Device and method for automatically assembling and adjusting positioning pin of inertial system

Abstract

The invention provides an automatic assembling and adjusting device and method for a positioning pin of an inertial system, and belongs to the technical field of automatic assembling. The device comprises a workpiece clamping unit, a moving unit, a feeding detecting and conveying unit, a press fitting unit, a detecting unit, a repairing and grinding unit and a control unit. The workpiece clamping unit clamps the inertial platform, the movement unit moves the workpiece clamping unit, the press-fitting unit, the detection unit and the repairing and grinding unit to the designated position, a pin is inserted into the platform through the press-fitting unit, the parallelism of the tangent plane and the datum plane of the pin is measured through the detection unit, and quantitative grinding of the pin is achieved through the repairing and grinding unit. According to the invention, the problems of low assembly precision, incapability of real-time detection in the process and difficulty in guaranteeing the assembly consistency due to manual assembly and adjustment of the positioning pin on the inertial platform are solved, and the device has the characteristics of integrated control, one-key operation and high assembly efficiency.

Description

Technical Field

[0001] The invention relates to a device and a method for automatic adjustment of a positioning pin of an inertial system, belonging to the field of automatic adjustment. Background Art

[0002] Inertial system is a general term for inertial measurement devices such as inertial components, inertial combinations, and inertial platforms. It is used in aircraft, ships, and spacecraft to sense and measure information such as carrier acceleration and attitude, and can achieve navigation and directional positioning of the carrier.

[0003] During the installation of the inertial device on the inertial platform, the positioning surface of the inertial device needs to be kept parallel to the installation reference of the inertial platform. A mounting plane is determined by the common tangent plane of the two positioning pins. The positioning surface of the inertial device is placed close to the tangent plane formed by the two positioning pins. As long as the tangent plane is parallel to the installation reference of the inertial platform, the installation position of the inertial device can be guaranteed.

[0004] At present, the installation and adjustment of positioning pins on inertial platforms rely on manual operation, the assembly accuracy is low, the process cannot be detected in real time, and the assembly consistency is difficult to ensure. Therefore, it is urgent to design an automatic installation and adjustment device and method for positioning pins of inertial systems to realize automatic installation and adjustment of positioning pins. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a device and method for automatic adjustment of positioning pins of an inertial system, to achieve automatic adjustment of positioning pins, and to improve the efficiency and consistency of pin assembly.

[0006] The technical solution of the present invention is: in the first aspect, a device for automatic adjustment of positioning pins of an inertial system is provided, comprising: a workpiece clamping unit, a motion unit, a feeding detection and conveying unit, a press-fitting unit, a detection unit, a repair unit, a control unit and an inertial platform waiting for the pin to be assembled; specifically:

[0007] The inertial platform is clamped on the workpiece clamping unit, and the workpiece clamping unit is installed at the bottom of the motion unit. The inertial platform clamped on the workpiece clamping unit can be rotated under the action of the control unit;

[0008] The motion unit is a two-frame structure, on which a movable crossbeam and cantilever are arranged, and the press-fitting unit, the detection unit, and the grinding unit are respectively installed on the corresponding cantilevers in the motion unit; the motion unit can receive the command of the control unit to move the workpiece clamping unit, the press-fitting unit, the detection unit, and the grinding unit to the specified position; the press-fitting unit can insert the pin into the inertial platform under the action of the control unit, and the detection unit can measure the parallelism between the pin section and the reference plane under the action of the control unit and calculate the amount to be ground, and the grinding unit performs quantitative grinding on the pin according to the command sent by the control unit and the amount to be ground;

[0009] The feeding detection and conveying unit is installed adjacent to the workpiece clamping unit on one side of the motion unit, and can detect whether the pin is qualified and convey it under the action of the control unit.

[0010] Preferably, the inertial platform is a cuboid, specifically:

[0011] The center positions of two opposite faces on the cuboid are used to set the mounting shaft ends, the axial directions of the two mounting shaft ends are aligned, and screw through holes are evenly distributed radially on each mounting shaft end; among the four faces parallel to the center line of the two mounting shaft ends, one face is taken as face A, a reference mirror is installed at a corner of the face, and a first circular hole is set at the other end of the diagonal where the reference mirror is located, for placing the inertial device, a pin hole is set on both sides of the first circular hole, respectively, and the pins assembled in the corresponding holes are the first pin and the second pin, respectively, and the centers of the first pin hole and the second pin hole are The connecting line is parallel to the center line of the two installation shaft ends; the adjacent surface of the four surfaces parallel to the center line of the two installation shaft ends that shares an edge with the reference mirror is recorded as surface B, and a second circular hole, as well as a third pin hole and a fourth pin hole on both sides of the circular hole are provided on the surface, and the pins assembled in the corresponding holes are the third pin and the fourth pin, respectively, and the center line of the third pin hole and the fourth pin hole is perpendicular to the center line of the two installation shaft ends; at the same time, the surface on the reference mirror that is coplanar with the B surface is defined as the first reference surface, and the surface close to the first circular hole of the two surfaces on the reference mirror that are perpendicular to the axial direction of the two installation shaft ends is defined as the second reference surface.

[0012] Preferably, the workpiece clamping unit includes a clamping outer frame, a clamping inner frame, a rotating motor, and a moving platform; specifically:

[0013] The clamping outer frame and the clamping inner frame are both concave, and the clamping inner frame is sleeved on the concave inner side of the clamping outer frame through the rotating pairs on both sides, and the rotating motor is installed on the outer side of the clamping outer frame and connected to the rotating shaft of the rotating pair on the corresponding side; the bottom of the clamping inner frame is higher than the bottom of the clamping outer frame, and the clamping inner frame is rotated 360 degrees around the rotating shaft of the rotating pair through the rotating motor, and can be locked at a fixed angle; a fixed shaft is arranged on the inner wall of the side away from the rotating motor on both sides of the clamping inner frame, and the fixed shaft has threaded holes uniformly distributed radially and corresponding to the screw through holes uniformly distributed radially at the end of the inertial platform mounting shaft; a mobile platform is installed on the other side of the clamping inner frame, and a fixed shaft is also arranged on the inner side of the mobile platform, which is aligned with the fixed shaft on the clamping inner frame, and the fixed shaft on the inner side of the mobile platform has threaded holes uniformly distributed radially and corresponding to the screw through holes uniformly distributed radially at the end of the inertial platform mounting shaft, and the mobile platform can move along the direction of the connecting line of the two fixed shafts and be locked at a fixed distance; the connecting line of the two fixed shafts is colinear with the rotating shaft of the rotating pair;

[0014] The installation relationship between the inertial platform and the workpiece clamping unit is as follows: the fixed shaft on the inner side of the clamping inner frame is inserted into the mounting shaft end on one side of the inertial platform and fixed by screws; the fixed shaft on the mobile platform is inserted into the mounting shaft end on the other side of the inertial platform and fixed by screws.

[0015] Preferably, the motion unit includes a motion unit base, a workpiece motion platform, a press-fit motion platform, a grinding motion platform, and a detection motion platform;

[0016] Wherein: the base of the motion unit is a rectangular plate, which provides a mounting platform for the entire motion unit; the workpiece motion platform is composed of two parallel workpiece motion linear guide rails and a workpiece support plate, the workpiece motion linear guide rails are arranged parallel to the long side of the motion unit base, and the workpiece clamping unit is installed on the workpiece support plate;

[0017] The main bodies of the press-fitting motion platform and the grinding motion platform are both frame structures. The upper surfaces of the press-fitting motion platform and the grinding motion platform frames are located directly above the workpiece motion linear guide rail. The two frames are arranged in sequence along the direction parallel to the workpiece motion linear guide rail. The workpiece support plate can receive the workpiece movement command of the control unit and translate the workpiece clamping unit between the frames of the press-fitting motion platform and the grinding motion platform along the direction of the workpiece motion linear guide rail to complete the movement of the workstation.

[0018] A press-fitting motion beam is installed on the upper surface of the press-fitting motion platform frame. The press-fitting motion beam is parallel to the workpiece motion linear guide rail and can receive the press-fitting motion platform motion command from the control unit and move in a direction perpendicular to itself. The press-fitting unit cantilever is hung on the press-fitting motion beam and can receive the press-fitting motion platform motion command from the control unit and move in a direction of the press-fitting motion beam; and the press-fitting unit cantilever is a telescopic cylinder and can receive the press-fitting motion platform motion command from the control unit and move in a vertical direction.

[0019] The frame of the repair and research motion platform is equipped with a repair and research motion beam, which is parallel to the linear guide rail for workpiece motion and can accept the repair and research movement instruction of the control unit and move in a direction perpendicular to itself; the repair and research unit cantilever is hung on the repair and research motion beam and can accept the repair and research movement instruction of the control unit and move in a direction perpendicular to the repair and research movement beam; and the repair and research unit cantilever is a telescopic cylinder, which can accept the repair and research movement instruction of the control unit and telescope in the vertical direction of the repair and research unit cantilever; a fixed beam perpendicular to the linear guide rail for workpiece motion is added to the end of the repair and research motion platform frame away from the press-fitting motion platform;

[0020] The detection motion platform is composed of two groups of two-dimensional moving platforms and two laser ranging sensors. The first moving platform is a first detection cantilever hung on the upper surface of the repair and grinding motion platform frame on the side parallel to the linear guide rail for workpiece movement. It can accept the detection movement command of the control unit and move in a direction parallel to the linear guide rail for workpiece movement. The first detection cantilever is provided with a guide rail support plate that can accept the detection movement command of the control unit and move along the first detection cantilever; the second moving platform includes a fixed beam added to the repair and grinding motion platform and a second detection cantilever hung on the fixed beam. The second detection cantilever can accept the detection movement command of the control unit and move in a direction parallel to the linear guide rail for workpiece movement. The second detection cantilever is provided with a guide rail support plate that can accept the detection movement command of the control unit and move along the guide rail.

[0021] Preferably, the feeding detection and conveying unit includes a feeding detection and conveying unit base, a feeding detection table, a feeding detection conveyor belt, a push shaft, a laser sensor detection table, a leak table, a conveyor belt, a transposition table, a conveyor clamping finger, and a material preparation table; specifically:

[0022] The base of the feeding detection and conveying unit is a concave platform, which provides an installation platform for the entire feeding detection and conveying unit; the feeding detection platform is installed on a vertical side of the concave platform of the feeding detection and conveying unit base, and the feeding detection conveyor belt is installed on the feeding detection platform, and the movement direction is perpendicular to the bottom side of the concave platform of the feeding detection and conveying unit base. The push shaft is installed on one side of the end of the feeding detection conveyor belt in the conveying direction, and its working direction is perpendicular to the feeding detection conveyor belt; the laser sensor detection platform is installed on the other side of the end of the feeding detection conveyor belt relative to the push shaft; there are multiple pin positions distributed on the feeding detection conveyor belt, and a pin is placed in each pin position. The pin position between the laser sensor detection platform and the push shaft is the position to be tested, and the moving conveyor belt moves each pin to the position to be tested in turn;

[0023] The leakage platform is adjacent to the laser sensor detection platform and is installed on the conveyor belt. The conveyor belt is perpendicular to the feeding detection platform and is arranged on the bottom edge of the concave platform of the feeding detection and conveying unit base; a plurality of pin support plates are arranged in sequence along the conveyor belt on the conveyor belt, and a mounting hole is arranged on each pin support plate; the pushing shaft pushes the pin at the position to be measured onto the laser sensor detection platform, and the laser sensor detects the pin diameter and transmits the diameter data to the control unit. After the detection is completed, the pushing shaft pushes the pin into the leakage platform; wherein, the leakage platform is funnel-shaped, and the leakage hole at the bottom can just let the pin fall vertically and insert it into the mounting hole on the conveyor belt support plate; the conveyor belt support plate drives the pin to move to the transposition platform, and the transposition platform receives the grabbing instruction sent by the control unit for the pin with qualified diameter. , so that the conveying clamp finger can grab; for pins with unqualified diameters, the conveying clamp finger will not grab them, and the unqualified pins will rotate to the next station with the conveying ring belt; the transposition table is a double-head station rotating table, and it is a centrally symmetrical structure. It is installed on the other vertical side of the concave table of the base of the loading detection and conveying unit through the cylinder below the central symmetry axis. One end of the transposition table is the conveying ring belt, and the other end is the material preparation table; the transposition table can rotate 360 ​​degrees along the central symmetry axis, and can be raised and lowered by the cylinder. A conveying clamp finger is installed at each end of the double-head station, and the length of the conveying clamp finger at one end reaches the mounting hole on the conveying ring belt support plate, and the length of the conveying clamp finger at the other end reaches the material preparation table. The distance from the central symmetry axis of the transposition table to the above two ends is equal;

[0024] The material preparation table is installed on the base of the loading detection and conveying unit, and is a disc that can make circular motion around its own central axis, and pin holes are evenly distributed on the circumference of the upper surface of the disc.

[0025] Preferably, the press-fitting unit comprises a camera and a press-fitting head; the press-fitting head is mounted at the end of a cantilever of the press-fitting unit of the press-fitting moving platform, the camera is mounted on the side of the end of the cantilever of the press-fitting unit, and the relative positions of the camera and the press-fitting head are fixed;

[0026] The camera receives an imaging instruction from the control unit to take a picture of the pin hole to be installed on the inertial platform, and sends the image data to the control unit;

[0027] The press-fitting head includes a six-axis force sensor, a flexible hinge, a mounting plate, a pin clamp and a clamping block; the six-axis force sensor is installed at the end of the cantilever of the press-fitting unit and is used to measure the transmitted press-fitting torque; one end of the flexible hinge is connected to the six-axis force sensor, and the other end is connected to one side of the mounting plate, which is used to transmit the torque and perform flexible compensation for the press-fitting process; a pin clamp is installed on the non-hinge connection surface of the mounting plate, a clamping block is provided on the pin clamp, and a fixed centering V block is processed to position the pin axis; the clamping block is installed on the pin clamp through a guide rail, and can receive the closing command of the control unit and move in the opening direction of the V block to achieve positioning and locking.

[0028] Preferably, the detection unit includes a first laser ranging sensor and a second laser ranging sensor;

[0029] The first laser distance measuring sensor is installed on the guide rail support plate of the first detection cantilever facing the interior of the repair and research motion platform frame, and can move in two dimensions to realize the positioning of the first laser distance measuring sensor;

[0030] The second laser distance measuring sensor is mounted on a guide rail support plate of a second detection cantilever hung on a fixed crossbeam and can move in two dimensions to achieve positioning of the second laser distance measuring sensor.

[0031] Preferably, the grinding unit is installed at the end of the cantilever of the grinding unit of the grinding motion platform, and includes a six-axis force sensor, a driving wheel, a tensioning wheel, a grinding belt, and a connecting rod; specifically:

[0032] The six-axis force sensor is installed at the end of the cantilever of the grinding unit to measure the force generated during grinding; one end of the driving wheel is connected to the six-axis force sensor, and the other end is sleeved on one end of the sanding belt to drive the sanding belt to rotate. The tensioning wheel is sleeved on the other end of the sanding belt to keep the sanding belt in a tensioned state. The driving wheel and the tensioning wheel are connected and positioned by a connecting rod.

[0033] In a second aspect, a method for automatically adjusting a positioning pin of an inertial system is provided, comprising:

[0034] S1: Install the inertial platform in the workpiece clamping unit; insert the fixed shaft in the clamping inner frame into the mounting shaft end on one side of the inertial platform and fix it with screws; insert the fixed shaft of the moving platform into the mounting shaft end on the other side of the inertial platform and fix it with screws; place the A side of the inertial platform upwards, and then install the workpiece clamping unit on the workpiece moving platform;

[0035] S2: Place the pin installation code on the pin position of the feeding detection conveyor belt, and the feeding detection conveyor belt moves the pin to the position to be tested;

[0036] S3: The push shaft pushes the pin at the position to be tested onto the laser sensor detection table. The laser sensor detects the pin diameter and transmits the diameter data to the control unit. After the detection is completed, the push shaft pushes the pin into the drain table.

[0037] S4: The pin is inserted into the mounting hole on the conveyor belt support plate through the drain table; the conveyor belt support plate drives the pin to move to the transposition table:

[0038] For pins with qualified diameters, the control unit sends a grabbing instruction to the transposition table, and after the conveyor gripper grabs the pins, the process proceeds to step S5;

[0039] For pins with unqualified diameters, the conveying clamp finger does not grab them, and the unqualified pins rotate to the next station with the conveying ring belt; return to step S3 until qualified pins are obtained and enter step S5;

[0040] S5: The transposition table is raised, the conveyor clamping finger at one end of the conveyor belt support plate position is opened, the transposition table is lowered until the conveyor clamping finger is flush with the pin, the conveyor clamping finger is closed, the pin is clamped, the transposition table is raised, the pin is picked up, the transposition table is rotated 180 degrees, the pin is transferred from the conveyor belt support plate position to the material preparation table position, the transposition table is lowered, the pin is inserted into the pin hole of the material preparation table, the conveyor clamping finger is opened, and the pin is placed;

[0041] S6: The material preparation table rotates so that the next pin hole is ready for placement of the next pin;

[0042] S7: The control unit sends a motion instruction of the press-fitting motion platform to the press-fitting motion platform. The press-fitting motion beam and the cantilever of the press-fitting unit of the press-fitting motion platform move with the press-fitting unit to the top of the material preparation table. The control unit sends an imaging instruction to the camera of the press-fitting unit. The camera takes a photo. The control unit receives the image data of the camera, identifies the position of the pin to be installed, and sends a motion instruction of the press-fitting motion platform according to the identified position information, so that the press-fitting motion beam and the cantilever of the press-fitting unit drive the press-fitting head to move to the top of the pin. The control unit sends an opening instruction to the clamping block, and the clamping block opens; the cantilever of the repair and grinding unit drives the press-fitting head to move downward, and the top surface of the pin contacts the bottom surface of the clamp of the pin to be installed. The control unit receives the contact force information of the six-axis force sensor. When the six-axis force sensor senses the preset contact force, the cantilever of the repair and grinding unit stops moving downward; the control unit sends a closing instruction to the clamping block to close the clamping block. The cantilever of the repair and grinding unit drives the press-fitting head to move upward to complete the picking up of the pin to be installed.

[0043] S8: The control unit sends a motion command of the press-fitting motion platform to the press-fitting motion platform, and the press-fitting motion beam and the press-fitting unit cantilever of the press-fitting motion platform move the press-fitting unit to the top of the inertial platform of the workpiece clamping unit; the control unit sends an imaging command to the camera of the press-fitting unit, and the camera takes a picture of the pin hole to be installed and sends it to the control unit; the control unit determines the position of the pin hole to be installed of the inertial platform under the press-fitting motion platform, obtains the position relationship between the axis of the press-fitting head and the pin hole to be installed through coordinate conversion, sends a motion command of the press-fitting motion platform to the press-fitting motion platform, and moves the cantilever of the press-fitting unit of the press-fitting motion platform to align the axis of the press-fitting head with the axis of the pin hole to be installed;

[0044] S9: The cantilever of the repair and research unit drives the press-fitting head to move downward, inserts the pin to be installed into the pin hole of the inertial platform, and the control unit receives the contact force information of the six-axis force sensor. When the six-axis force sensor senses the preset contact force, the cantilever of the repair and research unit stops moving downward, the clamping block opens, and the cantilever of the repair and research unit drives the press-fitting head to move upward to complete the press-fitting of the pin to be installed;

[0045] S10: Repeat S6-S9 to complete the press-fitting of another pin to be installed;

[0046] S11: The control unit sends a rotation command to the rotating motor of the workpiece clamping unit, so that it drives the inner frame of the workpiece clamping unit to rotate 90 degrees, so that the B side of the inertial platform faces upward;

[0047] S12: Repeat S6-S9 to complete the press-fitting of the two pins to be installed on the B side;

[0048] S13: The control unit sends a workpiece moving instruction to the workpiece moving platform, and moves the workpiece moving platform so that the workpiece moving platform brings the inertial platform on the workpiece clamping unit to a preset position for monitoring by the detection unit;

[0049] S14: The control unit sends a detection movement instruction to the grinding motion platform, so that the second detection cantilever moves two-dimensionally with the second laser ranging sensor, and inputs the measurement result into the control unit. The control unit calculates the parallelism between the two pins on the B surface and the reference surface, and determines the amount of grinding to be done for the two pins on the B surface;

[0050] S15: The control unit sends a repair movement instruction to the repair motion platform, and the repair unit cantilever of the repair motion platform moves the repair unit to the position of the pin to be repaired; the control unit sends a repair instruction and the amount to be repaired to the repair unit, and the repair unit repairs the two pins on the B surface;

[0051] S16: After the repair is completed, repeat S14-S15 until the parallelism is qualified;

[0052] S17: The control unit sends a rotation command to the rotating motor of the workpiece clamping unit, so that the motor drives the inner frame of the workpiece clamping unit to rotate 90 degrees in the opposite direction, so that the A side of the inertial platform faces upward;

[0053] S18: The control unit sends a detection movement instruction to the grinding motion platform, so that the first detection cantilever moves two-dimensionally with the first laser ranging sensor, and inputs the measurement result into the control unit. The control unit calculates the parallelism between the two pins on the A surface and the reference surface, and determines the amount of grinding to be done for the two pins on the A surface;

[0054] S19: The control unit sends a repair movement instruction to the repair motion platform, and the repair unit cantilever of the repair motion platform moves the repair unit to the position of the pin to be repaired; the control unit sends a repair instruction and the amount to be repaired to the repair unit, and the repair unit repairs the two pins on the A surface;

[0055] S20: After the grinding is completed, S18-S19 are repeated until the parallelism is qualified, and the grinding of the two pins on the A surface is completed;

[0056] S21: Remove the inertial platform from the workpiece clamping unit.

[0057] Preferably, the method for measuring the parallelism of two pins with the reference plane is:

[0058] When the inertial platform A moves upward to the internal position of the repair unit, the first laser distance sensor moves in two dimensions to align and measure the four points on the diagonal of the first reference surface to fit the first pin positioning reference surface; the first laser distance sensor moves in two dimensions to measure in sequence: the distances from the positions of five equally spaced points on the first pin generatrix to the first pin positioning reference surface, the smallest distance among the five distances is selected as h1, and the distances from the positions of five equally spaced points on the second pin generatrix to the first pin positioning reference surface, the smallest distance among the five distances is selected as h2; d1 = h1-h2; d1 is the parallelism of the first pin and the second pin to the first pin positioning reference surface;

[0059] Similarly, when the rotating inertial platform B faces upward, the second laser ranging sensor moves two-dimensionally to align and measure the four points on the diagonal of the second reference surface, and fits the second pin positioning reference surface; the second laser ranging sensor moves two-dimensionally, and measures the distances from the positions of five equally spaced points on the third pin generatrix to the second pin positioning reference surface in turn, and the smallest distance among the five distances is selected as h3, and the distances from the positions of five equally spaced points on the fourth pin generatrix to the second pin positioning reference surface, and the smallest distance among the five distances is selected as h4, d2=h3-h4; d2 is the parallelism of the third pin and the fourth pin to the second pin positioning reference surface.

[0060] Compared with the prior art, the present invention has the following advantages:

[0061] (1) The present invention has a reasonable layout, so that the assembly process of the positioning pin is controllable and smooth;

[0062] (2) The present invention detects process data in the assembly of positioning pins, realizes automated assembly, detection and repair of positioning pins, and all data can be displayed and transmitted in real time;

[0063] (3) The present invention improves the accuracy of automatic adjustment of the positioning pins of the inertial system by using a high-precision laser distance sensor to detect the parallelism between the positioning pins and the installation reference in real time and by using a six-axis force sensor to flexibly assemble the pins;

[0064] (4) The present invention adopts a unitized design method, which improves the integration of the device, enhances the maintainability of the device, and facilitates system upgrades. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of the inertial platform in the present invention;

[0066] Figure 2 This is a schematic diagram of the structure of the adjustment device of the present invention;

[0067] Figure 3 This is a schematic diagram of a workpiece clamping unit of the present invention, wherein: Figure 3 (a) is a forward schematic diagram of the workpiece clamping unit; Figure 3 (b) is a forward schematic diagram of the workpiece clamping unit after clamping the inertial platform; Figure 3 (c) is a schematic diagram of the workpiece clamping unit after the inertial platform is clamped and rotated 90 degrees around the rotation axis;

[0068] Figure 4 It is a schematic diagram of the motion unit of the present invention;

[0069] Figure 5 It is a schematic diagram of the feeding detection and conveying unit of the present invention;

[0070] Figure 6 It is a schematic diagram of the press-fitting unit of the present invention;

[0071] Figure 7 It is a schematic diagram of the detection unit of the present invention; wherein: Figure 7 (a) is a schematic diagram of the parallelism between the section of the positioning pin and the reference plane; Figure 7 (b) is a schematic diagram of the points collected by the laser ranging sensor; Figure 7 (c) is a schematic diagram of the cross section of the positioning pins on the A surface of the inertial platform; Figure 7 (d) is a schematic diagram of the cross section of the positioning pin on the B surface of the inertial platform;

[0072] Figure 8 It is a schematic diagram of the research unit of the present invention. DETAILED DESCRIPTION

[0073] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0074] The present application embodiment discloses a device for automatically adjusting the positioning pins of an inertial system, such as Figure 2 As shown, it includes a workpiece clamping unit 1, a motion unit 2, a feeding detection and conveying unit 3, a press unit 4, a detection unit 5, a grinding unit 6, and a control unit 7. The connection relationship of the above-mentioned units is as follows: the workpiece clamping unit 1 is installed on the workpiece motion platform at the bottom of the motion unit 2, and is initially located at one end of the motion unit 2, the feeding detection and conveying unit 3 is installed adjacent to the workpiece clamping unit 1 on one side of the motion unit 2, and the press unit 4, the detection unit 5, and the grinding unit 6 are respectively installed on the cantilever of the motion unit 2; the workpiece clamping unit 1 is used to clamp the inertial platform; the motion unit 2 is a two rectangular frame structure, on which a movable beam and cantilever are arranged, which are used to move the workpiece clamping unit 1, the press unit 4, the detection unit 5, and the grinding unit 6 to the specified position; the press unit 4 is used to insert the pin into the platform, the detection unit 5 is used to measure the parallelism between the pin section and the reference plane, and the grinding unit 6 is used to realize the quantitative grinding of the pin; the feeding detection and conveying unit 3 is used to detect whether the pin is qualified and to convey it.

[0075] like Figure 1 As shown, the inertial platform 1-5 is a rectangular parallelepiped, and the mounting shaft ends are set at the center positions of two opposite faces. The axial directions of the two mounting shaft ends are aligned, and each mounting shaft end is radially evenly distributed with 6 screw through holes. Among the four faces parallel to the axial directions of the two mounting shaft ends, one face is taken, and a reference mirror (cubic mirror) is installed at a corner of the face. A first circular hole a is set at the other end of the diagonal where the reference mirror is located, for placing the inertial device, and a pin hole is set on both sides of the first circular hole a respectively. The two pin holes are respectively recorded as the first pin hole a1 and the second pin hole a2, and the center line of the first pin hole a1 and the second pin hole a2 is parallel to the two mounting shaft ends. The surface where the reference mirror is located is recorded as surface A; the adjacent surface of the four surfaces parallel to the axial directions of the two mounting shaft ends and the shared edge with the cubic mirror is recorded as surface B, and the surface is also provided with a second circular hole b, as well as a third pin hole b1 and a fourth pin hole b2 on both sides of the circular hole b, and the center line of the third pin hole b1 and the fourth pin hole b2 is perpendicular to the axial directions of the two mounting shaft ends; at the same time, the surface on the reference mirror that is coplanar with the B surface is defined as the first reference surface 0a, and the surface close to the first circular hole a of the two surfaces on the reference mirror that are perpendicular to the axial directions of the two mounting shaft ends is defined as the second reference surface 0b; a mounting hole is provided next to each pin hole, corresponding to the mounting hole on the inertial device.

[0076] 1. Workpiece clamping unit 1

[0077] like Figure 3 As shown in (a), the workpiece clamping unit 1 is composed of a clamping outer frame 1-1, a clamping inner frame 1-2, a rotating motor 1-3, and a moving platform 1-4. The clamping outer frame 1-1 and the clamping inner frame 1-2 are both concave. The clamping inner frame 1-2 is mounted on the concave inner side of the clamping outer frame 1-1 through the rotating pairs on both sides. The rotating motor 1-3 is installed on the outer side of the clamping outer frame 1-1 and connected to the rotating shaft of the corresponding side rotating pair. The bottom of the clamping inner frame 1-2 is higher than the bottom of the clamping outer frame 1-1. The clamping inner frame 1-2 is rotated 360 degrees around the rotating axis of the rotating pair through the rotating motor 1-3 and can be locked at a fixed angle. A fixed shaft is arranged on the inner wall of the side away from the rotating motor 1-3 on both sides of the clamping inner frame 1-2, and threaded holes are evenly distributed radially on the fixed shaft, corresponding to the screw holes evenly distributed radially on the end of the inertial platform mounting shaft; a mobile platform 1-4 is installed on the other side of the clamping inner frame 1-2, and a fixed shaft opposite to the fixed shaft on the clamping inner frame 1-2 is arranged on the inner side of the mobile platform 1-4, and threaded holes are evenly distributed radially on the fixed shaft on the inner side of the mobile platform 1-4, corresponding to the screw holes evenly distributed radially on the end of the inertial platform mounting shaft, and the mobile platform 1-4 can move along the direction of the line connecting the two fixed shafts and can be locked at a fixed distance. Figure 3As shown in (b), when the inertial platform 1-5 is installed, the fixed shaft on the inner side of the clamping inner frame 1-2 is inserted into the mounting shaft end on one side of the inertial platform 1-5 and fixed by screw connection. The fixed shaft on the mobile platform 1-4 is inserted into the mounting shaft end on the other side of the inertial platform 1-5 and fixed by screw connection. Figure 3 As shown in (c), at this time, the inner frame 1-2 can drive the inertial platform 1-5 to rotate around the direction of the line connecting the two fixed axes. The line connecting the two fixed axes and the axis of the revolute pair are on the same line.

[0078] 2. Movement Unit 2

[0079] like Figure 6 As shown, the motion unit 2 includes a motion unit base 2-0, a workpiece motion platform 2-1, a press-fit motion platform 2-2, a grinding motion platform 2-3, and a detection motion platform 2-4. The motion unit base 2-0 is a rectangular plate that provides a mounting platform for the entire motion unit. The workpiece motion platform 2-1 consists of two parallel workpiece motion linear guides and a workpiece pallet. The workpiece motion linear guide is arranged parallel to the long side of the motion unit base 2-0. The workpiece clamping unit 1 is installed on the workpiece pallet. The three-dimensional motion coordinate system of the motion unit is defined as XYZ, wherein the X direction is parallel to the workpiece motion linear guide (the long side of the motion unit base 2-0), the Y direction is parallel to the short side of the motion unit base 2-0, and the Z axis is perpendicular to the upper surface of the motion unit base 2-0.

[0080] The main bodies of the press-fitting motion platform 2-2 and the grinding motion platform 2-3 are both frame structures. The upper surfaces of the frames of the press-fitting motion platform 2-2 and the grinding motion platform 2-3 are located directly above the workpiece motion linear guide rail. The two frames are arranged in sequence along the direction parallel to the workpiece motion linear guide rail. The workpiece support plate can receive instructions from the control unit 7 to translate the workpiece clamping unit 1 between the frames of the press-fitting motion platform 2-2 and the grinding motion platform 2-3 along the direction of the workpiece motion linear guide rail to complete the movement of the workstation.

[0081] Guide rails are arranged on the upper surface of the frame of the press-fitting motion platform 2-2 along its short side edges, and the press-fitting motion beam 2-2-1 is parallel to the long side of the upper surface of the frame of the press-fitting motion platform (parallel to the direction of the linear guide rail for the movement of the workpiece), and its two ends are respectively bridged over the guide rails on the two short side edges of the upper surface of the frame, so that the press-fitting motion beam 2-2-1 can receive the press-fitting motion platform movement command from the control unit 7 and move in a direction perpendicular to itself, the press-fitting unit cantilever 2-2-3 is hung on the press-fitting motion beam 2-2-1, and the press-fitting unit 4 is installed at the lower end of the press-fitting unit cantilever 2-2-3. A guide rail is also provided on the beam 2-2-1, and the pressing unit cantilever 2-2-3 can receive the pressing motion platform movement command from the control unit 7 and move horizontally along the pressing motion beam 2-2-1; the pressing unit cantilever 2-2-3 is a telescopic cylinder, and the pressing unit cantilever 2-2-3 can receive the pressing motion platform movement command from the control unit 7 and telescope along the vertical direction where the pressing unit cantilever 2-2-3 is located; the pressing unit 4 at the end of the pressing unit cantilever 2-2-3 can move in three-dimensional directions together with the pressing motion beam 2-2-1 and the pressing unit cantilever 2-2-3 to realize the positioning of the pressing unit 4.

[0082] Four guide rails are arranged along the edges of each side of the upper surface of the research and study motion platform 2-3 frame. The research and study motion beam 2-3-1 is parallel to the long side of the upper surface of the research and study motion platform frame, and its two ends are respectively connected to the guide rails on the two short sides of the upper surface of the frame, so that the research and study motion beam 2-3-1 can receive the research and study movement command of the control unit 7 and move in a direction perpendicular to itself. The research and study unit cantilever 2-3-3 is hung on the research and study motion beam 2-3-1, and the research and study motion beam 2-3-1 is also provided with guide rails. The unit cantilever 2-3-3 can receive the training movement command from the control unit 7 and move horizontally along the training movement beam 2-3-1; the training unit 6 is installed at the lower end of the training unit cantilever 2-3-3, and the training unit cantilever 2-3-3 is a telescopic cylinder. The training unit cantilever 2-3-3 can receive the training movement command from the control unit 7 and telescope along the vertical direction of the training unit cantilever 2-3-3; the training unit 6 at the end of the training unit cantilever 2-3-3 can move in three-dimensional directions to achieve the positioning of the training unit 6. A fixed beam 2-42-1 is added below the short side of the upper surface of the training movement platform 2-3 frame away from one end of the press-fitting movement platform 2-2, and a guide rail is also arranged on it;

[0083] The detection motion platform 2-4 is composed of two groups of two-dimensional moving platforms and two laser ranging sensors. The first moving platform is the first detection cantilever 2-41-3 hung on the long side of the upper surface of the frame of the research and development motion platform 2-3, which can be translated along the long side direction of the upper surface of the frame. The first detection cantilever 2-41-3 is provided with a guide rail and a guide rail support plate. The first laser ranging sensor of the detection unit 6 is installed on the guide rail support plate of the first detection cantilever 2-41-3 facing the inside of the frame of the research and development motion platform 2-3, and can receive the detection movement command of the control unit 7 and move two-dimensionally on the plane formed by the first detection cantilever 2-41-3 and the long side of the frame of the research and development motion platform 2-3 on which it is suspended. The second moving platform includes a fixed beam 2-42-1 added to the research and development motion platform 2-3 and a second detection cantilever 2-42-3 hung on the fixed beam 2-42-1, and the second detection cantilever 2-42-3 is provided with a guide rail and a guide rail support plate. The second laser ranging sensor of the detection unit 6 is installed on the guide rail support plate of the second detection cantilever 2-42-3 facing the interior of the research and development motion platform 2-3 frame, and can receive the detection movement instruction of the control unit 7, and move in two dimensions on the plane formed by the fixed beam 2-42-1 and the second detection cantilever 2-42-3 to realize the positioning of the second laser ranging sensor.

[0084] 3. Loading detection and conveying unit 3

[0085] like Figure 7As shown, the feeding detection and conveying unit 3 includes a feeding detection and conveying unit base 3-0, a feeding detection platform 3-1, a feeding detection conveyor belt 3-2, a push shaft 3-3, a laser sensor detection platform 3-4, a leaking platform 3-5, a conveying ring belt 3-6, a transposition platform 3-7, a conveying clamp finger 3-8, and a material preparation platform 3-9. The feeding detection and conveying unit base 3-0 is a concave platform, which provides an installation platform for the entire feeding detection and conveying unit. The feeding detection platform 3-1 is installed on a vertical side of the concave platform of the feeding detection and conveying unit base 3-0, the feeding detection conveyor belt 3-2 is installed on the feeding detection platform 3-1, and the movement direction is perpendicular to the bottom side of the concave platform of the feeding detection and conveying unit base 3-0, the push shaft 3-3 is installed on one side of the end of the conveying direction of the feeding detection conveyor belt 3-2, and its working direction is perpendicular to the material detection conveyor belt 3-2, and the laser sensor detection platform 3-4 is installed on the other side of the end of the feeding detection conveyor belt 3-2 relative to the push shaft 3-3. There are multiple pin positions distributed on the feeding detection conveyor belt 3-2, each pin position is placed with a pin, the pin position between the laser sensor detection platform 3-4 and the push shaft 3-3 is the position to be tested, and the mobile conveyor belt 3-2 moves each pin to the position to be tested in turn. The drain platform 3-5 is installed adjacent to the laser sensor detection platform 3-4 on the conveyor belt 3-6. The conveyor belt 3-6 is perpendicular to the feeding detection platform 3-1 and is arranged on the bottom edge of the concave platform of the feeding detection and conveying unit base 3-0. A plurality of pin support plates are arranged in sequence along the conveyor belt on the conveyor belt 3-6, and a mounting hole is set on each pin support plate. The push shaft 3-3 pushes the pin at the position to be tested to the laser sensor detection platform 3-4, and the laser sensor detects the pin diameter and transmits the diameter data to the control unit 7. After the detection is completed, the push shaft 3-3 pushes the pin into the drain platform 3-5. The drain platform 3-5 is funnel-shaped, and the bottom leakage hole can just let the pin vertically drain and insert it into the mounting hole on the conveyor belt 3-6 support plate. The conveyor belt 3-6 support plate drives the pin to move to the transposition platform 3-7.The control unit 7 sends instructions to the transposition table 3-7. For pins with qualified diameters, the conveying clamp finger 3-8 grabs them. For pins with unqualified diameters, the conveying clamp finger 3-8 does not grab them. Unqualified pins rotate to the next station with the conveying ring belt 3-6; the transposition table 3-7 is a double-head station rotating table with a central symmetrical structure. It is installed on the other vertical side of the concave table of the feeding detection and conveying unit base 3-0 through the cylinder below the central symmetry axis. One end of the transposition table 3-7 is the conveying ring belt 3-6, and the other end is the material preparation table 3- 9; the transposition table 3-7 can rotate 360 ​​degrees along the central axis of symmetry, and can be raised and lowered under the action of the cylinder. Conveying clamping fingers 3-8 are installed at both ends of the double-head station, and the length of the conveying clamping fingers 3-8 at one end reaches the mounting hole on the pallet of the conveying belt 3-6, and the length of the conveying clamping fingers 3-8 at the other end reaches the preparation table 3-9. The distances from the central axis of symmetry of the transposition table 3-7 to the above-mentioned two ends are equal; the preparation table 3-9 is a disc that can make circular motion around its own central axis, and the pin holes are evenly distributed circumferentially on the upper surface of the disc. The transposition table 3-7 is raised under the action of the cylinder, and the conveying clamp finger 3-8 near one end of the conveying belt 3-6 pallet is opened. The transposition table 3-7 is lowered, and the conveying clamp finger 3-8 is closed to clamp the pin. The transposition table 3-7 is raised again to complete the pin picking. The transposition table 3-7 rotates 180 degrees around the cylinder, and the pin is transferred from the conveying belt 3-6 pallet position to the preparation table 3-9 position. The transposition table 3-7 is lowered, and the pin is inserted into the pin hole of the preparation table 3-9, and the conveying clamp finger 3-8 is opened to complete the pin placement. The preparation table 3-9 rotates to align the empty pin hole position to wait for the next pin to be placed.

[0086] 4. Pressing unit 4

[0087] like Figure 8As shown, the press-fitting unit 4 includes a camera 4-1 and a press-fitting head 4-2. The press-fitting head 4-2 is installed at the end of the cantilever 2-2-3 of the press-fitting unit of the press-fitting motion platform 2-2, and the camera 4-1 is installed on the side of the end of the cantilever 2-2-3 of the press-fitting unit. The positions of the camera 4-1 and the press-fitting head 4-2 are fixed, that is, the relative positions of the axis of the camera 4-1 and the axis of the press-fitting head 4-2 are fixed. The press-fitting motion platform 2-2 drives the camera 4-1 and the press-fitting head 4-2 to move in two dimensions. The camera 4-1 receives the imaging instruction of the control unit 7 to take a picture of the pin hole to be installed on the inertial platform 1-5, and sends the image data to the control unit 7. The control unit 7 determines the position of the pin hole to be installed under the press-fitting motion platform 2-2, and obtains the positional relationship between the axis of the press-fitting head 4-2 and the pin hole to be installed after coordinate conversion. By moving the cantilever 2-2-3 of the press-fitting motion platform 2-2, the axis of the press-fitting head 4-2 is aligned with the axis of the pin hole to be installed. The press-fitting head 4-2 is used to pick up and press-fit pins. The press-fitting head 4-2 includes a six-axis force sensor 4-2-1, a flexible hinge 4-2-2, a mounting plate 4-2-3, a pin clamp 4-2-4, and a tightening block 4-2-5. The six-axis force sensor 4-2-1 is installed at the end of the cantilever 2-2-3 of the press-fitting unit of the press-fitting motion platform 2-2, and is used to measure the transmitted press-fitting torque. One end of the flexible hinge 4-2-2 is connected to the six-axis force sensor 4-2-1, and the other end is connected to one side of the mounting plate 4-2-3, which is used to transmit torque and perform flexible compensation for the press-fitting process. A pin clamp 4-2-4 is installed on the non-hinge connection surface of the mounting plate 4-2-3, and a tightening block 4-2-5 is arranged on the pin clamp 4-2-4, and a centering V block is processed for positioning the pin axis. The tightening block 4-2-5 is installed on the pin holder 4-2-4 through a guide rail and can move toward the opening direction of the V block to achieve positioning and locking. The tightening block 4-2-5 presses the outer circle of the pin tightly against the centering V block to complete the clamping of the pin.

[0088] The press-fitting head 4-2 moves to the top of the material preparation table 3-9 of the loading detection and conveying unit 3 through the press-fitting motion beam 2-2-1 of the press-fitting motion platform 2-2 and the press-fitting unit cantilever 2-2-3, clamps the pin, and then moves to the position of the workpiece clamping unit 1. The camera 4-1 takes a photo to identify the position of the pin hole to be installed on the inertial platform 1-5, and the press-fitting motion platform 2-2 drives the press-fitting head 4-2 to move above the position of the pin hole to be installed. If the pin axis is not aligned with the pin hole axis, the pressing head 4-2 carries the pin and feeds downward in the direction of the telescopic cylinder of the pressing unit cantilever 2-2-3. When it contacts the edge of the pin hole to be installed, a contact force is generated. This force is transmitted to the six-axis force sensor 4-2-1 through the flexible hinge 4-2-2. The six-axis force sensor 4-2-1 will sense a torque, calculate the direction to reduce the misalignment through the force parameters, and move the pressing motion beam 2-2-1 and the pressing unit cantilever 2-2-3 of the pressing motion platform 2-2 in the horizontal plane. Move a certain distance in the direction of reducing the misalignment, and then the pressing head 4-2 continues to feed downward in the vertical direction of the pressing unit cantilever 2-2-3. If the six-axis force sensor 4-2-1 can still sense the torque, continue to adjust and feed downward again until the torque is no longer sensed. Then, relying on the deformation of the flexible hinge 4-2-2 to compensate for the distance between the pin axis and the pin hole axis, the pin is continued to be inserted downward until the six-axis force sensor 4-2-1 senses the maximum pressure in the positive direction, and the pin is pressed into place.

[0089] V. Detection Unit 5

[0090] like Figure 7As shown, the detection unit 5 includes a first laser distance measuring sensor 5-1 and a second laser distance measuring sensor 5-2. The first laser distance measuring sensor 5-1 is installed on the guide rail support plate of the first detection cantilever 2-41-3 facing the inside of the frame of the grinding motion platform 2-3, and can move two-dimensionally in the plane formed by the first detection cantilever 2-41-3 and the long side of the frame of the grinding motion platform 2-3 on which it is suspended, so as to realize the positioning of the first laser distance measuring sensor 5-1, and the second laser distance measuring sensor 5-2 is installed on the guide rail support plate of the second detection cantilever 2-42-3 hung on the fixed beam 2-42-1, and can move two-dimensionally in the plane formed by the fixed beam 2-42-1 and the second detection cantilever 2-42-3, so as to realize the positioning of the second laser distance measuring sensor. When the inertial platform A moves face up to the internal position of the repair unit 3, the first laser ranging sensor moves in two dimensions to align and measure the four points on the diagonal of the first reference plane 0a to fit the first pin positioning reference plane. The first laser ranging sensor moves in two dimensions and measures in sequence: the distance from the position of the five equally spaced points on the busbar of the first pin 10-1 to the first pin positioning reference plane, the smallest distance among the five distances is selected and recorded as h1, and the distance from the position of the five equally spaced points on the busbar of the second pin 10-2 to the first pin positioning reference plane, the smallest distance among the five distances is selected and recorded as h2, d1 = h1-h2. d1 is the parallelism between the pin section a1a2 (the plane formed by a total of 10 measurement points on the first and second pin busbars) and the first pin positioning reference plane.

[0091] Similarly, the inertial platform B is rotated upward, and the second laser ranging sensor 5-2 is moved in two dimensions to align and measure the four points on the diagonal of the second reference plane 0b to fit the second pin positioning reference plane. The second laser ranging sensor 5-2 is moved in two dimensions to measure the distances from the positions of five equally spaced points on the busbar of the third pin 10-3 to the second pin positioning reference plane in turn, and the smallest distance among the five distances is selected and recorded as h3, and the distances from the positions of five equally spaced points on the busbar of the fourth pin 10-4 to the second pin positioning reference plane, and the smallest distance among the five distances is selected and recorded as h4, d2 = h3-h4. d2 is the parallelism between the pin section b1 b2 (the plane formed by a total of 10 measurement points on the busbars of the third pin and the fourth pin) and the second pin positioning reference plane.

[0092] VI. Study Unit 6

[0093] like Figure 8As shown, the grinding unit 6 includes a six-axis force sensor 6-1, a driving wheel 6-2, a tensioning wheel 6-3, a sanding belt 6-4, and a connecting rod 6-5. The grinding unit 6 is installed at the end of the cantilever 2-3-3 of the grinding unit on the grinding motion platform 2-3. Specifically: the six-axis force sensor 6-1 is installed at the end of the cantilever 2-3-3 of the grinding unit to measure the force generated during grinding; one end of the driving wheel 6-2 is connected to the six-axis force sensor 6-1, and the other end is sleeved on one end of the sanding belt 6-4 to drive the sanding belt 6-4 to rotate, and the tensioning wheel 6-3 is sleeved on the other end of the sanding belt 6-4, so that the sanding belt 6-4 is in a tensioned state, and the driving wheel 6-2 and the tensioning wheel 6-3 are connected and positioned by the connecting rod 6-5.

[0094] The workpiece moving platform 2-1 moves the workpiece clamping unit 1 to the position of the grinding unit 6, and the grinding moving platform 2-3 moves the grinding unit 6 to the position of the pin to be ground. The working part of the abrasive belt gradually clings to the outer cylindrical surface of the pin to be ground. At this time, the pin will generate a reaction force on the abrasive belt. When this reaction force reaches the rated value, the grinding unit 6 stops approaching the pin. The driving wheel 6-2 of the grinding unit 6 drives the abrasive belt 6-4 to reciprocate, and the working part of the abrasive belt reciprocates to grind the outer cylindrical surface of the pin.

[0095] The parallelism d1 and d2 between the pin section and the reference plane are measured by the detection unit 5. The parallelism requirement d is known (set according to actual needs). If the requirement is not met, the grinding unit 6 is required to grind the pin, and the grinding amount is d1-d and d2-d respectively. After grinding, measurement is performed again until the parallelism requirement is met.

[0096] The control unit 7 controls each unit to complete related functions, including: controlling the rotation and positioning of the workpiece clamping unit 1, controlling the precise movement and positioning of each part in the motion unit 2, controlling the feeding detection and conveying unit 3 to grasp and detect the diameter of the pin, controlling the press-fitting unit 4 to press the pin, controlling the detection unit 5 to detect the parallelism between the pin section and the reference plane, and controlling the grinding unit 6 to grind the pin. Specifically:

[0097] Sending a rotation command to the rotary motor 1-3 of the workpiece clamping unit 1;

[0098] Sending a workpiece movement instruction to the workpiece motion platform 2-1 of the motion unit 2;

[0099] Receive the pin diameter data sent by the laser sensor detection station 3-4 of the feeding detection and conveying unit 3, and after judgment, send a grabbing instruction to the transposition station 3-7 of the feeding detection and conveying unit 3 to make it grab the pin with qualified diameter;

[0100] Send a motion command of the press-fitting motion platform to the press-fitting motion platform 2-2, so that the press-fitting motion beam 2-2-1 and the press-fitting unit cantilever 2-2-3 complete the precise movement and positioning of each link; send an imaging command to the camera 4-1 of the press-fitting unit 4, receive the image data of the camera 4-1, and identify the position of the pin to be installed and the position of the pin hole to be installed; send an opening command or a closing command to the clamping block 4-2-5; receive the contact force information of the six-axis force sensor 4-2-1;

[0101] Send a detection movement instruction to the detection motion platform 2-4, so that the first detection cantilever 2-41-3 and the second detection cantilever 2-42-3 complete the precise movement and positioning of each link, receive the measurement results of the first laser ranging sensor 5-1 and the second laser ranging sensor 5-2 of the detection unit 5, calculate the parallelism between the pin section and the reference plane, and determine the amount to be repaired;

[0102] Send a research and development movement instruction to the research and development motion platform 2-3, so that the research and development movement beam 2-3-1 and the research and development unit cantilever 2-3-3 complete the precise movement and positioning of the research and development process, and send a research and development instruction to the research and development unit 6.

[0103] A method for automatically assembling and adjusting a positioning pin of an inertial system, comprising:

[0104] S1: Install the inertial platform 1-5 in the workpiece clamping unit 1. Insert the fixed shaft in the clamping inner frame 1-2 into the mounting shaft end on one side of the inertial platform 1-5 and fix it with screws. Insert the fixed shaft of the mobile platform 1-4 into the mounting shaft end on the other side of the inertial platform 1-5 and fix it with screws. Place the A side of the inertial platform 1-5 facing upwards. Then install the workpiece clamping unit 1 on the workpiece motion platform 2-1.

[0105] S2: The pin installation code is placed on the pin position of the feeding detection conveyor belt 3-2, and the feeding detection conveyor belt 3-2 moves the pin to the position to be tested.

[0106] S3: The push shaft 3-3 pushes the pin at the position to be tested onto the laser sensor detection platform 3-4. The laser sensor detects the pin diameter and transmits the diameter data to the control unit 7. After the detection is completed, the push shaft 3-3 pushes the pin into the drain platform 3-5.

[0107] S4: The pin is inserted into the mounting hole on the conveyor belt 3-6 support plate through the drain platform 3-5. The conveyor belt 3-6 support plate drives the pin to move to the transposition platform 3-7:

[0108] For the pins with qualified diameters, the control unit 7 sends instructions to the transposition table 3-7, and the conveying clamp finger 3-8 grabs them, and then enters step S5;

[0109] For pins with unqualified diameters, the conveying clamp finger 3-8 does not grab them, and the unqualified pins rotate to the next station with the conveying ring belt 3-6; return to step S3 until qualified pins are obtained and enter step S5.

[0110] S5: The transposition table 3-7 is raised, the conveying clamp finger 3-8 at one end of the conveyor belt 3-6 pallet position is opened, the transposition table 3-7 is lowered until the conveying clamp finger 3-8 is flush with the pin, the conveying clamp finger 3-8 is closed, the pin is clamped, the transposition table 3-7 is raised, the pin is picked up, the transposition table 3-7 is rotated 180 degrees, the pin is transferred from the conveyor belt 3-6 pallet position to the material preparation table 3-9 position, the transposition table 3-7 is lowered, the pin is inserted into the pin hole of the material preparation table 3-9, the conveying clamp finger 3-8 is opened, and the pin is placed.

[0111] S6: After the pins are placed, the preparation table 3-9 rotates to make the next pin hole wait for the next pin to be placed.

[0112] S7: The control unit 7 sends a movement command of the press-fitting movement platform to the press-fitting movement platform 2-2. The press-fitting movement beam 2-2-1 and the press-fitting unit cantilever 2-2-3 of the press-fitting movement platform 2-2 move the press-fitting unit 4 (camera 4-1, press-fitting head 4-2) to the top of the material preparation table 3-9. The control unit 7 sends an imaging command to the camera 4-1 of the press-fitting unit 4. The camera 4-1 takes a picture. The control unit 7 receives the image data of the camera 4-1, identifies the position of the pin to be installed, and sends a movement command of the press-fitting movement platform according to the identified position information, so that the press-fitting movement beam 2-2-1 and the press-fitting unit cantilever 2-2-3 drive the press-fitting head 4-2 Move to the top of the pin, the control unit 7 sends an opening command to the clamping block 4-2-5, the clamping block 4-2-5 opens, the pressing unit cantilever 2-2-3 drives the pressing head 4-2 to move downward, and the top surface of the pin contacts the bottom surface of the pin holder 4-2-4 to be installed, the control unit 7 receives the contact force information of the six-axis force sensor 4-2-1, when the six-axis force sensor 4-2-1 senses the preset contact force, the pressing unit cantilever 2-2-3 stops moving downward, the control unit 7 sends a closing command to the clamping block 4-2-5, closes the clamping block 4-2-5, the pressing unit cantilever 2-2-3 drives the pressing head 4-2 to move upward, and completes the picking up of the pin to be installed.

[0113] S8: The control unit 7 sends a motion command of the press-fitting motion platform to the press-fitting motion platform 2-2. The press-fitting motion beam 2-2-1 and the press-fitting unit cantilever 2-2-3 of the press-fitting motion platform 2-2 move with the camera 4-1 and the press-fitting head 4-2 to the top of the workpiece clamping unit 1. The control unit 7 sends an imaging command to the camera 4-1 of the press-fitting unit 4. The camera 4-1 takes a picture of the pin hole to be installed and sends it to the control unit 7. The control unit 7 determines the position of the pin hole to be installed of the inertial platform 1-5 under the press-fitting motion platform 2-2, and obtains the position relationship between the axis of the press-fitting head 4-2 and the pin hole to be installed through coordinate conversion. The press-fitting motion platform motion command is sent to the press-fitting motion platform 2-2, and the press-fitting unit cantilever 2-2-3 of the press-fitting motion platform 2-2 is moved to align the axis of the press-fitting head 4-2 with the axis of the pin hole to be installed.

[0114] S9: The cantilever 2-2-3 of the press-fitting unit drives the press-fitting head 4-2 to move downward, inserts the pin to be installed into the pin hole of the inertial platform 1-5, and the control unit 7 receives the contact force information of the six-axis force sensor 4-2-1. When the six-axis force sensor 4-2-1 senses the preset contact force, the cantilever 2-2-3 of the press-fitting unit stops moving downward, the clamping block 4-2-5 opens, and the cantilever 2-2-3 of the press-fitting unit drives the press-fitting head 4-2 to move upward to complete the press-fitting of the pin to be installed.

[0115] S10: Repeat S6-S9 to complete the press-fitting of another pin to be installed.

[0116] S11: The control unit 7 sends a rotation command to the rotating motor 1-3 of the workpiece clamping unit 1, so that it drives the workpiece clamping unit 1 to rotate the clamping inner frame 1-2 by 90 degrees, so that the B surface of the inertial platform 1-5 faces upward.

[0117] S12: Repeat S6-S9 to complete the press-fitting of the two pins on the B side.

[0118] S13: The control unit 7 sends a workpiece moving instruction to the workpiece moving platform 2-1, moves the workpiece moving platform 2-1, and makes the workpiece moving platform 2-1 carry the inertial platform 1-5 on the workpiece clamping unit 1 to the preset position for monitoring by the detection unit 5.

[0119] S14: The control unit 7 sends a detection movement instruction to the grinding motion platform 2-3, so that the second detection cantilever 2-42-3 moves two-dimensionally with the second laser ranging sensor 5-2, and inputs the measurement result into the control unit 7. The control unit 7 calculates the parallelism of the two pins on the B surface with the reference plane, and determines the amount of grinding of the two pins on the B surface.

[0120] S15: The control unit 7 sends a repair movement instruction to the repair movement platform 2-3, and the repair unit cantilever 2-3-3 of the repair movement platform 2-3 moves the repair unit 6 to the position of the pin to be repaired; the control unit 7 sends a repair instruction and the amount to be repaired to the repair unit 6, and the repair unit 6 repairs the two pins on the B surface.

[0121] S16: After the grinding is completed, repeat S14-S15 until the parallelism is qualified.

[0122] S17: The control unit 7 sends a rotation command to the rotating motor 1-3 of the workpiece clamping unit 1, so that it drives the workpiece clamping unit 1 to rotate the clamping inner frame 1-2 in the opposite direction by 90 degrees, so that the A surface of the inertial platform 1-5 faces upward.

[0123] S18: The control unit 7 sends a detection movement instruction to the grinding motion platform 2-3, so that the first detection cantilever 2-41-3 moves two-dimensionally with the first laser ranging sensor 5-1, and inputs the measurement result into the control unit 7. The control unit 7 calculates the parallelism of the two pins on the A surface with the reference plane, and determines the amount of grinding of the two pins on the A surface.

[0124] S19: The control unit 7 sends a repair movement instruction to the repair movement platform 2-3, and the repair unit cantilever 2-3-3 of the repair movement platform 2-3 moves the repair unit 6 to the position of the pin to be repaired; the control unit 7 sends a repair instruction and the amount to be repaired to the repair unit 6, and the repair unit 6 repairs the two pins on the A surface.

[0125] S20: After the grinding is completed, S18-S19 are repeated until the parallelism is qualified, and the grinding of the two pins on the A side is completed.

[0126] S21: Remove the inertial platform 1-5 from the workpiece clamping unit 1.

[0127] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. A device for automatically adjusting the positioning pins of an inertial system, characterized in that include: A workpiece clamping unit (1), a motion unit (2), a feeding detection and conveying unit (3), a pressing unit (4), a detection unit (5), a repair unit (6), a control unit (7), and an inertial platform (1-5) waiting for the assembly of the pin; specifically: The inertial platform (1-5) is clamped on the workpiece clamping unit (1), and the workpiece clamping unit (1) is installed at the bottom of the motion unit (2). The inertial platform (1-5) clamped on the workpiece clamping unit (1) can be rotated under the action of the control unit (7); The motion unit (2) is a two-frame structure, on which a movable crossbeam and a cantilever are arranged, and the press-fitting unit (4), the detection unit (5), and the grinding unit (6) are respectively installed on the corresponding cantilever in the motion unit (2); the motion unit (2) can receive the command of the control unit (7) to move the workpiece clamping unit (1), the press-fitting unit (4), the detection unit (5), and the grinding unit (6) to a specified position; the press-fitting unit (4) can insert a pin into the inertial platform (1-5) under the action of the control unit (7); the detection unit (5) can measure the parallelism between the pin section and the reference plane and calculate the amount to be ground under the action of the control unit (7); the grinding unit (6) performs quantitative grinding on the pin according to the command sent by the control unit (7) and the amount to be ground; The material loading detection and conveying unit (3) is installed adjacent to the workpiece clamping unit (1) on one side of the moving unit (2), and can detect whether the pin is qualified and convey it under the action of the control unit (7).

2. The device for automatic adjustment of positioning pins of an inertial system according to claim 1, characterized in that: The inertial platform (1-5) is a rectangular parallelepiped, specifically: The center positions of two opposite faces on the cuboid are used to set the mounting shaft ends, the axial directions of the two mounting shaft ends are aligned, and screw through holes are evenly distributed radially on each mounting shaft end; among the four faces parallel to the center line of the two mounting shaft ends, one face is taken as face A, a reference mirror is installed at a corner of the face, and a first circular hole is set at the other end of the diagonal where the reference mirror is located, for placing the inertial device, a pin hole is set on both sides of the first circular hole, respectively, and the pins assembled in the corresponding holes are the first pin and the second pin, respectively, and the centers of the first pin hole and the second pin hole are The connecting line is parallel to the center line of the two installation shaft ends; the adjacent surface of the four surfaces parallel to the center line of the two installation shaft ends that shares an edge with the reference mirror is recorded as surface B, and a second circular hole, as well as a third pin hole and a fourth pin hole on both sides of the circular hole are provided on the surface, and the pins assembled in the corresponding holes are the third pin and the fourth pin, respectively, and the center line of the third pin hole and the fourth pin hole is perpendicular to the center line of the two installation shaft ends; at the same time, the surface on the reference mirror that is coplanar with the B surface is defined as the first reference surface, and the surface close to the first circular hole of the two surfaces on the reference mirror that are perpendicular to the axial direction of the two installation shaft ends is defined as the second reference surface.

3. The device for automatic adjustment of positioning pins of an inertial system according to claim 1, characterized in that: The workpiece clamping unit (1) comprises a clamping outer frame (1-1), a clamping inner frame (1-2), a rotating motor (1-3), and a moving platform (1-4); specifically: The clamping outer frame (1-1) and the clamping inner frame (1-2) are both concave; the clamping inner frame (1-2) is sleeved on the concave inner side of the clamping outer frame (1-1) through the rotating pairs on both sides; the rotating motor (1-3) is installed on the outer side of the clamping outer frame (1-1) and connected to the rotating shaft of the rotating pair on the corresponding side; the bottom of the clamping inner frame (1-2) is higher than the bottom of the clamping outer frame (1-1); the clamping inner frame (1-2) is rotated 360 degrees around the rotating shaft of the rotating pair through the rotating motor (1-3) and can be locked at a fixed angle; the inner side of the clamping inner frame (1-2) away from the rotating motor (1-3) on both sides is A fixed shaft is arranged on the wall, and threaded holes are evenly distributed radially on the fixed shaft, corresponding to the screw through holes evenly distributed radially on the ends of the inertial platform mounting shafts; a mobile platform (1-4) is installed on the other side of the clamping inner frame (1-2), and a fixed shaft is also arranged on the inner side of the mobile platform (1-4), and the fixed shaft is aligned with the fixed shaft on the clamping inner frame (1-2); threaded holes are evenly distributed radially on the fixed shaft on the inner side of the mobile platform (1-4), corresponding to the screw through holes evenly distributed radially on the ends of the inertial platform mounting shafts; the mobile platform (1-4) can move along the direction of the line connecting the two fixed shafts and be locked at a fixed distance; the line connecting the two fixed shafts is colinear with the rotation axis of the rotation pair; The installation relationship between the inertial platform (1-5) and the workpiece clamping unit (1) is as follows: the fixed shaft on the inner side of the clamping inner frame (1-2) is inserted into the mounting shaft end on one side of the inertial platform (1-5) and fixed by screw connection; the fixed shaft on the mobile platform (1-4) is inserted into the mounting shaft end on the other side of the inertial platform (1-5) and fixed by screw connection.

4. The device for automatic adjustment of positioning pins of an inertial system according to claim 1, characterized in that: The motion unit (2) comprises a motion unit base (2-0), a workpiece motion platform (2-1), a press-fit motion platform (2-2), a repair motion platform (2-3), and a detection motion platform (2-4); Wherein: the motion unit base (2-0) is a rectangular plate, providing a mounting platform for the entire motion unit; the workpiece motion platform (2-1) is composed of two parallel workpiece motion linear guide rails and a workpiece support plate, the workpiece motion linear guide rails are arranged parallel to the long side of the motion unit base (2-0), and the workpiece clamping unit (1) is installed on the workpiece support plate; The main bodies of the press-fitting motion platform (2-2) and the grinding motion platform (2-3) are both frame structures. The upper surfaces of the frames of the press-fitting motion platform (2-2) and the grinding motion platform (2-3) are both located directly above the workpiece motion linear guide rail. The two frames are arranged in sequence along the direction parallel to the workpiece motion linear guide rail. The workpiece support plate can receive the workpiece movement instruction of the control unit (7) and move the workpiece clamping unit (1) between the frames of the press-fitting motion platform (2-2) and the grinding motion platform (2-3) along the direction of the workpiece motion linear guide rail to complete the movement of the workstation. A press-fitting motion beam (2-2-1) is installed on the upper surface of the frame of the press-fitting motion platform (2-2). The press-fitting motion beam (2-2-1) is parallel to the linear guide rail for workpiece motion and can receive a press-fitting motion platform motion instruction from the control unit (7) to translate in a direction perpendicular to itself. The press-fitting unit cantilever (2-2-3) is hung on the press-fitting motion beam (2-2-1) and can receive a press-fitting motion platform motion instruction from the control unit (7) to translate in a direction of the press-fitting motion beam (2-2-1). The press-fitting unit cantilever (2-2-3) is a telescopic cylinder and can receive a press-fitting motion platform motion instruction from the control unit (7) to translate in a vertical direction. The frame of the grinding motion platform (2-3) is equipped with a grinding motion beam (2-3-1), which is parallel to the linear guide rail for workpiece motion and can receive the grinding movement instruction from the control unit (7) to move in a direction perpendicular to itself; the grinding unit cantilever (2-3-3) is hung on the grinding motion beam (2-3-1) and can receive the grinding movement instruction from the control unit (7) to move in a direction perpendicular to the grinding motion beam (2-3-1); and the grinding unit cantilever (2-3-3) is a telescopic cylinder and can receive the grinding movement instruction from the control unit (7) to move in a vertical direction along the grinding unit cantilever (2-3-3); a fixed beam (2-42-1) perpendicular to the linear guide rail for workpiece motion is added to the end of the grinding motion platform (2-3) frame away from the press-fitting motion platform (2-2); The detection motion platform (2-4) is composed of two groups of two-dimensional moving platforms and two laser ranging sensors. The first moving platform is a first detection cantilever (2-41-3) hung on the upper surface of the frame of the repair motion platform (2-3) parallel to the edge of the linear guide rail for workpiece movement, and can receive the detection movement instruction of the control unit (7) and move in a direction parallel to the linear guide rail for workpiece movement. The first detection cantilever (2-41-3) is provided with a detection movement instruction that can receive the detection movement instruction of the control unit (7) and move along the first detection cantilever (2-41- 3) a movable guide rail support plate; the second movable platform includes a fixed beam (2-42-1) added to the repair and research motion platform (2-3) and a second detection cantilever (2-42-3) hung on the fixed beam (2-42-1), the second detection cantilever (2-42-3) can receive the detection movement instruction of the control unit (7) and move along the fixed beam (2-42-1), and the second detection cantilever (2-42-3) is provided with a guide rail support plate that can receive the detection movement instruction of the control unit (7) and move along the guide rail.

5. The device for automatic adjustment of positioning pins of an inertial system according to claim 1, characterized in that: The feeding detection and conveying unit (3) comprises a feeding detection and conveying unit base (3-0), a feeding detection platform (3-1), a feeding detection conveyor belt (3-2), a push shaft (3-3), a laser sensor detection platform (3-4), a leaking platform (3-5), a conveying ring belt (3-6), a transposition platform (3-7), a conveying clamp finger (3-8), and a material preparation platform (3-9); specifically: The base (3-0) of the feeding detection and conveying unit is a concave platform, which provides an installation platform for the entire feeding detection and conveying unit; the feeding detection platform (3-1) is installed on a vertical side of the concave platform of the feeding detection and conveying unit base (3-0); the feeding detection conveyor belt (3-2) is installed on the feeding detection platform (3-1), and the movement direction is perpendicular to the bottom side of the concave platform of the feeding detection and conveying unit base (3-0); the push shaft (3-3) is installed at the end of the feeding detection conveyor belt (3-2) in the conveying direction. The laser sensor detection platform (3-4) is installed on one side of the end of the feeding detection conveyor belt (3-2) with respect to the push shaft (3-3); a plurality of pin positions are distributed on the feeding detection conveyor belt (3-2), and a pin is placed in each pin position. The pin position between the laser sensor detection platform (3-4) and the push shaft (3-3) is a position to be tested, and the moving conveyor belt (3-2) moves each pin to the position to be tested in sequence; The drain platform (3-5) is installed adjacent to the laser sensor detection platform (3-4) on the conveyor belt (3-6), and the conveyor belt (3-6) is perpendicular to the feeding detection platform (3-1) and is arranged on the bottom edge of the concave platform of the feeding detection and conveying unit base (3-0); a plurality of pin support plates are arranged in sequence along the conveyor belt on the conveyor belt (3-6), and a mounting hole is arranged on each pin support plate; the pushing shaft (3-3) pushes the pin at the position to be tested onto the laser sensor detection platform (3-4), and the laser The sensor detects the diameter of the pin and transmits the diameter data to the control unit (7). After the detection is completed, the push shaft (3-3) pushes the pin into the drain platform (3-5); wherein the drain platform (3-5) is funnel-shaped, and the drain hole at the bottom is just enough to drain the pin vertically and insert it into the mounting hole on the conveyor belt (3-6) support plate; the conveyor belt (3-6) support plate drives the pin to move to the transposition platform (3-7), and the transposition platform (3-7) receives the control unit (7) sending a signal for the pin with a qualified diameter. The conveying clamp finger (3-8) receives a grasping instruction to grasp the pins with unqualified diameters, and the conveying clamp finger (3-8) does not grasp the pins, and the unqualified pins rotate to the next station along with the conveying ring belt (3-6); the transposition table (3-7) is a double-headed station rotating table, and has a central symmetrical structure. It is installed on the other vertical side of the concave table of the feeding detection and conveying unit base (3-0) through the cylinder below the central symmetrical axis. One end of the transposition table (3-7) is the conveying ring belt (3-6), and the other end is the conveying ring belt (3-6). The end is a material preparation table (3-9); the transposition table (3-7) can rotate 360 ​​degrees along the central symmetry axis and can be raised and lowered under the action of the cylinder. A conveying clamping finger (3-8) is installed at each end of the double-head station, wherein the length of the conveying clamping finger (3-8) at one end reaches the mounting hole on the conveying belt (3-6) support plate, and the length of the conveying clamping finger (3-8) at the other end reaches the material preparation table (3-9), and the distance from the central symmetry axis of the transposition table (3-7) to the above two ends is equal; The material preparation table (3-9) is installed on the material loading detection and conveying unit base (3-0) and is a disk capable of performing circular motion around its own central axis, and pin holes are evenly distributed in the circumferential direction on the upper surface of the disk.

6. The device for automatic adjustment of positioning pins of an inertial system according to claim 4, characterized in that: The press-fitting unit (4) comprises a camera (4-1) and a press-fitting head (4-2); the press-fitting head (4-2) is mounted at the end of a press-fitting unit cantilever (2-2-3) of a press-fitting motion platform (2-2), the camera (4-1) is mounted on the side of the end of the press-fitting unit cantilever (2-2-3), and the relative positions of the camera (4-1) and the press-fitting head (4-2) are fixed; The camera (4-1) receives an imaging instruction from the control unit (7), takes a picture of the pin hole to be installed on the inertial platform (1-5), and sends the image data to the control unit (7); The press-fitting head (4-2) comprises a six-axis force sensor (4-2-1), a flexible hinge (4-2-2), a mounting plate (4-2-3), a pin holder (4-2-4), and a tightening block (4-2-5); wherein the six-axis force sensor (4-2-1) is mounted at the end of the cantilever (2-2-3) of the press-fitting unit and is used to measure the transmitted press-fitting torque; one end of the flexible hinge (4-2-2) is connected to the six-axis force sensor (4-2-1), and the other end is connected to one side of the mounting plate (4-2-3). It is used to transmit torque and perform flexible compensation for the press-fitting process; a pin holder (4-2-4) is installed on the non-hinge connection surface of the installation plate (4-2-3), a tightening block (4-2-5) is arranged on the pin holder (4-2-4), and a fixed centering V block is processed to position the pin axis; the tightening block (4-2-5) is installed on the pin holder (4-2-4) through a guide rail, and can receive a closing instruction from a control unit (7) and move in the direction of the V block opening to achieve positioning and locking.

7. The device for automatic adjustment of positioning pins of an inertial system according to claim 4, characterized in that: The detection unit (5) comprises a first laser distance measuring sensor (5-1) and a second laser distance measuring sensor (5-2); The first laser distance measuring sensor (5-1) is installed on the guide rail support plate of the first detection cantilever (2-41-3) facing the inside of the frame of the repair and research motion platform (2-3), and can move in two dimensions to realize the positioning of the first laser distance measuring sensor (5-1); The second laser distance measuring sensor (5-2) is mounted on a guide rail support plate of a second detection cantilever (2-42-3) hung on a fixed crossbeam (2-42-1) and is capable of two-dimensional movement to achieve positioning of the second laser distance measuring sensor (5-2).

8. The device for automatic adjustment of positioning pins of an inertial system according to claim 4, characterized in that: The grinding unit (6) is installed at the end of the grinding unit cantilever (2-3-3) of the grinding motion platform (2-3), and includes a six-axis force sensor (6-1), a driving wheel (6-2), a tensioning wheel (6-3), a sanding belt (6-4), and a connecting rod (6-5); specifically: A six-axis force sensor (6-1) is installed at the end of the cantilever (2-3-3) of the grinding unit to measure the force generated during grinding; one end of the driving wheel (6-2) is connected to the six-axis force sensor (6-1), and the other end is sleeved on one end of the sanding belt (6-4) to drive the sanding belt (6-4) to rotate; the tensioning wheel (6-3) is sleeved on the other end of the sanding belt (6-4) to put the sanding belt (6-4) in a tensioned state; the driving wheel (6-2) and the tensioning wheel (6-3) are connected and positioned by a connecting rod (6-5).

9. A method for automatically adjusting the positioning pins of an inertial system, characterized in that The steps include: S1: Install the inertial platform (1-5) in the workpiece clamping unit (1); insert the fixed shaft in the clamping inner frame (1-2) into the mounting shaft end on one side of the inertial platform (1-5), and fix them by screw connection; insert the fixed shaft of the mobile platform (1-4) into the mounting shaft end on the other side of the inertial platform (1-5), and fix them by screw connection; place the inertial platform (1-5) with the A side facing upwards, and then install the workpiece clamping unit (1) on the workpiece moving platform (2-1); S2: The pin installation code is placed on the pin position of the feeding detection conveyor belt (3-2), and the feeding detection conveyor belt (3-2) moves the pin to the position to be tested; S3: The push shaft (3-3) pushes the pin at the position to be tested onto the laser sensor detection platform (3-4), the laser sensor detects the diameter of the pin, and transmits the diameter data to the control unit (7). After the detection is completed, the push shaft (3-3) pushes the pin into the drain platform (3-5); S4: The pin is inserted into the mounting hole on the conveyor belt (3-6) support plate through the drain platform (3-5); the conveyor belt (3-6) support plate drives the pin to move to the transposition platform (3-7): For pins with qualified diameters, the control unit (7) sends a grabbing instruction to the transposition table (3-7), and after the conveying clamp finger (3-8) grabs the pins, the process proceeds to step S5; For pins with unqualified diameters, the conveying clamp finger (3-8) does not grab them, and the unqualified pins rotate to the next station along with the conveying ring belt (3-6); Return to step S3 until a qualified pin is obtained and proceed to step S5; S5: the transposition platform (3-7) is raised, the conveying clamping finger (3-8) at one end of the conveying belt (3-6) support plate position is opened, the transposition platform (3-7) is lowered until the conveying clamping finger (3-8) is flush with the pin, the conveying clamping finger (3-8) is closed, the pin is clamped, the transposition platform (3-7) is raised, the pin is picked up, the transposition platform (3-7) is rotated 180 degrees, the pin is transferred from the conveying belt (3-6) support plate position to the material preparation platform (3-9), the transposition platform (3-7) is lowered, the pin is inserted into the pin hole of the material preparation platform (3-9), the conveying clamping finger (3-8) is opened, and the pin is placed; S6: The material preparation table (3-9) rotates so that the next pin hole is ready for placement of the next pin; S7: The control unit (7) sends a movement instruction of the press-fitting movement platform to the press-fitting movement platform (2-2), and the press-fitting movement beam (2-2-1) and the press-fitting unit cantilever (2-2-3) of the press-fitting movement platform (2-2) move the press-fitting unit (4) to the top of the material preparation table (3-9). The control unit (7) sends an imaging instruction to the camera (4-1) of the press-fitting unit (4), and the camera (4-1) takes a picture. The control unit (7) receives the image data of the camera (4-1), identifies the position of the pin to be installed, and sends a movement instruction of the press-fitting movement platform based on the identified position information, so that the press-fitting movement beam (2-2-1) and the press-fitting unit cantilever (2-2-3) drive the press-fitting head (4-2) to move onto the pin. The control unit (7) sends an opening instruction to the tightening block (4-2-5), and the tightening block (4-2-5) opens; the repair unit cantilever (2-3-3) drives the press head (4-2) to move downward, and the top surface of the pin contacts the bottom surface of the pin holder (4-2-4) to be installed, and the control unit (7) receives the contact force information of the six-axis force sensor (4-2-1). When the six-axis force sensor (4-2-1) senses the preset contact force, the repair unit cantilever (2-3-3) stops moving downward; the control unit (7) sends a closing instruction to the tightening block (4-2-5), closes the tightening block (4-2-5), and the repair unit cantilever (2-3-3) drives the press head (4-2) to move upward, completing the picking up of the pin to be installed; S8: the control unit (7) sends a press-fitting motion platform movement instruction to the press-fitting motion platform (2-2), and the press-fitting motion crossbeam (2-2-1) and the press-fitting unit cantilever (2-2-3) of the press-fitting motion platform (2-2) carry the press-fitting unit (4) to move above the inertial platform (1-5) of the workpiece clamping unit (1); the control unit (7) sends an imaging instruction to the camera (4-1) of the press-fitting unit (4), and the camera (4-1) takes a picture of the pin hole to be installed and sends it to the control unit (7); the control unit (7) determines the position of the pin hole to be installed of the inertial platform (1-5) under the press-fitting motion platform (2-2), obtains the position relationship between the axis of the press-fitting head (4-2) and the pin hole to be installed through coordinate conversion, sends a press-fitting motion platform movement instruction to the press-fitting motion platform (2-2), and moves the press-fitting unit cantilever (2-2-3) of the press-fitting motion platform (2-2) to align the axis of the press-fitting head (4-2) with the axis of the pin hole to be installed; S9: The cantilever (2-3-3) of the repair and grinding unit drives the press-fitting head (4-2) to move downward, inserts the pin to be installed into the pin hole of the inertial platform (1-5), and the control unit (7) receives the contact force information of the six-axis force sensor (4-2-1). When the six-axis force sensor (4-2-1) senses the preset contact force, the cantilever (2-3-3) of the repair and grinding unit stops moving downward, the clamping block (4-2-5) opens, and the cantilever (2-3-3) of the repair and grinding unit drives the press-fitting head (4-2) to move upward, completing the press-fitting of the pin to be installed; S10: Repeat S6-S9 to complete the press-fitting of another pin to be installed; S11: The control unit (7) sends a rotation command to the rotating motor (1-3) of the workpiece clamping unit (1), so that the motor drives the inner frame (1-2) of the workpiece clamping unit (1) to rotate 90 degrees, so that the B surface of the inertial platform (1-5) faces upward; S12: Repeat S6-S9 to complete the press-fitting of the two pins to be installed on the B side; S13: the control unit (7) sends a workpiece movement instruction to the workpiece movement platform (2-1), moves the workpiece movement platform (2-1), and causes the workpiece movement platform (2-1) to carry the inertial platform (1-5) on the workpiece clamping unit (1) to a preset position for monitoring by the detection unit (5); S14: The control unit (7) sends a detection movement instruction to the grinding motion platform (2-3), so that the second detection cantilever (2-42-3) moves two-dimensionally with the second laser distance measuring sensor (5-2), and inputs the measurement result to the control unit (7). The control unit (7) calculates the parallelism between the two pins on the B surface and the reference surface, and determines the amount of grinding to be done for the two pins on the B surface; S15: The control unit (7) sends a repair movement instruction to the repair movement platform (2-3), and the repair unit cantilever (2-3-3) of the repair movement platform (2-3) moves the repair unit (6) to the position of the pin to be repaired; the control unit (7) sends a repair instruction and the amount to be repaired to the repair unit (6), and the repair unit (6) repairs the two pins on the B surface; S16: After the repair is completed, repeat S14-S15 until the parallelism is qualified; S17: The control unit (7) sends a rotation command to the rotating motor (1-3) of the workpiece clamping unit (1), so that the motor drives the workpiece clamping unit (1) to rotate the clamping inner frame (1-2) in the opposite direction by 90 degrees, so that the A surface of the inertial platform (1-5) faces upward; S18: The control unit (7) sends a detection movement instruction to the grinding motion platform (2-3), so that the first detection cantilever (2-41-3) moves two-dimensionally with the first laser distance measuring sensor (5-1), and inputs the measurement result to the control unit (7). The control unit (7) calculates the parallelism between the two pins on the A surface and the reference surface, and determines the amount of grinding to be done for the two pins on the A surface; S19: The control unit (7) sends a repair movement instruction to the repair movement platform (2-3), and the repair unit cantilever (2-3-3) of the repair movement platform (2-3) moves the repair unit (6) to the position of the pin to be repaired; the control unit (7) sends a repair instruction and the amount to be repaired to the repair unit (6), and the repair unit (6) repairs the two pins on the A surface; S20: After the grinding is completed, S18-S19 are repeated until the parallelism is qualified, and the grinding of the two pins on the A surface is completed; S21: Remove the inertial platform (1-5) from the workpiece clamping unit (1).

10. The method for automatically adjusting the positioning pins of an inertial system according to claim 9, characterized in that: The method for measuring the parallelism of two pins with the reference surface is: When the inertial platform A moves upward to the internal position of the repair unit (3), the first laser distance sensor (5-1) moves in two dimensions to align and measure four points on the diagonal of the first reference surface to fit the first pin positioning reference surface; the first laser distance sensor moves in two dimensions to measure in sequence: the distances from the positions of five equally spaced points on the first pin generatrix to the first pin positioning reference surface, the smallest distance among the five distances is selected as h1, and the distances from the positions of five equally spaced points on the second pin generatrix to the first pin positioning reference surface, the smallest distance among the five distances is selected as h2; d1 = h1-h2; d1 is the parallelism of the first pin and the second pin to the first pin positioning reference surface; Similarly, when the rotating inertial platform B faces upward, the second laser distance measuring sensor (5-2) moves in two dimensions to align and measure four points on the diagonal line of the second reference surface, thereby fitting the second pin positioning reference surface; the second laser distance measuring sensor (5-2) moves in two dimensions to sequentially measure the distances from the positions of five equally spaced points on the third pin generatrix to the second pin positioning reference surface, and the smallest distance among the five distances is selected and recorded as h3, as well as the distances from the positions of five equally spaced points on the fourth pin generatrix to the second pin positioning reference surface, and the smallest distance among the five distances is selected and recorded as h4, d2=h3-h4; d2 is the parallelism of the third pin and the fourth pin to the second pin positioning reference surface.

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