High-precision alignment method and system of double top needle and wobble system

Abstract

The application discloses a high-precision alignment method and system of a double top needle and a torsional pendulum system, and relates to the field of precision measurement.The system comprises a test mass, a double top needle system, a multi-degree-of-freedom displacement table, an upper computer, a torsional pendulum system, a six-degree-of-freedom measuring arm, a vertical displacement table, a self-collimator and a shooting system.Compared with the prior art, the upper computer performs non-contact measurement on the top needle through the shooting system, performs contact measurement on the top needle through the six-degree-of-freedom measuring arm, realizes the alignment of the top needle through the cooperation of the multi-degree-of-freedom displacement table, adjusts the torsional posture of the test mass through the torsional pendulum system, can verify the release result under the ideal contact condition when the true state is on the track on the ground, and can ensure that the test mass can be in contact with the two side top needles at a fixed angle in multiple repeated experiments, thereby avoiding the influence of the deviation of the initial torsional posture of the test mass on the release result, ensuring the repeatability and accuracy of the experimental result, and reducing the error introduced by the misalignment release of the top needle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision measurement, more particularly, to a high-precision alignment method and system of a double plunger and a torsional pendulum system. BACKGROUND

[0002] In the field of space gravitational wave detection and gravity measurement, an inertial sensor is a reference benchmark for laser interferometry, used to ensure that the test mass is safely and reliably locked and fixed in the electrode shell during the satellite launch phase, and the test mass is released based on the locking and releasing mechanism after the satellite is in orbit. As an important part of the inertial sensor, ground testing of the locking and releasing mechanism is necessary, and the accuracy of the test results will significantly affect the performance of the inertial sensor in the true in-orbit state of the satellite.

[0003] On the one hand, for the ground testing of the locking and releasing mechanism, in the prior art, the University of Trento has built a ground simulation evaluation device for in-orbit release on the ground, which releases a single pendulum suspension plate test mass through a single plunger to verify the release speed in the translational direction. In addition, the University of Science and Technology of China has also researched a ground simulation evaluation device for in-orbit release of the inertial sensor, which uses a capacitor plate to verify the plunger release and electrostatic capture process.

[0004] However, the above prior art is a single plunger release strategy, which cannot simulate the release of the test mass in the true in-orbit state. In the true in-orbit state, the locking and releasing mechanism is a symmetrical two-subsystem, which adopts double plunger release and is located on both sides of the cubic test mass. In addition, due to the asymmetry of the plunger attitude and release action on both sides during release, the plunger on both sides will exert force and torque on the test mass, affecting the release result, so the prior art cannot evaluate and research the influence of the asymmetric release of the double plunger in the true in-orbit state.

[0005] On the other hand, in the existing ground testing device, due to the influence of factors such as suspension wire stress release, environmental temperature, and air flow, the initial torsional attitude of the test mass suspended in the torsional pendulum system cannot be kept consistent in multiple release tests, which affects the contact state of the test mass and the release result, and affects the accuracy and repeatability of the test results. SUMMARY

[0006] To overcome the defects of poor accuracy of the ground test results of the true in-orbit locking and releasing mechanism in the prior art, the present application provides a high-precision alignment method and system of a double plunger and a torsional pendulum system.

[0007] To solve the above technical problems, the technical solution of the present application is as follows:

[0008] The first aspect is a high-precision alignment system of a double-needle and torsional pendulum system, comprising: a test mass, a double-needle system, a multi-degree-of-freedom displacement table, an upper computer, a torsional pendulum system, a six-degree-of-freedom measuring arm, a vertical displacement table, a self-collimator and a shooting system.

[0009] The double-needle system comprises two symmetrically arranged needle release mechanisms for releasing the test mass.

[0010] The multi-degree-of-freedom displacement table is connected with the upper computer and is used for mounting the double-needle system and adjusting the posture of the needle release mechanism under the control of the upper computer.

[0011] The torsional pendulum system is used for hanging the test mass to form a simple pendulum and adjusting the torsional posture of the test mass.

[0012] The six-degree-of-freedom measuring arm is connected with the upper computer and is used for contact measurement of the position of the needle in the needle release mechanism.

[0013] The vertical displacement table is controlled by the upper computer to displace in the vertical direction, and the self-collimator is installed on the top surface of the vertical displacement table and is used for measuring the posture angle of the test mass and the needle in the needle release mechanism and sending the posture angle to the upper computer.

[0014] The shooting system comprises at least two cameras arranged perpendicularly to each other and is used for acquiring the posture image of the needle of the double-needle system and sending the posture image to the upper computer, so that the upper computer can visually align the two needle release mechanisms of the double-needle system.

[0015] The second aspect is a high-precision alignment method of a double-needle and torsional pendulum system, comprising:

[0016] The upper computer acquires the posture image of the needle of the double-needle system through the shooting system, and controls the multi-degree-of-freedom displacement table to move in multiple degrees of freedom to adjust the posture of the needle release mechanism according to the posture image.

[0017] The upper computer contact measures the position of the needle in the needle release mechanism through the six-degree-of-freedom measuring arm, and controls the multi-degree-of-freedom displacement table to move in multiple degrees of freedom to adjust the posture of the needle release mechanism according to the contact measurement result.

[0018] After the posture adjustment of the needle release mechanism is completed, the upper computer controls the vertical displacement table to displace in the vertical direction, and acquires the posture angle of the test mass and the needle through the self-collimator installed on the vertical displacement table.

[0019] The upper computer adjusts the torsional posture of the test mass by controlling the torsional pendulum system according to the posture angle.

[0020] Compared with the prior art, the high-precision alignment method and system of the double top needle and the wobble system have the beneficial effects that:

[0021] The application discloses a high-precision alignment method and system of a double top needle and a wobble system, the system comprising a test mass, a double top needle system, a multi-degree-of-freedom displacement table, an upper computer, a wobble system, a six-degree-of-freedom measuring arm, a vertical displacement table, a self-collimating instrument and a shooting system, the upper computer performing non-contact measurement on the top needle through the shooting system, performing contact measurement on the top needle through the six-degree-of-freedom measuring arm, realizing alignment of the top needle through cooperation of the multi-degree-of-freedom displacement table, adjusting and setting a torsional posture of the test mass through the wobble system, verifying a release result under ideal contact conditions when the test mass is actually in orbit on the ground, and ensuring that the test mass can be in contact with the top needles at a fixed angle and on both sides in repeated experiments, avoiding influence of deviation of an initial torsional posture of the test mass on the release result, ensuring repeatability and accuracy of experimental results, and reducing errors introduced by misalignment of the top needle in release. Compared with the prior art, the system has the advantages of simple structure, high positioning precision and mutual verification of multiple measurement modes. BRIEF DESCRIPTION OF DRAWINGS

[0022] Fig. 1 FIG. 1 is a system structure schematic diagram of the high-precision alignment system of the application embodiment 1;

[0023] Fig. 2 FIG. 2 is another system structure schematic diagram of the high-precision alignment system of the application embodiment 1;

[0024] Fig. 3 FIG. 3 is another system structure schematic diagram of the high-precision alignment system of the application embodiment 1. DETAILED DESCRIPTION

[0025] The terms "first", "second", etc. in the specification and claims of the present application and in the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the terms thus used can be interchanged under appropriate circumstances, and this is merely a distinguishing manner adopted in the description of the embodiments of the present application for the objects with the same attributes in the description. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, so that the processes, methods, systems, products or equipment containing a series of units do not have to be limited to those units, but can include other units not clearly listed or inherent to the processes, methods, products or equipment.

[0026] The drawings are only used for illustrative description, and cannot be understood as a limitation on the patent;

[0027] In order to better illustrate the embodiments, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0028] It is understood by those skilled in the art that certain well-known structures and their descriptions can be omitted in the drawings.

[0029] The technical solutions of the present application are further described below in combination with the drawings and examples.

[0030] Example 1

[0031] This embodiment proposes a high-precision alignment system of double top pin and torsional pendulum system, referring to Figs. 1-3 , comprising a test mass 1, a double top pin system 2, a multi-degree-of-freedom displacement table 3, an upper computer, a torsional pendulum system 4, a six-degree-of-freedom measuring arm 5, a vertical displacement table 6, a self-collimating instrument 7 and a shooting system 8.

[0032] The double top pin system 2 comprises two symmetrically arranged top pin release mechanisms for releasing the test mass 1.

[0033] The multi-degree-of-freedom displacement table 3 is connected with the upper computer and is used for installing the double top pin system 2 and adjusting the posture of the top pin release mechanism under the control of the upper computer.

[0034] The torsional pendulum system 4 is used for suspending the test mass 1 to form a simple pendulum and adjusting the torsional posture of the test mass 1.

[0035] The six-degree-of-freedom measuring arm 5 is connected with the upper computer and is used for contact measurement of the position of the top pin in the top pin release mechanism.

[0036] The vertical displacement table 6 is controlled by the upper computer to displace in the vertical direction, and the self-collimating instrument 7 is installed on the top surface of the vertical displacement table 6 and is used for measuring the posture angle of the test mass 1 and the top pin in the top pin release mechanism and sending to the upper computer.

[0037] The shooting system 8 comprises at least two cameras arranged perpendicularly to each other and is used for acquiring the top pin posture image of the double top pin system 2 and sending to the upper computer, so that the upper computer can visually align the top pins of the two top pin release mechanisms of the double top pin system.

[0038] In a specific implementation process, the host computer obtains a needle posture image through the shooting system 8, and determines whether to control the multi-degree-of-freedom displacement table 3 to displace in multiple degrees of freedom according to the alignment condition between the two side needles in the needle posture image, so that the two side needles are non-contact aligned in the imaging dimension; then, the host computer controls the six-degree-of-freedom measuring arm 5 to contact measure the two side needles, and controls the multi-degree-of-freedom displacement table 3 to displace in multiple degrees of freedom according to the measurement result, so that the two side needles are contact aligned, which can be regarded as mutual assistance and verification of the two measurement methods; after the alignment of the two side needles is completed, the host computer obtains the posture angle of the test mass 1 and the two side needles through the autocollimator 7 respectively, and controls the wobble system 4 according to the posture angle, so that the end face of the test mass 1 contacts the two side needles at a specified initial posture, such as vertical contact or other fixed angle contact. Through the system of the embodiment, the influence of the double-needle release strategy and the asymmetric release of the double needles in the true in-orbit can be verified on the ground, the error introduced by the unaligned release of the needles is reduced, and it is ensured that the end face of the test mass 1 contacts the two side needles at the same initial posture in multiple repeated experiments, thereby ensuring the repeatability of the experimental results.

[0039] Those skilled in the art should understand that the actual spatial positions of the two needles in the horizontal and vertical planes can be obtained through the needle posture image. As a non-limiting example, the judgment of the alignment condition of the needles based on the needle posture image can be realized by the pixel point area, the number of pixel points, and / or the distance between the corresponding pixel points and the calibration data of the actual size of the pixel points covered by the imaging of the two side needles.

[0040] As a preferred embodiment, the process of visual alignment of the needles includes:

[0041] The host computer obtains the needle posture image through the shooting system 8;

[0042] According to the spatial positions of the two needles, a first posture deviation between the two needles is calculated, wherein the first posture deviation includes a first axial distance deviation and / or a first included angle deviation;

[0043] According to the spatial positions, a first posture deviation between the two needles is calculated, wherein the first posture deviation includes a first axial distance deviation and / or a first included angle deviation;

[0044] According to the first posture deviation, the host computer sends a first displacement control instruction to the multi-degree-of-freedom displacement table 3 to adjust the multi-degree-of-freedom displacement table 3 in multiple degrees of freedom, so that the two side needles are horizontal and coaxial, and the visual alignment of the needles is completed; wherein the multi-degree-of-freedom adjustment includes adjustment of the translational degree of freedom and / or the rotational degree of freedom.

[0045] As a preferred embodiment, the process of contact measurement includes:

[0046] A plurality of measuring points are set on the surface of the ejector pin based on the same reference coordinate system, and the upper computer generates a measuring control instruction based on the measuring points and sends the measuring control instruction to the six-degree-of-freedom measuring arm 5;

[0047] The six-degree-of-freedom measuring arm 5 performs contact measurement around the measuring points on the surface of the two ejector pins according to the measuring control instruction, and sends the generated contact measurement result to the upper computer;

[0048] The upper computer fits the spatial positions of the ejector pins and the relative positions between the ejector pins according to the contact measurement result, and further calculates a second attitude deviation between the ejector pins; wherein the second attitude deviation includes a second axial distance deviation and / or a second included angle deviation;

[0049] According to the second attitude deviation, the upper computer sends a second displacement control instruction to the multi-degree-of-freedom displacement table 3 to perform multi-degree-of-freedom adjustment of the two ejector pin release mechanisms, so that the two ejector pins are horizontal and coaxial; wherein the multi-degree-of-freedom adjustment includes adjustment of the translational degrees of freedom and / or the rotational degrees of freedom.

[0050] The skilled person should understand that the rotational degrees of freedom include pitch, yaw and / or roll, and the translational degrees of freedom include up-down translation, forward-backward translation and / or left-right translation.

[0051] In an optional embodiment, the process of contact measurement further includes: after the six-degree-of-freedom measuring arm 5 sends the generated contact measurement result to the upper computer, the upper computer performs three-dimensional feature modeling to obtain a three-dimensional model of the ejector pin according to the contact measurement result; wherein the three-dimensional model is used for visual observation of the attitude of the ejector pin.

[0052] In some examples, the upper computer uses CAD to perform 3D modeling according to the contact measurement result.

[0053] As a preferred embodiment, the attitude adjustment process of the test mass 1 includes:

[0054] The self-collimator 7 moves up and down by vertical movement of the vertical displacement table 6, and the attitude angles of the ejector pin and the test mass 1 are measured and sent to the upper computer, respectively;

[0055] The upper computer generates a control instruction according to the difference between the attitude angles of the ejector pin and the test mass 1, and sends the control instruction to the torsion pendulum system 4 to adjust the torsional attitude of the test mass 1, so that the ejector pin and the test mass 1 contact at a specified angle.

[0056] In an optional embodiment, a first mirror is mounted on the tail of the stylus, and the autocollimator 7 measures the attitude angle of the stylus by cooperating with the first mirror.

[0057] Those skilled in the art should understand that the autocollimator 7 measures the attitude angle of the stylus by emitting a light beam and receiving the reflected light beam reflected by the first mirror.

[0058] In an optional embodiment, the torsional pendulum system 4 comprises a guide, a suspension wire, and a second mirror; one end of the suspension wire is connected with the guide, and the other end of the suspension wire suspends the test mass 1; the suspension wire and the test mass 1 are further provided with the second mirror;

[0059] Wherein, the torsional pendulum system 4 adjusts the attitude of the test mass 1 based on the rotation of the guide around the axis; the autocollimator 7 measures the attitude angle of the test mass 1 by cooperating with the second mirror.

[0060] As a preferred embodiment, the stylus surface in the stylus release mechanism is gold-plated.

[0061] As a preferred embodiment, the system further comprises a temperature sensor 9 for acquiring the ambient temperature and sending it to the upper computer to evaluate the influence of the ambient temperature on the alignment adjustment of the stylus release mechanism.

[0062] In this preferred embodiment, the ambient temperature is monitored by the temperature sensor 9 for a long time, and the ambient temperature in different periods is obtained based on periodic tests, so that the influence of the ambient temperature fluctuation on the same alignment adjustment result of the stylus release mechanism can be evaluated, thereby reducing the errors that may be introduced in the experimental research process by controlling the ambient temperature, and further improving the accuracy of the experimental results.

[0063] Embodiment 2

[0064] This embodiment proposes a high-precision alignment method for a double-stylus and torsional pendulum system, which applies the system proposed in embodiment 1, comprising:

[0065] The upper computer acquires the stylus attitude image of the double-stylus system 2 by the shooting system 8, and controls the multi-degree-of-freedom displacement table 3 to move in multiple degrees of freedom according to the stylus attitude image to adjust the attitude of the stylus release mechanism.

[0066] The upper computer performs contact measurement on the position of the stylus in the stylus release mechanism by the six-degree-of-freedom measuring arm 5, and controls the multi-degree-of-freedom displacement table 3 to move in multiple degrees of freedom according to the contact measurement result to adjust the attitude of the stylus release mechanism.

[0067] After the posture adjustment of the ejector pin release mechanism is completed, the host computer controls the vertical displacement table 6 to move vertically, and the posture angles of the test mass 1 and the ejector pin are obtained respectively by the autocollimator 7 installed on the vertical displacement table 6.

[0068] The host computer adjusts the torsional posture of the test mass 1 by controlling the torsional pendulum system 4 according to the posture angles.

[0069] In some examples, the photographing system 8 is a detachable photographing system, and the six-degree-of-freedom measuring arm 5 is a detachable six-degree-of-freedom measuring arm, and the photographing system 8 and the six-degree-of-freedom measuring arm 5 are detached before the posture adjustment of the test mass is performed.

[0070] It can be understood that the method of the embodiment corresponds to the system of the above-mentioned embodiment 1, and the optional items in the above-mentioned embodiment 1 are also applicable to the embodiment, and therefore will not be described again here.

[0071] Embodiment 3

[0072] The embodiment provides a computer readable storage medium, and at least one instruction, at least one program, a code set or an instruction set are stored on the storage medium. The at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by a processor to implement the method described in embodiment 2.

[0073] Exemplarily, the storage medium includes but is not limited to a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0074] Exemplarily, the instruction, the program, the code set or the instruction set can be implemented by using a programming language such as Java, Python, C++, R or Golang.

[0075] Exemplarily, the processor includes but is not limited to a smart phone, a personal computer, a server, a network device and the like, and is used to execute all or part of the steps of the method described in embodiment 2.

[0076] The embodiment also provides a computer program product including a high-precision alignment instruction, which, when running on a host computer, causes the host computer to perform the steps in the method described in the foregoing embodiment 2.

[0077] The same or similar reference numerals correspond to the same or similar components;

[0078] The terms used to describe the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the patent;

[0079] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation manners of the present application. Each part of the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment mainly introduces the difference from other embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art, and each function module or unit can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. It is not necessary and also impossible to enumerate all the implementation manners. Any modification, equivalent replacement, and improvement within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A high-precision alignment system with a double-ejector and torsion pendulum system, characterized in that, It includes quality inspection (1), double-pin system (2), multi-degree-of-freedom displacement stage (3), host computer, torsion pendulum system (4), six-degree-of-freedom measuring arm (5), vertical displacement stage (6), autocollimator (7) and imaging system (8); The double-pin system (2) includes two symmetrically arranged pin release mechanisms for releasing the inspection mass (1); The multi-degree-of-freedom displacement stage (3) is connected to the host computer and is used to install the dual-pin system (2) and to adjust the posture of the pin release mechanism under the control of the host computer. The torsion pendulum system (4) is used to suspend the inspection mass (1) to form a pendulum, and is also used to adjust the torsion posture of the inspection mass (1); The six-degree-of-freedom measuring arm (5) is connected to the host computer and is used to perform contact measurement on the position of the ejector pin in the ejector pin release mechanism; The vertical displacement stage (6) is controlled by the host computer to move vertically. The autocollimator (7) is installed on the top surface of the vertical displacement stage (6) to measure the inspection quality (1) and the attitude angle of the ejector pin in the ejector pin release mechanism and send it to the host computer. The shooting system (8) includes at least two cameras arranged perpendicularly to each other, used to acquire images of the pin posture of the dual pin system (2) and send them to the host computer, so that the host computer can perform visual alignment of the two pin release mechanisms of the dual pin system (2).

2. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 1, characterized in that, The visual alignment process of the ejector pin includes: The host computer acquires the pin posture image through the shooting system (8); Based on the pin posture image, the spatial positions of the two pins are calculated using calibration data; wherein, the calibration data includes the actual size corresponding to a unit pixel. Based on the spatial position, calculate the first posture deviation between the ejector pins; wherein, the first posture deviation includes a first axial distance deviation and / or a first included angle deviation; Based on the first attitude deviation, the host computer sends a first displacement control command to the multi-degree-of-freedom displacement stage (3) to perform multi-degree-of-freedom adjustment of the two ejector pin release mechanisms, so that the two ejector pins are horizontal and coaxial, and complete the visual alignment of the ejector pins; wherein, the multi-degree-of-freedom adjustment includes the adjustment of translational degree of freedom and / or rotational degree of freedom.

3. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 1, characterized in that, The contact measurement process includes: Based on the same reference coordinate system, multiple measurement points are set on the surface of the ejector pin. The host computer generates measurement control commands based on the measurement points and sends them to the six-degree-of-freedom measuring arm (5). The six-degree-of-freedom measuring arm (5) performs contact measurement around the measuring points on the two pin surfaces according to the measurement control command, and sends the generated contact measurement results to the host computer. The host computer fits the spatial position of the ejector pin and the relative position between the ejector pins based on the contact measurement results, and then calculates the second attitude deviation between the ejector pins; wherein, the second attitude deviation includes a second wheelbase deviation and / or a second included angle deviation; According to the second attitude deviation, the host computer sends a second displacement control command to the multi-degree-of-freedom displacement stage (3) to perform multi-degree-of-freedom adjustment of the two ejector pin release mechanisms so that the two ejector pins are horizontal and coaxial; wherein, the multi-degree-of-freedom adjustment includes the adjustment of translational degree of freedom and / or rotational degree of freedom.

4. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 3, characterized in that, The contact measurement process further includes: after the six-degree-of-freedom measuring arm (5) sends the generated contact measurement results to the host computer, the host computer performs three-dimensional feature modeling based on the contact measurement results to obtain a three-dimensional model of the pin; wherein, the three-dimensional model is used to visualize the posture of the pin.

5. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 1, characterized in that, The posture adjustment process for the inspection quality (1) includes: The vertical displacement stage (6) moves vertically, causing the autocollimator (7) to move up and down, measuring the attitude angles of the pin and the inspection quality (1) and sending them to the host computer. The host computer generates a control command based on the attitude angle difference between the ejector pin and the inspection mass (1) and sends it to the torsion system (4) for execution to adjust the torsion attitude of the inspection mass (1) so that the ejector pin and the inspection mass (1) contact each other at a specified angle.

6. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 5, characterized in that, The tail of the ejector pin is equipped with a first reflector, and the autocollimator (7) measures the attitude angle of the ejector pin by cooperating with the first reflector.

7. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 5, characterized in that, The torsion system (4) includes a guide, a suspension wire, and a second reflector; one end of the suspension wire is connected to the guide, and the other end is where the inspection mass (1) is suspended; the second reflector is also provided between the suspension wire and the inspection mass (1); The torsion pendulum system (4) adjusts the attitude of the inspection mass (1) by rotating around the axis of the guide; the autocollimator (7) measures the attitude angle of the inspection mass (1) by cooperating with the second reflector.

8. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 1, characterized in that, The ejector pin in the ejector pin release mechanism is gold-plated.

9. The high-precision alignment system of the double-ejector and torsion pendulum system according to claim 1, characterized in that, The system also includes a temperature sensor (9) for acquiring ambient temperature and sending it to a host computer to assess the effect of ambient temperature on the alignment and adjustment of the ejector pin release mechanism.

10. A high-precision alignment method for a double-ejector and torsion pendulum system, using the system described in any one of claims 1-9, characterized in that, include: The host computer acquires the pin posture image of the double pin system (2) through the shooting system (8), and controls the multi-degree-of-freedom displacement stage (3) to perform multi-degree-of-freedom movement according to the pin posture image, so as to adjust the posture of the pin release mechanism. The host computer uses a six-degree-of-freedom measuring arm (5) to perform contact measurement on the position of the ejector pin in the ejector pin release mechanism, and controls the multi-degree-of-freedom displacement stage (3) to perform multi-degree-of-freedom movement based on the contact measurement results, so as to adjust the posture of the ejector pin release mechanism. After the attitude adjustment of the ejector pin release mechanism is completed, the host computer controls the vertical displacement stage (6) to move vertically, and obtains the inspection quality (1) and the attitude angle of the ejector pin by the autocollimator (7) installed on the vertical displacement stage (6); The host computer adjusts the torsional posture of the inspection quality (1) by controlling the torsion system (4) according to the attitude angle.

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