Thermostatic bath automatic calibration equipment and use method

Abstract

The invention relates to the technical field of thermostatic bath calibration, and particularly discloses automatic calibration equipment for a thermostatic bath. Comprising a rack, a first moving arm, a second moving arm, a first temperature sensor at the execution tail end of the first moving arm, a second temperature sensor at the execution tail end of the second moving arm, a position detection unit for detecting position information of the first temperature sensor and / or the second temperature sensor, and a control system, and the control system is connected with the first moving arm, the second moving arm, the first temperature sensor, the second temperature sensor and the position detection unit, controls the first temperature sensor to move to a typical temperature measurement point for temperature measurement, and receives detected temperature data. The use method of the thermostatic bath automatic calibration equipment comprises the following steps: controlling the first temperature sensor to move to a typical temperature measurement point for temperature measurement and receiving detected temperature data. The scheme is used for being adaptive to thermostatic baths with different shapes and sizes, and the operation complexity degree can be reduced.

Description

Technical Field

[0001] This invention relates to the field of thermostatic bath calibration technology, specifically to an automatic thermostatic bath calibration device and its usage method. Background Technology

[0002] A constant temperature bath uses liquid as the heat transfer medium and, through a temperature control system and the action of agitation or jetting devices, achieves a set temperature and maintains a stable and uniform temperature within its internal working area. It is primarily used as a constant temperature device for verifying and calibrating various thermometers or other measuring instruments. The technical performance characteristics of a constant temperature bath include temperature uniformity and temperature fluctuation resistance.

[0003] The temperature fluctuation test requires inserting a thermometer to a depth of 1 / 2 of the center point of the working area, taking multiple temperature readings over a certain period of time, calculating the difference between the readings, and determining the fluctuation based on the difference.

[0004] Testing for uniformity is more complex, requiring two thermometers. One thermometer is fixed and inserted halfway into the center of the working area, while the other is a movable thermometer that measures temperature at typical locations evenly distributed on both the upper and lower horizontal surfaces of the working area. Taking a cylindrical thermostatic bath as an example, these typical locations are four points (a, b, c, d) evenly distributed along the edge of the upper horizontal surface, and four points (e, f, g, h) perpendicular to the four points on the lower horizontal surface. Because the movable thermometer needs frequent repositioning, current measurement methods typically involve manually moving the thermometer based on the measurement point. This method suffers from several problems: the thermometer's position is subject to human manipulation, leading to inaccurate temperature measurements that don't accurately reflect temperature uniformity; and the data is manually recorded, resulting in large volumes of data and low efficiency. Existing technologies have developed some auxiliary devices and methods for thermostatic bath calibration, improving efficiency to some extent, but each still has its limitations.

[0005] For example, a constant temperature bath temperature performance testing system with existing patent publication number CN221404536U discloses a method of fixing a thermometer using a first bracket and a first clamp, supporting a movable thermometer using a second bracket, and switching the movable thermometer to typical temperature measurement points by manually rotating the second bracket and manually adjusting the height of the movable thermometer. However, this solution relies on manual operation for each positioning of the movable thermometer, requiring repeated manual turning and adjustment during calibration. It has low automation, is cumbersome, and manual operation makes it difficult to guarantee the accuracy and repeatability of each positioning.

[0006] A method for rapid temperature calibration of a constant temperature bath, disclosed in patent publication number CN113654673A, uses a rotating platform and a rotation control mechanism to synchronously rotate a high-position platinum resistance thermometer and a low-position platinum resistance thermometer. This enables automatic switching between the high and low platinum resistance thermometers as moving thermometers at typical temperature measurement points within the corresponding horizontal plane, improving automation and detection efficiency to some extent. However, the thermometer mounting position on the geared disc is fixed, and its distance from the center point is not adjustable, thus limiting its applicability to calibration of circular constant temperature baths of a specific diameter. In practical applications, constant temperature baths have various structural forms, commonly circular, quadrilateral (rectangular / square), and even polygonal structures. This method is unsuitable for these non-circular or varying-sized constant temperature baths, resulting in poor versatility.

[0007] The calibration method for a small constant temperature bath, disclosed in patent publication number CN118603362A, involves adjusting the vertical position of a movable thermometer using a height gauge and switching between four typical temperature measurement points (also referred to as "typical temperature measurement points" in this paper) in the horizontal plane by rotating an eccentric hole on a threaded dial. However, each point switch requires manual rotation of the threaded dial, resulting in low automation and a cumbersome operation. Summary of the Invention

[0008] The present invention aims to provide an automatic calibration device for a constant temperature bath, which can adapt to constant temperature baths of different shapes and sizes and reduce the complexity of operation.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: An automatic calibration device for a constant temperature bath, comprising a frame, characterized in that it further comprises: The first movable arm, mounted on the frame, is capable of moving its end effector in space; The second movable arm, mounted on the frame, is capable of adjusting the position of its end effector in space; A first temperature sensor is installed at the end of the first moving arm; A second temperature sensor is installed at the end of the second moving arm; A position detection unit is used to detect the position information of the first temperature sensor and / or the second temperature sensor; The control system is connected to the first moving arm, the second moving arm, the first temperature sensor, the second temperature sensor, and the position detection unit. The control system is used to control the first moving arm to move the first temperature sensor to a typical temperature measurement point for temperature measurement, and to receive the temperature data detected by the first temperature sensor and the second temperature sensor.

[0010] The principle and advantages of this scheme are as follows: This scheme sets up two moving arms to carry two temperature sensors respectively, and configures a control system to automatically control the first moving arm to move the first temperature sensor to a typical temperature measurement point for measurement. This realizes the automatic positioning of the moving thermometer and the automatic acquisition of temperature data during the constant temperature bath calibration process. It eliminates the need for manual hand-held moving thermometer to measure point by point, which greatly improves calibration efficiency and reduces positioning and reading errors caused by manual operation.

[0011] Furthermore, because the first and second moving arms can move in space, constant temperature baths of different shapes and sizes can be automatically calibrated.

[0012] In addition, the control system can control the first moving arm to move to a typical temperature measurement point for temperature measurement, which is more automated than the existing technology that requires manual adjustment, thereby reducing the number of operations required by the operator and making the operation process simpler.

[0013] Preferably, as an improvement, the first and second movable arms are articulated arms; or, The first moving arm includes a first lifting module, a first linear movement module, and a rotation drive module. The first lifting module is used to drive the first temperature sensor to lift and lower, the first linear movement module is used to drive the first temperature sensor to move linearly in the horizontal plane, and the rotation drive module is used to drive the first temperature sensor to rotate around the Z-axis. The second movable arm is rotatably connected to the frame and can rotate around the Z-axis. The second movable arm includes a second lifting module and a second linear movement module. The second lifting module is used to drive the second temperature sensor to lift and lower, and the second linear movement module is used to drive the second temperature sensor to move linearly in the horizontal plane.

[0014] Beneficial effects: This solution provides a specific implementation method for the mobile arm. The articulated arm solution has a compact structure and flexible movement; the split modular solution (lifting + linear + rotation) facilitates precise control of movement in all directions, and the second mobile arm adopts a simplified structure (no rotation drive), which reduces costs while ensuring functionality.

[0015] Preferably, as an improvement, both the first linear motion module and the second linear motion module include: Swing arm; A rack is fixed to the swing arm along the length of the swing arm; A sliding plate is slidably connected to the swing arm and can slide along the length of the swing arm; A linear drive motor is fixed to the sliding plate; A gear is mounted on the output shaft of the linear drive motor and meshes with the rack. The swing arm of the first moving arm is mounted on the output end of the rotary drive module, and the swing arm of the second moving arm is rotatably connected to the frame.

[0016] Beneficial effects: The use of a gear and rack transmission structure to achieve linear movement is simple in structure, and the sliding plate can slide onto the swing arm, so that when the entire device does not need to be tested, the length of the moving arm can be shortened, which makes it easy to carry and reduces the storage space and packaging costs.

[0017] Preferably, as an improvement, the position detection unit includes: The first angle detection element is installed on the output shaft of the rotation drive module and is used to detect the rotation angle of the first moving arm. The first linear displacement detection element is installed on the first linear movement module and is used to detect the linear displacement of the first linear movement module. The first lifting displacement detection element is installed on the first lifting module and is used to detect the lifting displacement at the output end of the first lifting module. The second angle detection element is installed on the second moving arm and is used to detect the rotation angle of the second moving arm; The second linear displacement detection element is installed on the second linear movement module and is used to detect the linear displacement of the second linear movement module. The second lifting displacement detection element is installed on the second lifting module and is used to detect the lifting displacement at the output end of the second lifting module. The control system calculates and stores the spatial coordinates of the first and second temperature sensors based on the rotation angle, linear displacement, and lifting displacement detected by each detection element.

[0018] Beneficial effects: By installing detection elements on each drive structure, real-time and accurate detection of the spatial position of the temperature sensor is achieved, providing a position data basis for the subsequent determination and automatic measurement of the spatial position of the constant temperature bath.

[0019] Preferably, as an improvement, the frame includes a support rod and a plurality of support legs connected to the support rod.

[0020] Beneficial effects: The frame structure, featuring support rods and legs, is simple, lightweight, and facilitates equipment handling and rapid on-site deployment. Multiple support legs provide stable support.

[0021] Preferably, as an improvement, all the support legs are threaded onto the support rod, and the connection points of all the support legs and the support rod are arranged sequentially along the height direction; all the support legs can be rotated to the same radial position as the support rod to form a stacked posture.

[0022] Beneficial effects: This solution reduces the storage volume of the equipment, making it easier to carry and transport. Simultaneously, the threaded connection allows for independent fine-tuning of the support leg height, enabling the equipment to remain level and stable on uneven surfaces, thus improving its on-site adaptability.

[0023] Preferably, as an improvement, the control system is further configured to: Through manual teaching, the first moving arm is controlled to move the first temperature sensor sequentially to multiple feature points in the working area of ​​the constant temperature bath, and the position information of each feature point is recorded by the position detection unit. The feature points are points on the side wall of the constant temperature bath or corner points between adjacent side walls. Based on the recorded location information of the feature points and the shape of the selected constant temperature bath, the control system determines the spatial coordinates of multiple typical temperature measuring points on the upper and lower horizontal planes of the constant temperature bath, as well as the center point of the working area.

[0024] Beneficial effects: Through a teach-and-learn approach, the equipment achieves self-adaptation to constant temperature baths of different shapes and sizes. Operators only need to teach a few feature points, and the system can process and calculate the locations of all typical temperature measurement points by combining the feature point location information with the selected shape of the constant temperature bath. This method frees operators from tedious point-by-point positioning work while ensuring the accuracy and consistency of point calculations, greatly improving the equipment's versatility and ease of use.

[0025] Preferably, as an improvement, the control system determines the spatial coordinates of typical temperature measurement points in the following way: Based on the location information of the feature points and the selected constant temperature bath shape, the corresponding typical temperature measurement point layout rules are invoked to determine the spatial coordinates of multiple typical temperature measurement points on the upper and lower horizontal planes. Alternatively, the size parameters of the constant temperature bath can be calculated based on the location information of the feature points and the shape of the selected constant temperature bath, and then matched with the built-in typical temperature measurement point database to determine the spatial coordinates of the corresponding typical temperature measurement points.

[0026] Beneficial effects: This solution provides two flexible methods for determining measurement points. The algorithm-based method generates points through background calculations, applicable to various size variations and offering high flexibility. The database matching method quickly retrieves pre-stored standard points, resulting in fast response and high reliability. Both methods can automatically determine typical temperature measurement points, further enhancing the intelligence level of the equipment.

[0027] Preferably, as an improvement, for a circular constant temperature bath, the feature points include three side wall points located on the upper horizontal plane of the working area and any point on the lower horizontal plane; for a polygonal constant temperature bath, the feature points include all corner points located on the upper horizontal plane and any point on the lower horizontal plane.

[0028] Beneficial Effects: This solution provides optimal feature point selection strategies for thermostatic baths of different shapes. For circular thermostatic baths, a three-point method is used to uniquely determine the circular outline with the fewest feature points. For polygonal baths, all corner points are collected to accurately reconstruct the polygonal shape. Simultaneously, depth information is obtained from any point on the lower horizontal plane, providing complete knowledge of the thermostatic bath's 3D parameters and positional information. This differentiated feature point selection method ensures modeling accuracy while minimizing the workload of teaching operations.

[0029] This invention also provides a method for using an automatic calibration device for a constant temperature bath, which requires the aforementioned automatic calibration device for a constant temperature bath and includes the following steps: Control the first moving arm to move the first temperature sensor to a typical temperature measurement point for temperature measurement; Receive temperature data detected by the first temperature sensor and the second temperature sensor.

[0030] Preferably, as an improvement, the method further includes the following steps: Through manual teaching, the first moving arm is controlled to move the first temperature sensor sequentially to multiple feature points in the working area of ​​the constant temperature bath, and the position information of each feature point is recorded. Based on the recorded feature point location information and the selected constant temperature bath shape, determine the spatial coordinates of multiple typical temperature measurement points on the upper and lower horizontal planes of the constant temperature bath, as well as the center point of the working area.

[0031] Beneficial effects: The addition of a teaching and modeling step before measurement enables the equipment to adapt to constant temperature baths of different shapes and sizes. Operators only need to teach a few feature points, and the system can automatically complete the calculation of the three-dimensional parameters and relative position of the constant temperature bath, delegating the complex adaptive adjustment work to the system, significantly reducing the difficulty of operation and the experience required of operators.

[0032] Preferably, as an improvement, the shape and type of the constant temperature bath are selected through the human-machine interface of the control system before acquiring the feature point location information.

[0033] Preferably, as an improvement, the method further includes the following step: automatically calculating the temperature uniformity and / or temperature fluctuation of the constant temperature bath based on the received temperature data.

[0034] Beneficial effects: After data acquisition, the system automatically performs calculations and outputs calibration results directly, eliminating the need for tedious manual data processing and calculations. This avoids errors that may occur during manual calculations and significantly shortens the time from measurement to obtaining results.

[0035] Preferably, as an improvement, the temperature uniformity includes the temperature difference on the upper horizontal plane, the temperature difference on the lower horizontal plane, and the maximum temperature difference.

[0036] Preferably, as an improvement, at each typical temperature measurement point, the temperature data of the first temperature sensor and the second temperature sensor are collected and stored sequentially according to multiple sets of reading rules preset by the control system.

[0037] Preferably, as an improvement, the preset multiple reading rules conform to the alternating reading sequence requirements of fixed and mobile thermometers in the JJF 1030 standard, with the first temperature sensor used as a mobile sensor and the second temperature sensor used as a fixed sensor; this ensures that the collected data has statistical significance and can accurately reflect the temperature characteristics of the constant temperature bath. Simultaneously, automated data acquisition and storage avoid errors associated with manual reading and recording. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the working area, point O, and typical temperature measurement points on the upper / lower horizontal planes of a circular thermostatic bath, based on existing technology.

[0039] Figure 2 This is a three-dimensional structural schematic diagram of one embodiment of an automatic calibration device for a constant temperature bath according to an embodiment of the present invention.

[0040] Figure 3 for Figure 2 A magnified view of a portion of the image.

[0041] Figure 4 This is a three-dimensional structural diagram illustrating the construction of the folding and rotation drive module for the support leg, as shown in an embodiment of the present invention.

[0042] Figure 5 This is a schematic diagram of the structure of the first lifting module and the first linear movement module using a telescopic cylinder in one embodiment of the present invention.

[0043] Figure 6 This is a schematic diagram of the structure of the second lifting module and the second linear movement module using a telescopic cylinder in one embodiment of the present invention.

[0044] Figure 7 This is a flowchart illustrating the usage method of the automatic calibration device for the constant temperature bath according to an embodiment of the present invention.

[0045] The reference numerals in the accompanying drawings include: frame 10, support rod 11, support leg 12, first moving arm 20, first lifting module 21, connecting rope 211, first linear movement module 22, swing arm 221, rack 222, sliding plate 223, linear drive motor 224, gear 225, rotary drive module 23, rotary drive motor 231, rotating shaft 232, second moving arm 30, second lifting module 31, second linear movement module 32, first temperature sensor 40, second temperature sensor 50, display screen 60, and constant temperature bath 100. Detailed Implementation

[0046] The following detailed description illustrates the specific implementation method: Example Combination Figures 2 to 7 .

[0047] An automatic calibration device for a constant temperature bath, comprising: The frame 10 includes a support rod 11 and multiple support legs 12 connected to the support rod 11. All support legs 12 are threaded to the support rod 11, and the connection points of all support legs 12 and support rod 11 are arranged sequentially along the height direction. All support legs 12 can be rotated to the same radial position as the support rod 11 to form a stacked posture.

[0048] First moving arm 20: Mounted on frame 10, used to drive the first temperature sensor 40 to move along three axes (XYZ) in space. It is driven entirely by electric motors, each of which is equipped with an encoder.

[0049] Second moving arm 30: mounted on frame 10, used to move second temperature sensor 50 to the center point (O point) of 1 / 2 depth of constant temperature bath.

[0050] First temperature sensor 40: Installed at the end of the first moving arm 20 for measuring temperature and used as a position probe during the “teach” phase.

[0051] Second temperature sensor 50: Installed at the end of the second moving arm 30, used to measure the temperature at the center point (O point) of 1 / 2 depth of the constant temperature bath as a reference point.

[0052] Control system: includes controller, memory, and display screen 60. The controller is used to control the movement of the first moving arm 20 and the second moving arm 30. The memory is used to store temperature data, position data and data processing algorithms. The display screen 60 is used for human-machine interaction and displays the equipment status, the modeling graphics of the constant temperature bath, the real-time position of the sensors, the real-time temperature of the temperature sensors and the measurement results.

[0053] Position detection unit: used to detect the position information of the first temperature sensor 40 and the second temperature sensor 50.

[0054] In one embodiment, the first moving arm 20 and the second moving arm 30 are both articulated arms. Each joint of the articulated arm or the drive motor is equipped with an encoder. The encoder is the various detection elements included in the position detection unit. The control system calculates the spatial coordinates of the corresponding temperature sensor based on the rotation angle detected by the encoder, combined with the parameters of the corresponding drive motor and the initial position information.

[0055] In another embodiment, the first moving arm 20 and the second moving arm 30 are robotic arms as shown in the figure. The first moving arm 20 includes a first lifting module 21, a first linear movement module 22 and a rotation drive module 23. The first lifting module 21 is used to drive the first temperature sensor 40 to lift and lower. The first linear movement module 22 is used to drive the first temperature sensor 40 to move linearly in the horizontal plane. The rotation drive module 23 is used to drive the first temperature sensor 40 to rotate around the Z-axis. The second moving arm 30 is rotatably connected to the frame 10 and can rotate around the Z-axis. The second moving arm 30 includes a second lifting module 31 and a second linear movement module 32. The second lifting module 31 is used to drive the second temperature sensor 50 to rise and fall, and the second linear movement module 32 is used to drive the second temperature sensor 50 to move linearly in the horizontal plane.

[0056] Both the first linear motion module 22 and the second linear motion module 32 include: a swing arm 221, a rack 222, a sliding plate 223, a linear drive motor 224, and a gear 225; the rack 222 is fixed on the swing arm 221 along the length direction of the swing arm 221, the sliding plate 223 is slidably connected to the swing arm 221 and can slide along the length direction of the swing arm 221, the linear drive motor 224 is fixed on the sliding plate 223, and the gear 225 is mounted on the output shaft of the linear drive motor 224 and meshes with the rack 222; The swing arm 221 of the first moving arm 20 is installed at the output end of the rotary drive module 23 (i.e., the rotary shaft 232 referred to below). The rotary drive module 23 includes a rotary drive motor 231 and a rotary shaft 232. The rotary drive motor 231 is used to drive the rotary shaft 232 to rotate around the Z-axis. The rotary shaft 232 is fixedly connected to the swing arm 221 of the first moving arm 20. The swing arm of the second moving arm 30 is rotatably connected to the support rod 11 of the frame 10.

[0057] When a robotic arm is selected as the first moving arm 20 and the second moving arm 30, the position detection unit includes: The first angle detection element is installed on the output shaft (i.e., the rotation shaft 232) of the rotation drive module 23 and is used to detect the rotation angle of the first moving arm 20; in a specific embodiment, the first angle detection element is an encoder; The first linear displacement detection element is installed on the first linear motion module 22 and is used to detect the linear displacement of the first linear motion module 22. In a specific embodiment, the first linear displacement detection element is an encoder installed on the linear drive motor 224. The encoder detects the rotation angle of the output shaft of the linear drive motor 224, and the controller calculates the linear displacement of the first linear motion module 22 based on the rotation angle and the structural parameters of the linear drive motor 224. The first lifting displacement detection element is installed on the first lifting module 21 and is used to detect the lifting displacement at the output end of the first lifting module 21. The second angle detection element is installed on the second moving arm 30 and is used to detect the rotation angle of the second moving arm 30. In a specific embodiment, the second angle detection element is an encoder or a rotary potentiometer. Taking the installation of an encoder as an example, one of the inner ring and the outer ring of the encoder is installed on the support rod 11, and the other is installed on the swing arm of the second moving arm 30. The second linear displacement detection element is installed on the second linear movement module 32 of the second moving arm 30 and is used to detect the linear displacement of the second linear movement module 32. In a specific embodiment, the second linear displacement detection element is an encoder installed on the linear drive motor 224 of the second moving arm 30. The encoder detects the rotation angle of the output shaft of the linear drive motor 224. The controller calculates the linear displacement of the second linear movement module based on the rotation angle and the structural parameters of the linear drive motor 224. The second lifting displacement detection element is installed on the second lifting module 31 and is used to detect the lifting displacement at the output end of the second lifting module 31. The control system calculates and stores the spatial coordinates of the first and second temperature sensors based on the rotation angle, linear displacement, and lifting displacement detected by each detection element.

[0058] In the above-mentioned construction of the first moving arm 20 and the second moving arm 30 using a robotic arm, as a sub-implementation, both the first lifting module 21 and the second lifting module 31 include a winding motor fixedly mounted on the sliding plate 223. A connecting rope 211 is wound on the output shaft of the winding motor, and the end of the connecting rope 211 is connected to a corresponding temperature sensor. The height of the temperature sensor is controlled by winding the connecting rope 211. This method can make the lifting module lightweight. In this method, both the first lifting displacement detection element and the second lifting displacement detection element can be encoders. Encoders are installed on the winding motor. The control system obtains the rotation angle of the output shaft of the winding motor through the encoder on the winding motor, and then calculates the lifting displacement of the connecting rope 211 according to the structural parameters of the winding motor.

[0059] In another implementation, combined Figure 5 and Figure 6 The first linear motion module 22, the second linear motion module 32, the first lifting module 21, and the second lifting module 31 mentioned above can all be telescopic cylinders driven by electricity or air. The cylinder body of the telescopic cylinder of the first linear motion module 22 is fixed on the output end of the rotary drive module 23 (corresponding to the rotary shaft 232 in the above description) and rotates synchronously with the output end of the rotary drive module 23. The first lifting module 21 is installed at the end of the telescopic rod of the telescopic cylinder of the first linear motion module 22. Similarly, the cylinder body of the telescopic cylinder of the second linear motion module 32 is rotatably connected to the support rod 11 as the swing arm of the second moving arm 20. The second lifting module 31 is installed at the end of the telescopic rod of the telescopic cylinder of the second linear motion module 32. In this embodiment, the first linear displacement detection element, the second linear displacement detection element, the first lifting displacement detection element, and the second lifting displacement detection element can all be displacement sensors.

[0060] In one embodiment, the first temperature sensor 40 and the second temperature sensor 50 may employ a short rod-shaped temperature sensing structure.

[0061] In one embodiment, the control system is configured to: Through manual teaching, the first moving arm 20 is controlled to drive the first temperature sensor 40 to move sequentially to multiple feature points in the working area of ​​the constant temperature bath, and the position information of each feature point is recorded by the position detection unit. The feature points are points on the side wall of the constant temperature bath or corner points between adjacent side walls. Based on the recorded location information of feature points and the selected shape of the constant temperature bath, a three-dimensional spatial model of the working area of ​​the constant temperature bath is constructed. Based on the parameter information of the three-dimensional spatial model, determine the spatial coordinates of multiple typical temperature measurement points on the upper and lower horizontal planes of the corresponding constant temperature bath, as well as the center point (o point) of the working area.

[0062] In one implementation, the control system determines the spatial coordinates of typical temperature measurement points by: calling the layout rules of typical temperature measurement points corresponding to the three-dimensional spatial model stored in the memory, and automatically determining the spatial coordinates of multiple typical temperature measurement points on the upper and lower horizontal planes that meet the calibration specifications based on the typical temperature measurement point layout rules. In another implementation, the control system determines the spatial coordinates of typical temperature measurement points by: matching the dimensional parameters displayed by the three-dimensional spatial model with a database of typical temperature measurement points of different shapes and sizes stored in the control system's memory, and then calling the corresponding typical temperature measurement point spatial coordinates.

[0063] Regarding the determination of the aforementioned feature points, for a circular constant temperature bath, the feature points include the three side wall points located on the upper horizontal plane of the working area and any point on the lower horizontal plane; for a polygonal constant temperature bath, the feature points include all corner points located on the upper horizontal plane and any point on the lower horizontal plane.

[0064] The control system is used to control the first moving arm to move the first temperature sensor to a typical temperature measurement point for temperature measurement, and to receive and store the temperature data detected by the first temperature sensor and the second temperature sensor.

[0065] Combination Figure 7 This embodiment also provides a method for using an automatic calibration device for a constant temperature bath, including the following steps: S1. Through manual teaching, control the first moving arm to drive the first temperature sensor to move sequentially to multiple feature points in the working area of ​​the constant temperature bath, and record the position information of each feature point through the position detection unit. Step S2: The control system constructs a three-dimensional spatial model of the constant temperature bath working area based on the recorded feature point position information; Step S3: Based on the parameter information of the three-dimensional spatial model, determine the spatial coordinates (point o) of multiple typical temperature measuring points on the upper and lower horizontal planes of the constant temperature bath and the center point of the working area. Step S4: Based on the spatial coordinates of the center point of the working area obtained in step S3, the control system displays the current position and target position of the second moving arm on the display screen in real time, guiding the operator to manually adjust the second moving arm, move the second temperature sensor to the vicinity of the center point of the working area and confirm. Step S5: Based on the spatial coordinates of the typical temperature measurement points obtained in step S3, the control system controls the first moving arm to move the first temperature sensor to each typical temperature measurement point in sequence according to the temperature measurement sequence preset by the control system, and collects temperature data at each measurement point according to the temperature measurement interval preset by the control system.

[0066] In one embodiment, in step S5, after the first temperature sensor reaches a typical temperature measurement point, the control system waits for a preset delay before collecting temperature data; or when the temperature change of the first temperature sensor readings is less than a preset threshold multiple times, it is determined that the temperature is stable before collecting temperature data.

[0067] In one embodiment, step S6 is also included: the control system calculates the temperature uniformity and fluctuation of the constant temperature bath based on all the collected temperature data and the spatial coordinates of the corresponding typical temperature measuring points, wherein the temperature uniformity includes the temperature difference of the upper horizontal plane, the temperature difference of the lower horizontal plane and the maximum temperature difference.

[0068] Compared with the prior art, the present invention has the following effects: First, high adaptability: Through the "teach-modeling" method, it can adapt to various shapes and sizes of constant temperature baths, such as circles, quadrilaterals, and pentagons, without the need to modify the program or adjust the hardware for different constant temperature baths, making it highly versatile.

[0069] Second, a high degree of automation: apart from the initial teaching operation and the second mobile arm's assisted manual positioning, the subsequent path planning, temperature sensor movement, temperature measurement, and data recording are all completed automatically, which greatly reduces manual operation and improves calibration efficiency.

[0070] Third, the operation is intuitive and simple: the operator can intuitively see the position of the temperature sensor through the real-time position feedback on the display screen, and easily guide the second moving arm to the target position, so that the second temperature sensor can be quickly moved to point O when used as a fixed temperature sensor, which reduces the difficulty of operation.

[0071] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. An automatic calibration device for a constant temperature bath, comprising a frame, characterized in that, Also includes: The first movable arm, mounted on the frame, is capable of moving its end effector in space; The second movable arm, mounted on the frame, is capable of adjusting the position of its end effector in space; A first temperature sensor is installed at the end of the first moving arm; A second temperature sensor is installed at the end of the second moving arm; A position detection unit is used to detect the position information of the first temperature sensor and / or the second temperature sensor; The control system is connected to the first moving arm, the second moving arm, the first temperature sensor, the second temperature sensor, and the position detection unit. The control system is used to control the first moving arm to move the first temperature sensor to a typical temperature measurement point for temperature measurement, and to receive the temperature data detected by the first temperature sensor and the second temperature sensor.

2. The automatic calibration equipment for a constant temperature bath according to claim 1, characterized in that, The first and second movable arms are articulated arms; or, The first moving arm includes a first lifting module, a first linear movement module, and a rotation drive module. The first lifting module is used to drive the first temperature sensor to lift and lower, the first linear movement module is used to drive the first temperature sensor to move linearly in the horizontal plane, and the rotation drive module is used to drive the first temperature sensor to rotate around the Z-axis. The second movable arm is rotatably connected to the frame and can rotate around the Z-axis. The second movable arm includes a second lifting module and a second linear movement module. The second lifting module is used to drive the second temperature sensor to lift and lower, and the second linear movement module is used to drive the second temperature sensor to move linearly in the horizontal plane.

3. The automatic calibration equipment for a constant temperature bath according to claim 2, characterized in that, Both the first linear motion module and the second linear motion module include: Swing arm; A rack is fixed to the swing arm along the length of the swing arm; A sliding plate is slidably connected to the swing arm and can slide along the length of the swing arm; A linear drive motor is fixed to the sliding plate; A gear is mounted on the output shaft of the linear drive motor and meshes with the rack. The swing arm of the first moving arm is mounted on the output end of the rotary drive module, and the swing arm of the second moving arm is rotatably connected to the frame.

4. The automatic calibration equipment for a constant temperature bath according to claim 2, characterized in that, The position detection unit includes: The first angle detection element is installed on the output shaft of the rotation drive module and is used to detect the rotation angle of the first moving arm. The first linear displacement detection element is installed on the first linear movement module and is used to detect the linear displacement of the first linear movement module. The first lifting displacement detection element is installed on the first lifting module and is used to detect the lifting displacement at the output end of the first lifting module. The second angle detection element is installed on the second moving arm and is used to detect the rotation angle of the second moving arm; The second linear displacement detection element is installed on the second linear movement module and is used to detect the linear displacement of the second linear movement module. The second lifting displacement detection element is installed on the second lifting module and is used to detect the lifting displacement at the output end of the second lifting module. The control system calculates and stores the spatial coordinates of the first and second temperature sensors based on the rotation angle, linear displacement, and lifting displacement detected by each detection element.

5. The automatic calibration equipment for a constant temperature bath according to claim 1, characterized in that, The frame includes a support rod and multiple support legs connected to the support rod.

6. The automatic calibration equipment for a constant temperature bath according to claim 5, characterized in that, All the support legs are threaded onto the support rod, and the connection points of all the support legs and the support rod are arranged sequentially along the height direction; all the support legs can be rotated to the same radial position as the support rod to form a stacked posture.

7. The automatic calibration equipment for a constant temperature bath according to claim 1, characterized in that, The control system is also configured to: Through manual teaching, the first moving arm is controlled to move the first temperature sensor sequentially to multiple feature points in the working area of ​​the constant temperature bath, and the position information of each feature point is recorded by the position detection unit. The feature points are points on the side wall of the constant temperature bath or corner points between adjacent side walls. Based on the recorded location information of the feature points and the shape of the selected constant temperature bath, the control system determines the spatial coordinates of multiple typical temperature measuring points on the upper and lower horizontal planes of the constant temperature bath, as well as the center point of the working area.

8. The automatic calibration equipment for a constant temperature bath according to claim 7, characterized in that, The control system determines the spatial coordinates of typical temperature measurement points in the following way: Based on the location information of the feature points and the selected constant temperature bath shape, the corresponding typical temperature measurement point layout rules are invoked to determine the spatial coordinates of multiple typical temperature measurement points on the upper and lower horizontal planes. Alternatively, the size parameters of the constant temperature bath can be calculated based on the location information of the feature points and the shape of the selected constant temperature bath, and then matched with the built-in typical temperature measurement point database to determine the spatial coordinates of the corresponding typical temperature measurement points.

9. The automatic calibration equipment for a constant temperature bath according to claim 7, characterized in that, For a circular constant temperature bath, the feature points include three side wall points located on the upper horizontal plane of the working area and any point on the lower horizontal plane; for a polygonal constant temperature bath, the feature points include all corner points located on the upper horizontal plane and any point on the lower horizontal plane.

10. A method of using an automatic calibration device for a constant temperature bath, characterized in that, The automatic calibration equipment for the constant temperature bath as described in any one of claims 1-9 is required, and includes the following steps: Control the first moving arm to move the first temperature sensor to a typical temperature measurement point for temperature measurement; Receive temperature data detected by the first temperature sensor and the second temperature sensor.

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