectangular, and three sides of the set-in area and the set-out area are parallel to three coordinate axes of the world coordinate system O-XYZ.

Preferably, the sleeve joint detection set height III is lower than the tail end position of the automatic temperature measuring gun.

Preferably, in the step 4), the paw gripping the probe is driven by the driving device to feed along the position and the posture of the tail end of the automatic temperature measuring gun and the position and the posture of the axis of the automatic temperature measuring gun, so as to realize the sleeve joint of the probe.

Preferably, in the step 4), after the gripper grasping the probe is driven by the driving device to sleeve the probe onto a small section at the tail end of the automatic temperature measuring gun, the automatic temperature measuring gun is pulled back to a sleeve position with an axis parallel to the Z axis of the world coordinate system O-XYZ, and then the probe is sleeved.

Preferably, the position of the pulling detection set height III is higher than the position of the upper end face of the probe on the automatic temperature measuring gun.

Preferably, in the step d), the gripper for gripping the probe is driven by the driving device to feed along the position and posture of the axis of the probe, so as to pull out the probe.

Preferably, in the step d), the gripper grasping the probe is driven by the driving device to pull the probe back to a pulling-out position with an axis parallel to the Z axis of the world coordinate system O-XYZ, and then the probe is pulled out.

Preferably, the driving device is a six-degree-of-freedom industrial robot.

Preferably, the opening degree of the paw is larger than the outer diameter of the probe on the automatic temperature measuring gun.

In the technical scheme, the method for realizing the sleeving/pulling detection of the probe of the metallurgical automatic temperature measuring gun is mainly characterized in that when the scheme is implemented in a metallurgical area, the existing automatic temperature measuring gun is not required to be additionally improved, and meanwhile, the method can improve the stability of the automatic sleeving/pulling operation of the probe.

Drawings

FIG. 1 is a schematic isometric view of an embodiment of the apparatus of the present invention;

FIG. 2 is a schematic top view of an embodiment of the apparatus of the present invention;

FIG. 3 is a schematic axial view of probe sleeve detection in accordance with an embodiment of the present invention;

FIG. 4 is an isometric view of probe pull-out detection in an embodiment of the present invention;

FIG. 5 is a schematic top view of a cross section of an automatic temperature-sensing gun swept by a laser ranging sensor according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of step 2) in probe socket test according to an embodiment of the present invention;

FIG. 7 is the angle of rotation of FIG. 6A schematic diagram of (a);

FIG. 8 is a schematic view of step b) of probe pullout detection in an embodiment of the present invention;

FIG. 9 is the angle of rotation of FIG. 8Schematic representation of (a).

Detailed Description

The technical scheme of the invention is further explained by combining the drawings and the embodiment.

Referring to fig. 1 to 2, the probe sleeving/removing detection device for the automatic temperature measuring gun for metallurgy according to the present invention employs a driving device 1 and a calculating unit.

The driving device 1 is provided with a paw 4 and a laser ranging sensor 3 through an actuating mechanism 2, and the laser emitting surface of the laser ranging sensor 3 faces to an automatic temperature measuring gun 5.

The laser distance measuring sensor 3 is mounted on the actuator 2, and in a preferred embodiment, the laser distance measuring sensor 3 is mounted on the gripper 4, and a laser emitting surface of the laser distance measuring sensor 3 is disposed perpendicular (orthogonal) to the feeding direction of the driving device 1.

The paw 4 is arranged on the actuating mechanism 2, and in a preferred embodiment, the paw 4 can grab the cylindrical automatic temperature measuring gun 5, the grabbed automatic temperature measuring gun 5 has a certain length in the axial direction, the opening degree of the grabbed automatic temperature measuring gun 5 is larger than the outer diameter of the probe 6 on the automatic temperature measuring gun 5, and the probe 6 cannot be crushed under the condition of stable grabbing after the grabbed automatic temperature measuring gun 5 is closed.

The drive device 1 requires at least locally six degrees of freedom, and in a preferred embodiment, the drive device 1 is a six-degree-of-freedom industrial robot.

The laser ranging sensor 3 transmits the acquired position and posture information of the automatic temperature measuring gun 5 to the calculating unit, and the calculating unit outputs a calculation result and drives the driving device 1 to enable the paw 4 to grab the probe 6 on the automatic temperature measuring gun 5.

Referring to fig. 3 to 9, the method of the present invention includes a probe sleeve detection process and a probe removal detection process.

The probe sleeve joint detection process comprises the following steps:

1) a sleeving set area 7 is arranged on the periphery of the automatic temperature measuring gun 5, the bottom surface of the sleeving set area 7 is set to be a sleeving detection set height III 10, the top surface of the sleeving set area 7 is set to be a sleeving detection set height II 9, a sleeving detection set height I8 is arranged above the sleeving detection set height II 9, and the tail end of the automatic temperature measuring gun 5 is positioned in the sleeving set area 7;

2) the driving device 1 drives the actuating mechanism 2 to make the laser ranging sensor 3 move along the + Y direction of the world coordinate system O-XYZ on the sleeving detection set height I8 to sweep the automatic temperature measuring gun 5, and the scanning is executed when the measured value of the laser ranging sensor 3 is recorded to obtain the minimum valueThe central point I (X) of the section of the automatic temperature measuring gun 5 at the sleeving detection set height I8 can be calculated by the position value of the mechanism 2 in a world coordinate system O-XYZ, the index value of the laser distance measuring sensor 3 and the diameter value of the scanned automatic temperature measuring gun 5 at a slightly higher temperature_Ⅰ，Y_Ⅰ，Z_Ⅰ) (ii) a The driving device 1 drives the actuating mechanism 2 to enable the laser ranging sensor 3 to move along the + Y direction of the world coordinate system O-XYZ on the sleeving detection set height II 9 to sweep the automatic temperature measuring gun 5, when the measured value of the laser ranging sensor 3 is recorded to obtain the minimum value during sweeping, the position value of the actuating mechanism 2 on the world coordinate system O-XYZ can be calculated by referring to the indicating value of the laser ranging sensor 3 and the diameter value of the swept automatic temperature measuring gun 5, and the central point II (X) of the section of the automatic temperature measuring gun 5 on the sleeving detection set height II 9 can be calculated (X is the central point II)_Ⅱ，Y_Ⅱ，Z_Ⅱ). To the slave (X)_Ⅱ，Y_Ⅱ，Z_Ⅱ) Direction (X)_Ⅰ，Y_Ⅰ，Z_Ⅰ) The vector of (a) is denoted as vector B ═ X_Ⅱ-X_Ⅰ，Y_Ⅱ-Y_Ⅰ，Z_Ⅱ-Z_Ⅰ) Abbreviated as vector B ═ B₁，b₂，b₃). Then by finding one vector a (a) from which vector B can be derived₁，a₂，a₃) Determining the rotation axis R and the rotation angleSee fig. 6 and 7;

wherein the angle of rotationComprises the following steps:

the rotation axis R is:

rotation axis RCorresponding unit vector R₀Comprises the following steps:

the rotation matrix T from vector a to vector B is derived by rodrigors' rotation formula as:

further, according to the sequence of the selected Euler angles, corresponding Euler angles can be obtained, so that the axis of the automatic temperature measuring gun 5 can be positioned;

3) the driving device 1 drives the actuating mechanism 2 to enable the laser ranging sensor 3 to move to the sleeving detection set height III 10 along the axis of the automatic temperature measuring gun 5 determined by the central point I and the central point II, the position value of the actuating mechanism 2 in a coordinate system O-XYZ when the measured value of the laser ranging sensor 3 obtains large jump (generally jump to exceed the measuring range of the laser ranging sensor 3) is recorded, the height during jump can be calculated by referring to the diameter value of the scanned high-temperature automatic temperature measuring gun 5, namely the central point III (X) of the cross section of the tail end height of the automatic temperature measuring gun 5_Ⅲ，Y_Ⅲ，Z_Ⅲ)；

4) The driving device 1 drives the actuating mechanism 2 to enable the paw 4 to grab the probe 6, the position and the posture of the end face of the probe 6 are adjusted to be the same as the position and the posture of the tail end of the automatic temperature measuring gun 5 obtained through calculation in the step 3), and the probe 6 is sleeved on the automatic temperature measuring gun 5 in the sleeving setting area 7;

the socket joint method comprises the following steps: the paw 4 of the grabbing probe 6 is driven by the driving device 1 to feed along the tail end position and the posture of the automatic temperature measuring gun 5 and the position and the posture of the axis of the automatic temperature measuring gun 5, so that sleeving is realized;

and a second sleeving method: after the gripper 4 of the grabbing probe 6 is driven by the driving device 1 to sleeve the probe 6 to a small section of the automatic temperature measuring gun 5, the automatic temperature measuring gun 5 is pulled back to the sleeve position with the axis parallel to the Z axis of the world coordinate system, and then sleeve is carried out.

The probe removal detection process comprises the following steps:

a) a pulling-out setting area 11 is arranged on the periphery of the automatic temperature measuring gun 5, a pulling-out detection setting height I12 is arranged at the top of the pulling-out setting area 11, a pulling-out detection setting height II 13 is arranged above the pulling-out detection setting height I12, a pulling-out detection setting height III 14 is arranged above the pulling-out detection setting height II 13, and a probe 6 on the automatic temperature measuring gun 5 is positioned in the pulling-out setting area 11;

b) the driving device 1 drives the actuating mechanism 2 to make the laser ranging sensor 3 move along the + Y direction of the world coordinate system O-XYZ on the removal detection set height I12 to scan the automatic temperature measuring gun 5, the position value of the actuating mechanism 2 on the world coordinate system O-XYZ when the measured value of the laser ranging sensor 3 is recorded to be the minimum value during scanning, and the central point IV (X) of the section of the automatic temperature measuring gun 5 on the removal detection set height I12 can be calculated by referring to the indicating value of the laser ranging sensor 3 and the diameter value of the scanned height probe 6_Ⅳ，Y_Ⅳ，Z_Ⅳ) (ii) a The driving device 1 drives the actuating mechanism 2 to make the laser ranging sensor 3 move along the + Y direction of the world coordinate system O-XYZ on the removal detection set height II 13 to sweep the automatic temperature measuring gun 5, the position value of the actuating mechanism 2 on the world coordinate system O-XYZ is recorded when the measured value of the laser ranging sensor 3 obtains the minimum value during sweeping, and the central point V (X) of the section of the automatic temperature measuring gun 5 on the removal detection set height II 13 can be calculated by referring to the indicating value of the laser ranging sensor 3 and the diameter value of the swept height probe 6_Ⅴ，Y_Ⅴ，Z_Ⅴ). To the slave (X)_Ⅳ，Y_Ⅳ，Z_Ⅳ) Direction (X)_Ⅴ，Y_Ⅴ，Z_Ⅴ) The vector of (a) is denoted as vector D ═ X_Ⅳ-X_Ⅴ，Y_Ⅳ-Y_Ⅴ，Z_Ⅳ-Z_Ⅴ) Abbreviated as vector D ═ D₁，d₂，d₃). Then by finding one vector C ═ C (C) where vector D can be found₁，c₂，c₃) Determining the rotation axis R and the rotation angleSee fig. 8 and 9;

wherein the angle of rotationComprises the following steps:

the rotation axis R is:

the unit vector R0 corresponding to the rotation axis R is:

the rotation matrix T from vector C to vector D is derived by rodrigs' rotation formula as:

further, according to the sequence of the selected Euler angles, corresponding Euler angles can be obtained, so that the positioning of the axis of the probe 6 is realized;

c) the driving device 1 drives the actuating mechanism 2 to enable the laser ranging sensor 3 to move to the pulling detection set height III 14 along the axis of the probe 6 determined in the step b), the position value of the actuating mechanism 2 in the coordinate system O-XYZ when the measured value of the laser ranging sensor 3 is jumped is recorded, and the end surface height value Z of the probe 6 on the automatic temperature measuring gun 5 can be obtained_Ⅵ；

d) According to the height value Z of the end face of the probe 6 obtained in the step c)_ⅥThe driving device 1 drives the actuating mechanism 2 to adjust the height of the paw 4, and the position and the posture of the paw 4 are adjusted to the position of the probe 6 calculated by the steps b) and c)The setting and the posture are the same, the gripper 4 is used for grabbing the probe 6, and the probe 6 is pulled out from the automatic temperature measuring gun 5 in the pulling-out setting area 11;

the first pulling method comprises the following steps: the gripper 4 of the grabbing probe 6 is driven by the driving device 1 to feed along the position and the posture of the axis of the grabbing probe 6, so that the grabbing probe can be pulled out;

and (2) a second pulling method: the gripper 4 of the grabbing probe 6 is driven by the driving device 1 to pull the grabbing probe 6 back to a pulling position with the axis parallel to the Z axis of the world coordinate system, and then pulling is carried out.

The socket setting region 7 may cover a range of variation in the position and posture of the automatic temperature measuring gun 5, and the execution means 2 needs to perform steps 2) and 3) in a region other than the socket setting region 7 or along an envelope of the socket setting region 7. In a preferred embodiment, the socket setting area 7 is a rectangular body, and three sides of the rectangular body are parallel to three coordinate axes of the world coordinate system O-XYZ.

The socket setting height in the socket setting area 7 should have the following requirements:

1) the sleeving detection set height I8 and the sleeving detection set height II 9 are positioned in an area with a larger section diameter of the automatic temperature measuring gun 5, and the two areas are not overlapped;

2) the position of the sleeve joint detection set height III 10 is lower than the tail end position of the automatic temperature measuring gun 5;

3) the sleeving detection set height I8, the sleeving detection set height II 9 and the sleeving detection set height III 10 can be arranged at equal intervals from high to low in the Z direction.

The setting region 11 for removal can cover the range of variation in the position and posture of the automatic temperature measuring gun 5 after the probe 6 is fitted, and the execution of steps b) and c) by the actuator 2 needs to be performed in a region other than the setting region 11 for removal or along the envelope of the setting region 11 for removal. In a preferred embodiment, the setting region 11 is rectangular and has three sides parallel to three coordinate axes of the world coordinate system O-XYZ.

The socket set height in the unplugging set region 11 should have the following requirements:

1) the pulling-out detection setting height I12 and the pulling-out detection setting height II 13 are required to be positioned near the region to be grabbed of the paw 4 of the probe 6 sleeved on the automatic temperature measuring gun 5, and the pulling-out detection setting height I12 and the pulling-out detection setting height II 13 are not overlapped;

2) the position of the unplugging detection set height III 14 is higher than the position of the upper end surface of the probe 6 sleeved on the automatic temperature measuring gun 5;

3) the removal detection setting height i 12 may be lower than the removal detection setting height ii 13.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.