阅读说明：本技术 基于光电传感器的自动测温枪的探头套接/拔除检测方法 (Probe sleeving/pulling detection method of automatic temperature measuring gun based on photoelectric sensor ) 是由 宋希韬 吴瑞珉 叶长宏 魏振红 孙兴洪 于 2020-05-19 设计创作，主要内容包括：本发明公开了一种基于光电传感器的自动测温枪的探头套接/拔除检测方法,将所述光电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光电传感器对所述自动测温枪和/或所述探头进行扫略,通过计算单元计算得到所述自动测温枪和/或所述探头的位置及姿态信息,根据所述自动测温枪和/或所述探头的位置及姿态信息,通过所述执行机构上的手爪对所述自动测温枪和/或所述探头实施探头的套接/拔除作业；所述检测方法包括适配探头套接检测和适配探头拔除检测。本发明利用外部传感器测量技术进行适配探头的套接/拔除检测,使得套接/拔除作业准确进行。(The invention discloses a probe sleeving/pulling detection method of an automatic temperature measuring gun based on a photoelectric sensor, which comprises the steps of installing the photoelectric sensor on an actuating mechanism of a driving device, driving the photoelectric sensor to sweep the automatic temperature measuring gun and/or the probe by the driving device, calculating the position and the posture information of the automatic temperature measuring gun and/or the probe by a calculating unit, and performing probe sleeving/pulling operation on the automatic temperature measuring gun and/or the probe by a paw on the actuating mechanism according to the position and the posture information of the automatic temperature measuring gun and/or the probe; the detection method comprises adaptive probe sleeve detection and adaptive probe removal detection. The invention utilizes the external sensor measurement technology to carry out the sleeve joint/removal detection of the adaptive probe, so that the sleeve joint/removal operation is accurately carried out.)

1. A probe sleeving/pulling detection method of an automatic temperature measuring gun based on a photoelectric sensor is characterized by comprising the following steps: the photoelectric sensor is arranged on an actuating mechanism of a driving device, the driving device drives the photoelectric sensor to scan the automatic temperature measuring gun and/or the probe, the position and posture information of the automatic temperature measuring gun and/or the probe is obtained through calculation of a calculating unit, and according to the position and posture information of the automatic temperature measuring gun and/or the probe, the automatic temperature measuring gun and/or the probe are subjected to probe sleeving/removing operation through a paw on the actuating mechanism;

the detection method comprises adaptive probe sleeve detection and adaptive probe removal detection.

2. The probe sleeving/pulling detection method of the automatic temperature measuring gun based on the photoelectric sensor as claimed in claim 1, characterized in that: the adaptive probe sleeve detection comprises the following steps:

1) a sleeving 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 area, a sleeving detection set height II is arranged at the top of the sleeving 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 positioned in the sleeving area;

2) the driving device drives the actuating mechanism to enable the photoelectric distance measuring sensor to perform reciprocating motion scanning on the automatic temperature measuring gun along the Y direction of a world coordinate system O-XYZ at the sleeving detection set height I and the sleeving detection set height II to obtain central points of the automatic temperature measuring gun on the sleeving detection set height I and the sleeving detection set height II respectively, and the calculating unit calculates and obtains position and posture information of a bus of the automatic temperature measuring gun consisting of the two central points;

3) the driving device drives the actuating mechanism to enable the photoelectric distance measuring sensor to perform moving scanning to the sleeving detection set height III along the position and posture information of the bus of the automatic temperature measuring gun obtained in the step 2) to obtain height information of a central point of the tail end of the axis of the automatic temperature measuring gun, the actuating mechanism performs reciprocating scanning on the tail end of the automatic temperature measuring gun along the Y direction of a world coordinate system O-XYZ on the obtained height, the tail end of the automatic temperature measuring gun is moved and scanned again after the actuating mechanism rotates around a + Z direction, and the position information of the central point of the tail end of the automatic temperature measuring gun can be obtained through calculation of the calculating unit;

4) according to the position information of the central point of the tail end of the axis 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 area.

3. The probe sleeving/pulling detection method of the automatic temperature measuring gun based on the photoelectric sensor as claimed in claim 1, characterized in that: the adaptive probe removal detection comprises the following steps:

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

b) the driving device drives the actuating mechanism to enable the photoelectric distance measuring sensor to perform reciprocating motion scanning on the automatic temperature measuring gun sleeved with the probe along the Y direction of a world coordinate system O-XYZ at the unplugging detection set height I and the unplugging detection set height II, the actuating mechanism is moved to scan the automatic temperature measuring gun sleeved with the probe again after rotating the actuating mechanism around the + Z direction, and the central points of the probe on the unplugging detection set height I and the unplugging detection set height II are obtained through calculation of the calculating unit, so that the position and posture information of the probe axis consisting of the two central points is obtained through calculation;

c) the driving device drives the executing mechanism to enable the photoelectric distance measuring sensor to perform moving scanning along the axial line of the probe obtained in the step b) to the pull-out detection set height III to obtain position information of the lower end face of the probe;

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

4. The probe sleeving/pulling detection method of the automatic temperature measuring gun based on the photoelectric sensor as claimed in claim 2, 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.

5. The probe sleeving/pulling detection method of the automatic temperature measuring gun based on the photoelectric sensor as claimed in claim 2, characterized in that: in the step 4), after the gripper grasping the probe is driven by the driving device to sleeve the probe onto a small section 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 sleeve connection is performed.

6. The probe sleeving/pulling detection method of the automatic temperature measuring gun based on the photoelectric sensor as claimed in claim 3, characterized in that: the position of the pulling detection set height III is lower than the position of the lower end face of the probe on the automatic temperature measuring gun.

7. The probe sleeving/pulling detection method of the automatic temperature measuring gun based on the photoelectric sensor as claimed in claim 3, 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.

8. The probe sleeving/pulling detection method of the automatic temperature measuring gun based on the photoelectric sensor as claimed in claim 3, 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.

9. The method for detecting the sleeving/unplugging of the probe of the automatic temperature measuring gun based on the photoelectric sensor according to any one of claims 1 to 8, wherein: the driving device is a six-degree-of-freedom industrial robot.

10. The method for detecting the sleeving/unplugging of the probe of the automatic temperature measuring gun based on the photoelectric sensor according to any one of claims 1 to 8, wherein: 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 probe sleeving/pulling detection method of the automatic temperature measuring gun based on a photoelectric sensor.

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

In view of the above-mentioned drawbacks in the prior art, an object of the present invention is to provide a method for detecting the probe sleeving/removing of an automatic temperature measuring gun based on a photoelectric sensor, which uses an external sensor measurement technique to perform the sleeving/removing detection of an adaptive probe, so that the sleeving/removing operation can be performed accurately.

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

a photoelectric sensor based probe sleeving/removing detection method of an automatic temperature measuring gun comprises the steps that the photoelectric sensor is installed on an execution mechanism of a driving device, the driving device drives the photoelectric sensor to scan the automatic temperature measuring gun and/or the probe, position and posture information of the automatic temperature measuring gun and/or the probe is obtained through calculation of a calculation unit, and according to the position and posture information of the automatic temperature measuring gun and/or the probe, sleeving/removing operation of the probe is carried out on the automatic temperature measuring gun and/or the probe through a paw on the execution mechanism;

the detection method comprises adaptive probe sleeve detection and adaptive probe removal detection.

Preferably, the adapting probe socket joint detection comprises the following steps:

1) a sleeving 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 area, a sleeving detection set height II is arranged at the top of the sleeving 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 positioned in the sleeving area;

2) the driving device drives the actuating mechanism to enable the photoelectric distance measuring sensor to perform reciprocating motion scanning on the automatic temperature measuring gun along the Y direction of a world coordinate system O-XYZ at the sleeving detection set height I and the sleeving detection set height II to obtain central points of the automatic temperature measuring gun on the sleeving detection set height I and the sleeving detection set height II respectively, and the calculating unit calculates and obtains position and posture information of a bus of the automatic temperature measuring gun consisting of the two central points;

3) the driving device drives the actuating mechanism to enable the photoelectric distance measuring sensor to perform moving scanning to the sleeving detection set height III along the position and posture information of the bus of the automatic temperature measuring gun obtained in the step 2) to obtain height information of a central point of the tail end of the axis of the automatic temperature measuring gun, the actuating mechanism performs reciprocating scanning on the tail end of the automatic temperature measuring gun along the Y direction of a world coordinate system O-XYZ on the obtained height, the tail end of the automatic temperature measuring gun is moved and scanned again after the actuating mechanism rotates around a + Z direction, and the position information of the central point of the tail end of the automatic temperature measuring gun can be obtained through calculation of the calculating unit;

4) according to the position information of the central point of the tail end of the axis 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 area.

Preferably, the adaptive probe removal detection comprises the following steps:

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

b) the driving device drives the actuating mechanism to enable the photoelectric distance measuring sensor to perform reciprocating motion scanning on the automatic temperature measuring gun sleeved with the probe along the Y direction of a world coordinate system O-XYZ at the unplugging detection set height I and the unplugging detection set height II, the actuating mechanism is moved to scan the automatic temperature measuring gun sleeved with the probe again after rotating the actuating mechanism around the + Z direction, and the central points of the probe on the unplugging detection set height I and the unplugging detection set height II are obtained through calculation of the calculating unit, so that the position and posture information of the probe axis consisting of the two central points is obtained through calculation;

c) the driving device drives the executing mechanism to enable the photoelectric distance measuring sensor to perform moving scanning along the axial line of the probe obtained in the step b) to the pull-out detection set height III to obtain position information of the lower end face of the probe;

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

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

Preferably, the position of the pulling detection set height III is lower than the position of the lower 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 above technical solution, the probe sleeving/removing detection method for an automatic temperature measuring gun based on a photoelectric sensor provided by the invention is mainly characterized in that when the scheme is implemented in a metallurgical area, no additional improvement on the existing automatic temperature measuring gun is needed, and meanwhile, the method can increase the stability of the automatic probe sleeving/removing operation.

Drawings

FIG. 1 is a schematic axial view of adaptive probe sleeve detection according to an embodiment of the method of the present invention;

FIG. 2 is an isometric view of a probe pull-out test adapted according to an embodiment of the method of the present invention;

FIG. 3 is a schematic diagram of the structure of an actuator of an embodiment of the method of the present invention;

FIG. 4 is a top view of an actuator in accordance with an embodiment of the method of the present invention;

FIG. 5 is a sectional top view of an embodiment of the method of the present invention in which the electro-optical distance measuring sensor is moved back and forth in the Y direction to sweep the automatic temperature measuring gun and/or probe;

FIG. 6 is a schematic diagram of a center point of an actuator obtained by the photoelectric distance measuring sensor moving back and forth along the Y direction in the embodiment of the method of the present invention;

FIG. 7 is a schematic diagram A of the electro-optical distance measuring sensor rotating by an angle theta around the + Z direction in the embodiment of the method of the present invention (where the angle theta is a negative value);

FIG. 8 is a schematic diagram B of an embodiment of a method of the present invention in which the electro-optical ranging sensor is rotated by an angle θ about the + Z direction;

FIG. 9 is a sectional top view of an exemplary embodiment of a method of the present invention in which an electro-optical distance measuring sensor sweeps an automatic temperature measuring gun and/or probe in a direction θ about + Z rotation;

FIG. 10 is a schematic diagram of a central position point of an actuator swept by a photoelectric distance measuring sensor in a direction of θ about + Z rotation in an embodiment of the method of the present invention;

FIG. 11 is a schematic illustration of a cross-sectional center point location method in an embodiment of the method of the present invention;

FIG. 12 is a schematic diagram A of the probe pullout detection step b) adapted according to an embodiment of the method of the present invention;

fig. 13 is a schematic diagram B of the probe pullout detection step B) adapted according to an embodiment of the method of the invention.

Detailed Description

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

Referring to fig. 1 to 13, in the method for detecting the probe connection/disconnection of the automatic temperature measuring gun based on the photoelectric sensor according to the present invention, the photoelectric sensor 3 is mounted on the actuator 2 of the driving device 1, the driving device 1 drives the photoelectric sensor 3 to sweep the automatic temperature measuring gun 5 and/or the probe 6, the position and posture information of the automatic temperature measuring gun 5 and/or the probe 6 is obtained through calculation by the calculating unit, and then the claw 4 on the actuator 2 is used to perform the connection/disconnection operation of the probe 6 on the automatic temperature measuring gun 5 and/or the probe 6 according to the position and posture information of the automatic temperature measuring gun 5 and/or the probe 6.

The method comprises adaptive probe sleeve detection and adaptive probe removal detection.

The adaptive probe sleeve detection comprises the following steps:

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

2) the driving device 1 drives the actuating mechanism 2 to make the photoelectric distance measuring sensor 3 move back and forth 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, the position value of the actuating mechanism 2 in the world coordinate system O-XYZ when the photoelectric distance measuring sensor 3 obtains a rising edge is recorded during sweeping, and the position value I (the position value I) of the actuating mechanism 2 when the photoelectric distance measuring sensor 3 is positioned at the central point of the section + Y direction of the automatic temperature measuring gun 5 on the sleeving detection set height I8 can be calculated according to the position values of the actuating mechanism 2 obtained by two rising edgesX_ⅠC，Y_ⅠC，Z_Ⅰ) (ii) a The driving device 1 drives the actuating mechanism 2 to make the photoelectric distance measuring sensor 3 move back and forth 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, the position value of the actuating mechanism 2 in the world coordinate system O-XYZ when the photoelectric distance measuring sensor 3 obtains a rising edge is recorded during sweeping, and the position value II (X) of the actuating mechanism 2 when the sleeving detection set height II 9 is positioned at the central point of the section + Y direction of the automatic temperature measuring gun 5 can be calculated according to the position values of the actuating mechanism 2 obtained by the rising edges twice_ⅡC，Y_ⅡC，Z_Ⅰ). By the position value I (X)_ⅠC，Y_ⅠC，Z_Ⅰ) And a position value II (X)_ⅡC，Y_ⅡC，Z_Ⅰ) An expression of one bus of the automatic temperature measuring gun 5 can be obtained, so that coordinates of the sleeving detection set height III 10 are obtained;

3) the driving device 1 drives the actuating mechanism 2 to enable the photoelectric distance measuring sensor 3 to move to the sleeving detection set height III 10 along the bus of the automatic temperature measuring gun 5 determined by the position value I and the position value II, the position value of the actuating mechanism 2 in a world coordinate system O-XYZ when the photoelectric distance measuring sensor 3 obtains a falling edge is recorded, and the position value III '(X') of the actuating mechanism 2 at the central point of the tail end section + Y direction of the automatic temperature measuring gun 5 can be obtained_Ⅲ’C，Y_Ⅲ’C，Z_Ⅲ) (ii) a After the actuator 2 is rotated by an angle theta in the + Z direction, the end of the automatic temperature measuring gun 5 is moved and swept again, and the position value III' (X) of the actuator 2 at the center point of the cross section of the end of the automatic temperature measuring gun 5 in the direction after the rotation can be obtained_Ⅲ”C，Y_Ⅲ”C，Z_Ⅲ) Thereby calculating the central position III (X) of the tail end section of the automatic temperature measuring gun 5_ⅢC，Y_ⅢC，Z_Ⅲ)；

4) The driving device 1 drives the actuating mechanism 2 to enable the paw 4 to grab the probe 6, the position of the end face of the probe 6 is adjusted to be the same as the position 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 area 7;

the sleeving mode is as follows: after the gripper 4 of the grabbing probe 2 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 a sleeve position with the axis parallel to the Z axis of the world coordinate system O-XYZ, and then sleeve is carried out.

The adaptive probe removal detection comprises the following steps:

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

b) the driving device 1 drives the actuating mechanism 2 to make the photoelectric distance measuring sensor 3 move back and forth along the Y direction of the world coordinate system O-XYZ on the removal detection set height I12 to sweep the automatic temperature measuring gun 5, the position value of the actuating mechanism 2 in the world coordinate system O-XYZ when the photoelectric distance measuring sensor 3 obtains a rising edge is recorded during sweeping, and the position value IV '(X') of the actuating mechanism 2 when the removal detection set height I12 is positioned at the central point of the section + Y direction of the automatic temperature measuring gun 5 can be calculated according to the position values of the actuating mechanism 2 obtained by two rising edges_Ⅳ’C,Y_Ⅳ’C,Z_Ⅳ) (ii) a After the actuator 2 is rotated by an angle theta around the + Z direction, the tail end of the automatic temperature measuring gun 5 is moved and swept back and forth again, and the position value IV "(X) of the actuator 2 at the central point of the tail end section of the automatic temperature measuring gun 5 in the direction after the rotation can be obtained_Ⅳ”C,Y_Ⅳ”C,Z_Ⅳ) Thereby calculating the center point IV (X) of the section of the automatic temperature measuring gun 5 on the pulling detection set height I12_Ⅳ,Y_Ⅳ,Z_Ⅳ). The same method can calculate the central point V (X) of the section of the automatic temperature measuring gun 5 on the pulling detection set height II 13_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 a vector that yields vector DC＝(c₁，c₂，c₃) The rotation axis R and the rotation angle are obtainedSee fig. 11 and 12;

wherein the angle of rotationComprises the following steps:

the rotation axis R is:

unit vector R corresponding to rotation axis R₀Comprises the following steps:

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 photoelectric distance measuring sensor 3 to move towards the pulling detection set height III 14 along the axis of the probe 6 determined by the central point IV and the central point V, the position value of the actuating mechanism 2 in a world coordinate system O-XYZ when the measured value of the photoelectric distance measuring sensor 3 is recorded to obtain the falling edge, and the height value Z of the lower end face 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 to be proper, the position and the posture of the paw 4 are adjusted to be the same as those of the probe 6 calculated in the steps b) and c), the paw 4 is used for grabbing the probe 6, and the probe 6 is pulled out from the automatic temperature measuring gun 5 in a pulling-out area 11;

the first pulling-out mode is as follows: 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) removing in a second way: 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 region 7 may cover a range of variation in the position and posture of the automatic temperature measuring gun 5, and the execution of steps 2) and 3) by the actuator 2 needs to be performed in a region other than the socket region 7 or along the envelope of the socket region 7. In a preferred embodiment, the socket region 7 is a rectangular parallelepiped, and three sides of the socket region are parallel to three coordinate axes of the world coordinate system O-XYZ.

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

The socket set height in the unplugging 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.