A device and method for automatic setting and adjustment of positioning pins of an inertial system

Abstract

The application provides an automatic assembling and adjusting device and method for an inertial system positioning pin, and belongs to the technical field of automatic assembly. The device comprises a workpiece clamping unit, a movement unit, a feeding detection and conveying unit, a pressing unit, a detection unit, a grinding unit and a control unit. The workpiece clamping unit clamps an inertial platform, the movement unit moves the workpiece clamping unit, the pressing unit, the detection unit and the grinding unit to a specified position, the pin is inserted into the platform through the pressing unit, the parallelism between the pin section and the reference surface is measured through the detection unit, and the pin is quantitatively ground through the grinding unit. The application improves the problems that the assembling and adjusting of the positioning pin on the inertial platform relies on manual operation, the assembly precision is low, the process cannot be detected in real time, and the assembly consistency is difficult to guarantee, and has the characteristics of integrated control, one-key operation and high assembly efficiency.

Description

Technical Field

[0001] This invention relates to a device and method for automatically assembling and adjusting positioning pins in inertial systems, belonging to the field of automated assembly and adjustment. Background Technology

[0002] An inertial system is a general term for inertial measurement devices such as inertial devices, inertial assemblies, and inertial platforms. It is used in aircraft, ships, and spacecraft to sense and measure information such as the acceleration and attitude of the carrier, enabling navigation and orientation positioning of the carrier.

[0003] During the installation of inertial devices on an inertial platform, the positioning surface of the inertial device needs to be parallel to the installation reference of the inertial platform. An installation plane is determined by the common tangent of 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 this tangent plane is parallel to the installation reference of the inertial platform, the installation position of the inertial device can be guaranteed.

[0004] Currently, the installation and adjustment of positioning pins on inertial platforms rely on manual operation, resulting in low assembly accuracy, inability to monitor the process in real time, and difficulty in ensuring assembly consistency. Therefore, there is an urgent need to design an automatic installation and adjustment device and method for positioning pins in inertial systems to achieve automatic installation and adjustment of positioning pins. Summary of the Invention

[0005] The technical problem solved by the present invention is to overcome the shortcomings of the prior art and provide a device and method for automatic assembly and adjustment of positioning pins in inertial systems, thereby realizing automatic assembly and adjustment of positioning pins and improving the efficiency and consistency of pin assembly.

[0006] The technical solution of this invention is as follows: Firstly, it provides a device for automatically assembling and adjusting positioning pins in an inertial system, comprising: a workpiece clamping unit, a motion unit, a feeding, detection, and conveying unit, a pressing unit, a detection unit, a grinding unit, a control unit, and an inertial platform awaiting the assembly of pins; specifically: The inertial platform is clamped on the workpiece clamping unit, which is installed at the bottom of the motion unit and can rotate the inertial platform clamped on the workpiece clamping unit under the action of the control unit. The motion unit consists of two frame structures with movable crossbeams and cantilever arms. The pressing unit, detection unit, and grinding unit are respectively mounted on the corresponding cantilever arms in the motion unit. The motion unit can receive instructions from the control unit to move the workpiece clamping unit, pressing unit, detection unit, and grinding unit to designated positions. The pressing unit can insert the pin into the inertial platform under the action of the control unit. The detection unit can measure the parallelism between the pin's cross-section and the reference surface and calculate the amount to be ground under the action of the control unit. The grinding unit performs quantitative grinding on the pin according to the instructions sent by the control unit and the amount to be ground. The loading inspection and conveying unit is installed on one side of the motion unit adjacent to the workpiece clamping unit. It can detect whether the pin is qualified and convey it under the action of the control unit.

[0007] Preferably, the inertial platform is a cuboid, specifically: A mounting shaft end is positioned at the center of two opposite faces of a cuboid, with the two mounting shaft ends axially aligned. Screw through holes are evenly distributed radially on each mounting shaft end. Of the four faces parallel to the line connecting the centers of the two mounting shaft ends, one is designated as face A. A reference mirror is mounted at one corner of this face. A first circular hole is provided at the other end of the diagonal where the reference mirror is located, for placing an inertial device. A pin hole is provided on each side of the first circular hole, designated as the first pin hole and the second pin hole, respectively. The pins fitted into these corresponding holes are designated as the first pin and the second pin, respectively. The centers of the first pin hole and the second pin hole are aligned. The connecting line is parallel to the center line connecting the two mounting shaft ends; among the four surfaces parallel to the center line connecting the two mounting shaft ends, the adjacent surface that shares an edge with the reference mirror is denoted as surface B. A second circular hole is provided on this surface, as well as a third pin hole and a fourth pin hole on both sides of the circular hole. The pins installed in the corresponding holes are the third pin and the fourth pin, respectively. The center line connecting the third pin hole and the fourth pin hole is perpendicular to the center line connecting the two mounting shaft ends; at the same time, the surface on the reference mirror that is coplanar with surface B is defined as the first reference surface, and the surface on the reference mirror that is perpendicular to the axial direction of the two mounting shaft ends and is closer to the first circular hole is defined as the second reference surface.

[0008] Preferably, the workpiece clamping unit includes a clamping outer frame, a clamping inner frame, a rotary motor, and a moving platform; specifically: Both the outer and inner clamping frames are concave. The inner clamping frame is fitted onto the concave inner side of the outer clamping frame via rotating joints on both sides. A rotary motor is installed on the outer side of the outer clamping frame and connected to the rotating shaft of the corresponding rotating joint. The bottom of the inner clamping frame is higher than the bottom of the outer clamping frame. The inner clamping frame rotates 360 degrees around the rotating shaft of the rotating joint via the rotary motor and can be locked at a fixed angle. A fixed shaft is provided on the inner wall of the side of the inner clamping frame away from the rotary motor. The fixed shaft has threaded holes that are radially evenly distributed and correspond to the screw through holes radially evenly distributed at the end of the inertial platform mounting shaft. A moving platform is installed on the other side of the inner clamping frame. A fixed shaft is also provided on the inner side of the moving platform. This fixed shaft is aligned with the fixed shaft on the inner clamping frame. The fixed shaft on the inner side of the moving platform has threaded holes that are radially evenly distributed and correspond to the screw through holes radially evenly distributed at the end of the inertial platform mounting shaft. The moving platform can move along the line connecting the two fixed shafts and lock at a fixed distance. The line connecting the two fixed shafts is collinear with the rotating shaft of the rotating joint. 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 moving platform is inserted into the mounting shaft end on the other side of the inertial platform and fixed by screws.

[0009] Preferably, the motion unit includes a motion unit base, a workpiece motion platform, a pressing motion platform, a grinding motion platform, and a testing motion platform; The motion unit base is a rectangular plate that provides an installation platform for the entire motion unit. The workpiece motion platform consists of two parallel workpiece motion linear guides and a workpiece support plate. The workpiece motion linear guides are set parallel to the long side of the motion unit base, and the workpiece clamping unit is installed on the workpiece support plate. Both the pressing motion platform and the grinding motion platform are frame structures. The upper surfaces of the frames of the pressing motion platform and the grinding motion platform are located directly above the workpiece motion linear guide. The two frames are arranged in sequence along the direction parallel to the workpiece motion linear guide. The workpiece pallet can receive workpiece movement commands from the control unit and move the workpiece clamping unit between the frames of the pressing motion platform and the grinding motion platform along the direction of the workpiece motion linear guide to complete the movement of the work station. The upper surface of the press-fitting motion platform frame is equipped with a press-fitting motion beam, which is parallel to the linear guide rail for workpiece movement. It can receive the press-fitting motion platform movement command from the control unit and translate 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 movement command from the control unit and translate in the direction of the press-fitting motion beam. Furthermore, the press-fitting unit cantilever is a telescopic cylinder, which can receive the press-fitting motion platform movement command from the control unit and extend or retract in the vertical direction. The grinding motion platform frame is equipped with a grinding motion crossbeam, which is parallel to the workpiece motion linear guide and can be translated in a direction perpendicular to itself by receiving grinding movement commands from the control unit. The grinding unit cantilever is hung on the grinding motion crossbeam and can be translated in the direction of the grinding motion crossbeam by receiving grinding movement commands from the control unit. The grinding unit cantilever is a telescopic cylinder and can be extended and retracted in the vertical direction of the grinding unit cantilever by receiving grinding movement commands from the control unit. A fixed crossbeam perpendicular to the workpiece motion linear guide is added to the end of the grinding motion platform frame away from the pressing motion platform. The inspection motion platform consists of two sets of two-dimensional moving stages and two laser rangefinders. The first moving stage is a first inspection cantilever hanging on the upper surface of the inspection motion platform frame, parallel to the workpiece's linear guide rail. It can receive inspection movement commands from the control unit and translate along the direction parallel to the workpiece's linear guide rail. The first inspection cantilever is equipped with a guide rail plate that can receive inspection movement commands from the control unit and move along the first inspection cantilever. The second moving stage includes a fixed crossbeam added to the inspection motion platform and a second inspection cantilever hanging on the fixed crossbeam. The second inspection cantilever can receive inspection movement commands from the control unit and translate along the fixed crossbeam. The second inspection cantilever is equipped with a guide rail plate that can receive inspection movement commands from the control unit and move along the guide rail.

[0010] 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 slotted table, a conveyor ring belt, a transposition table, conveyor grippers, and a preparation table; specifically: The base of the feeding, inspection, and conveying unit is a concave platform, providing an installation platform for the entire unit. The feeding inspection platform is installed on one vertical side of this concave platform. The feeding inspection conveyor belt is installed on the platform, with its movement direction perpendicular to the bottom edge of the platform. A push shaft is installed on one side of the end of the conveyor belt, with its working direction perpendicular to the belt. A laser sensor inspection platform is installed on the other side of the conveyor belt, opposite the push shaft. Multiple pin positions are distributed on the conveyor belt, each holding one pin. The pin position between the laser sensor inspection platform and the push shaft is the test position. The moving conveyor belt sequentially moves each pin to the test position. The slotted platform, adjacent to the laser sensor detection platform, is mounted on the conveyor belt. The conveyor belt is perpendicular to the loading detection platform and positioned on the bottom edge of the concave platform of the loading detection and conveying unit base. Multiple pin holders are arranged sequentially along the conveyor belt, each with a mounting hole. A pusher shaft pushes the pin at the position to be tested onto the laser sensor detection platform. The laser sensor detects the pin diameter and transmits the diameter data to the control unit. After detection, the pusher shaft pushes the pin into the slotted platform. The slotted platform is funnel-shaped, with a bottom hole that allows the pin to fall vertically and insert into the mounting hole on the conveyor belt holder. The conveyor belt holder moves the pin to the transfer platform, which receives a gripping command from the control unit for pins with acceptable diameters. The conveyor grippers grip the pins; for pins with unqualified diameters, the grippers do not grip them, and the unqualified pins rotate with the conveyor belt to the next station. The switching platform is a double-headed rotating platform with a centrally symmetrical structure. It is mounted on the other vertical side of the concave platform of the loading detection and conveying unit base via a cylinder below the central axis of symmetry. One end of the switching platform is the conveyor belt, and the other end is the preparation platform. The switching platform can rotate 360 ​​degrees along the central axis of symmetry and can be raised and lowered by the cylinder. A conveyor gripper is installed at each end of the double-headed station. The length of the conveyor gripper at one end reaches the mounting hole on the conveyor belt support plate, and the length of the conveyor gripper at the other end reaches the preparation platform. The distance from the central axis of symmetry of the switching platform to the above two ends is equal. The material preparation platform is installed on the base of the material feeding, inspection and conveying unit. It is a disc that can move in a circle around its own central axis, and the upper surface of the disc has pin holes evenly distributed in the circumference.

[0011] Preferably, the pressing unit includes a camera and a pressing head; the pressing head is installed at the end of the pressing unit cantilever of the pressing motion platform, and the camera is installed on the side of the end of the pressing unit cantilever, with the relative position of the camera and the pressing head fixed. The camera receives the imaging command from the control unit, takes a picture of the pin hole to be installed on the inertial platform, and sends the image data to the control unit. The pressing head includes a first six-axis force sensor, a flexible hinge, a mounting plate, a pin holder, and a clamping block. The first six-axis force sensor is installed at the end of the cantilever of the pressing unit and is used to measure and transmit the pressing torque. One end of the flexible hinge is connected to the first six-axis force sensor, and the other end is connected to one side of the mounting plate. It is used to transmit torque and provide flexible compensation during the pressing process. A pin holder is installed on the non-hinge connection surface of the mounting plate. The pin holder is equipped with a clamping block and has a fixed centering V-block machined on it for positioning the pin axis. The clamping block is installed on the pin holder via a guide rail and can receive a closing command from the control unit to move in the direction of the V-block opening to achieve positioning and locking.

[0012] Preferably, the detection unit includes a first laser rangefinder and a second laser rangefinder; The first laser rangefinder sensor is mounted on the guide rail plate of the first detection cantilever inside the frame of the research and development platform. It can move in two dimensions to achieve the positioning of the first laser rangefinder sensor. The second laser rangefinder sensor is mounted on the guide rail plate of the second detection cantilever, which is suspended on the fixed crossbeam. It can move in two dimensions to achieve the positioning of the second laser rangefinder sensor.

[0013] Preferably, the troweling unit is installed at the end of the troweling unit cantilever of the troweling motion platform, and includes a second six-axis force sensor, a drive wheel, a tensioning wheel, a sanding belt, and a connecting rod; specifically: The second six-axis force sensor is installed at the end of the cantilever of the repair unit to measure the force generated during repair. One end of the drive wheel is connected to the second six-axis force sensor, and the other end is fitted onto one end of the sanding belt to drive the sanding belt to rotate. The tension wheel is fitted onto the other end of the sanding belt to keep the sanding belt in a tensioned state. The drive wheel and the tension wheel are connected and positioned by a connecting rod.

[0014] Secondly, a method for automatically adjusting positioning pins in an inertial system is provided, comprising: S1: Install the inertial platform in the workpiece clamping unit; insert the fixed shaft inside the clamping inner frame into the shaft end on one side of the inertial platform and fix it with screws; insert the fixed shaft of the moving platform into the shaft end on the other side of the inertial platform and fix it with screws; place the inertial platform with side A facing up, and then install the workpiece clamping unit on the workpiece moving platform; S2: Place the pin mounting bracket on the pin position of the feeding and inspection conveyor belt, and the feeding and inspection conveyor belt will move the pin to the position to be tested; S3: The push axis pushes the pin at the position to be tested onto the laser sensor detection stage. The laser sensor detects the diameter of the pin and transmits the diameter data to the control unit. After the detection is completed, the push axis pushes the pin into the slot. S4: The pin is inserted into the mounting hole on the conveyor belt support plate through the slot; the conveyor belt support plate moves the pin to the transposition table. For a pin with a qualified diameter, the control unit sends a gripping command to the transposition stage, and after the delivery gripper grips it, proceeds to step S5. For pins with unqualified diameter, the conveyor gripper does not grasp them, and the unqualified pins rotate with the conveyor belt to the next station; return to step S3 until qualified pins are obtained, then proceed to step S5; S5: Raise the transposition table, open the conveyor clamp at one end of the conveyor belt tray, lower the transposition table until the conveyor clamp is flush with the pin, close the conveyor clamp to clamp the pin, raise the transposition table to complete the pin pickup, rotate the transposition table 180 degrees to move the pin from the conveyor belt tray to the preparation table, lower the transposition table to insert the pin into the pin hole of the preparation table, open the conveyor clamp to complete the pin placement; S6: The preparation table rotates to prepare the next pin hole for the next pin to be placed; S7: The control unit sends a motion command to the pressing motion platform. The pressing motion beam and pressing unit cantilever of the pressing motion platform move the pressing unit to the top of the material preparation table. The control unit sends an imaging command to the camera of the pressing unit. The camera takes a picture. The control unit receives the image data from the camera, identifies the position of the pin to be installed, and sends a motion command to the pressing motion platform based on the identified position information. This causes the pressing motion beam and pressing unit cantilever to move the pressing head to the top of the pin. The control unit sends an opening command to the clamping block, and the clamping block opens. The grinding unit cantilever moves the pressing head downward, and the top surface of the pin contacts the bottom surface of the pin holder. The control unit receives the contact force information from the first six-axis force sensor. When the first six-axis force sensor senses the preset contact force, the grinding unit cantilever stops moving downward. The control unit sends a closing command to the clamping block, and the clamping block closes. The grinding unit cantilever moves the pressing head upward, completing the pickup of the pin to be installed. S8: The control unit sends a motion command to the pressing motion platform. The pressing motion beam and pressing unit cantilever of the pressing motion platform move the pressing unit above the inertial platform of the workpiece clamping unit. The control unit sends an imaging command to the camera of the pressing unit. 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 on the inertial platform under the pressing motion platform. Through coordinate transformation, it obtains the positional relationship between the pressing head axis and the pin hole to be installed. The control unit sends a motion command to the pressing motion platform to move the pressing unit cantilever of the pressing motion platform so that the pressing head axis and the pin hole to be installed are aligned. S9: The cantilever of the repair unit moves the pressing head downward and inserts the pin to be installed into the pin hole of the inertial platform. The control unit receives the contact force information from the first six-axis force sensor. When the first six-axis force sensor senses the preset contact force, the cantilever of the repair unit stops moving downward, the clamping block opens, and the cantilever of the repair unit moves the pressing head upward to complete the pressing of the pin to be installed. S10: Repeat S6-S9 to complete the pressing of the other pin to be installed; S11: The control unit sends a rotation command to the rotary motor of the workpiece clamping unit, causing it to rotate the inner frame of the workpiece clamping unit by 90 degrees, so that the B side of the inertial platform faces upward. S12: Repeat S6-S9 to complete the pressing of the two pins to be installed on side B; S13: The control unit sends a workpiece movement command to the workpiece motion platform, moves the workpiece motion platform, and moves the workpiece motion platform with the inertial platform on the workpiece clamping unit to the preset position when the detection unit performs monitoring. S14: The control unit sends a detection movement command to the repair motion platform, causing the second detection cantilever to move in two dimensions with the second laser rangefinder sensor. The measurement results are input into the control unit, which calculates the parallelism between the two pins on surface B and the reference surface, and determines the amount of repair to be done on the two pins on surface B. S15: The control unit sends a repair movement command 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 command and the amount to be repaired to the repair unit, and the repair unit repairs the two pins on side B. S16: After the revision is completed, repeat S14-S15 until the parallelism is qualified. S17: The control unit sends a rotation command to the rotary motor of the workpiece clamping unit, causing it to rotate the inner frame of the workpiece clamping unit 90 degrees in the opposite direction, so that the A side of the inertial platform faces upward. S18: The control unit sends a detection movement command to the repair motion platform, causing the first detection cantilever to move in two dimensions with the first laser rangefinder sensor. The measurement results are input into the control unit, which calculates the parallelism between the two pins on surface A and the reference surface, and determines the amount of repair to be done on the two pins on surface A. S19: The control unit sends a repair movement command 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 command and the amount to be repaired to the repair unit, and the repair unit repairs the two pins on surface A. S20: After the finishing work is completed, repeat S18-S19 until the parallelism is qualified, and complete the finishing work of the two pins on surface A. S21: Remove the inertial platform from the workpiece clamping unit.

[0015] Preferably, the method for measuring the parallelism between the two pins and the reference surface is as follows: After the inertial platform A moves upward to its position inside the repair unit, the first laser rangefinder performs a two-dimensional movement to align with and measure four points on the diagonal of the first reference surface, fitting the first pin positioning reference surface. The first laser rangefinder then performs a two-dimensional movement to measure, sequentially, the distances from the positions of five equally spaced points on the generatrix of the first pin to the first pin positioning reference surface, with the smallest distance among the five distances being recorded as h1, and the distances from the positions of five equally spaced points on the generatrix of the second pin to the first pin positioning reference surface, with the smallest distance among the five distances being recorded as h2. d1 = h1 - h2; d1 represents the parallelism between the first and second pins and the first pin positioning reference surface. Similarly, when the rotating inertial platform B faces upward, the second laser rangefinder moves in two dimensions to align with and measure four points on the diagonal of the second reference surface, thus fitting the second pin positioning reference surface. The second laser rangefinder then moves in two dimensions to measure the distances from the positions of five equally spaced points on the generatrix of the third pin to the second pin positioning reference surface, and the smallest of these five distances is recorded as h3. The same applies to the distances from the positions of five equally spaced points on the generatrix of the fourth pin to the second pin positioning reference surface, and the smallest of these five distances is recorded as h4. d2 = h3 - h4; d2 represents the parallelism between the third and fourth pins and the second pin positioning reference surface.

[0016] Compared with the prior art, the present invention has the following advantages: (1) The present invention has a reasonable layout, which makes the assembly process of the positioning pins controllable and smooth; (2) The present invention detects process data in the assembly of positioning pins, realizes automated assembly, inspection and repair of positioning pins, and all data can be displayed and transmitted in real time; (3) The present invention improves the accuracy of automatic installation and adjustment of positioning pins of inertial system by using a high-precision laser ranging sensor to detect the parallelism between the positioning pin and the installation reference in real time and by using a six-axis force sensor for flexible assembly of the pin. (4) The present invention adopts a modular design method, which improves the integration of the device, makes the device easy to maintain, and facilitates system upgrades. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the inertial platform in this invention; Figure 2 This is a schematic diagram of the assembly and adjustment device of the present invention; Figure 3 This is a schematic diagram of the workpiece clamping unit of the present invention, wherein: Figure 3 (a) is a frontal schematic diagram of the workpiece clamping unit; Figure 3(b) is a frontal view of the workpiece clamping unit after it has been clamped onto the inertial platform; Figure 3 (c) is a schematic diagram of the workpiece clamping unit after it has been clamped onto the inertial platform and rotated 90 degrees around the rotation axis; Figure 4 This is a schematic diagram of the motion unit of the present invention; Figure 5 This is a schematic diagram of the material feeding, detection, and conveying unit of the present invention; Figure 6 This is a schematic diagram of the press-fitting unit of the present invention; Figure 7 This is a schematic diagram of the detection unit of the present invention; wherein: Figure 7 (a) is a schematic diagram showing the parallelism between the locating pin's cross-section and the reference plane; Figure 7 (b) is a schematic diagram of the laser rangefinder sensor's data acquisition points; Figure 7 (c) is a schematic diagram of the cross section of the positioning pin on surface A of the inertial platform; Figure 7 (d) is a schematic diagram of the cross-section of the positioning pin on the B-side of the inertial platform; Figure 8 This is a schematic diagram of the research unit of the present invention. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments: This application discloses a device for automatically adjusting positioning pins in an inertial system, such as... Figure 2 As shown, the system includes a workpiece clamping unit 1, a motion unit 2, a loading detection and conveying unit 3, a pressing unit 4, a detection unit 5, a grinding unit 6, and a control unit 7. The connection relationship between these units is as follows: the workpiece clamping unit 1 is mounted on the workpiece motion platform at the bottom of the motion unit 2, initially located at one end of the motion unit 2; the loading detection and conveying unit 3 is adjacent to the workpiece clamping unit 1 and mounted on one side of the motion unit 2; the pressing unit 4, detection unit 5, and grinding unit 6 are respectively mounted on the cantilever of the motion unit 2; the workpiece clamping unit 1 is used to clamp the inertial platform; the motion unit 2 consists of two rectangular frame structures with movable crossbeams and cantilever arms for moving the workpiece clamping unit 1, pressing unit 4, detection unit 5, and grinding unit 6 to designated positions; the pressing unit 4 is used to insert pins into the platform; the detection unit 5 is used to measure the parallelism between the pin's cross-section and the reference surface; the grinding unit 6 is used to perform quantitative grinding of the pins; the loading detection and conveying unit 3 is used to detect whether the pins are qualified and to convey them.

[0019] like Figure 1As shown, the inertial platform 1-5 is a cuboid. Mounting shafts are positioned at the center of two opposite faces, with their axes aligned. Each mounting shaft has six radially evenly distributed screw holes. On one of the four faces parallel to the axial direction of the two mounting shafts, a reference mirror (cubic mirror) is mounted at one corner. A first circular hole a is located at the other end of the diagonal opposite the reference mirror for placing inertial devices. A pin hole is located on each side of the first circular hole a, denoted as first pin hole a1 and second pin hole a2. The line connecting the centers of first pin hole a1 and second pin hole a2 is parallel to the two mounting shafts. The plane containing the reference mirror is denoted as plane A. The adjacent plane sharing an edge with the cubic mirror among the four planes parallel to the axial direction of the two mounting shafts is denoted as plane B. A second circular hole b is also provided on this plane, along with a third pin hole b1 and a fourth pin hole b2 on either side of the circular hole b. The line connecting the centers of the third pin hole b1 and the fourth pin hole b2 is perpendicular to the axial direction of the two mounting shafts. Simultaneously, the plane on the reference mirror coplanar with plane B is defined as the first reference plane 0a, and the plane on the reference mirror perpendicular to the axial direction of the two mounting shafts, closest to the first circular hole a, is defined as the second reference plane 0b. A mounting hole is provided next to each pin hole, corresponding to the mounting holes on the inertial device.

[0020] I. Workpiece clamping unit 1 like Figure 3 As shown in (a), the workpiece clamping unit 1 consists of an outer clamping frame 1-1, an inner clamping frame 1-2, a rotary motor 1-3, and a moving platform 1-4. Both the outer clamping frame 1-1 and the inner clamping frame 1-2 are concave. The inner clamping frame 1-2 is fitted onto the concave inner side of the outer clamping frame 1-1 via rotating joints on both sides. The rotary motor 1-3 is installed on the outer side of the outer clamping frame 1-1 and connected to the rotating shaft of the corresponding rotating joint. The bottom of the inner clamping frame 1-2 is higher than the bottom of the outer clamping frame 1-1. The inner clamping frame 1-2 rotates 360 degrees around the rotating shaft of the rotating joint via the rotary motor 1-3, and can be locked at a fixed angle. A fixed shaft is provided on the inner wall of the clamping inner frame 1-2 on the side furthest from the rotary motor 1-3. The fixed shaft has evenly distributed threaded holes radially, corresponding to the evenly distributed screw through holes at the end of the inertia platform mounting shaft. A movable platform 1-4 is installed on the other side of the clamping inner frame 1-2. The movable platform 1-4 has a fixed shaft on its inner side, opposite to the fixed shaft on the clamping inner frame 1-2. The fixed shaft on the inner side of the movable platform 1-4 has evenly distributed threaded holes radially, corresponding to the evenly distributed screw through holes at the end of the inertia platform mounting shaft. The movable platform 1-4 can move along the line connecting the two fixed shafts and can be locked at a fixed distance. Figure 3 As shown in (b), during the installation of the inertial platform 1-5, 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 screws. The fixed shaft on the moving platform 1-4 is inserted into the mounting shaft end on the other side of the inertial platform 1-5 and fixed by screws. Figure 3As shown in (c), at this time, the inner frame 1-2 can drive the inertial platform 1-5 to rotate around the line connecting the two fixed axes. The line connecting the two fixed axes is on the same line as the axis of the revolute joint.

[0021] II. Motor Unit 2 like Figure 4 As shown, motion unit 2 includes motion unit base 2-0, workpiece motion platform 2-1, pressing motion platform 2-2, grinding motion platform 2-3, and inspection motion platform 2-4. Motion unit base 2-0 is a rectangular plate, providing a mounting platform for the entire motion unit. Workpiece motion platform 2-1 consists of two parallel workpiece motion linear guides and a workpiece support plate. The workpiece motion linear guides are parallel to the long side of motion unit base 2-0. Workpiece clamping unit 1 is mounted on the workpiece support plate. The three-dimensional motion coordinate system of the motion unit is defined as XYZ, where the X-axis is parallel to the workpiece motion linear guide (long side of motion unit base 2-0), the Y-axis is parallel to the short side of motion unit base 2-0, and the Z-axis is perpendicular to the upper surface of motion unit base 2-0.

[0022] Both the pressing motion platform 2-2 and the repair motion platform 2-3 are frame structures. The upper surfaces of the frames of both the pressing motion platform 2-2 and the repair motion platform 2-3 are located directly above the workpiece motion linear guide. The two frames are arranged sequentially along the direction parallel to the workpiece motion linear guide. The workpiece pallet can receive instructions from the control unit 7 to move the workpiece clamping unit 1 between the frames of the pressing motion platform 2-2 and the repair motion platform 2-3 along the direction of the workpiece motion linear guide, thus completing the movement of the workstation.

[0023] The upper surface of the press-fitting motion platform 2-2 frame is equipped with guide rails along its short edge. The press-fitting motion beam 2-2-1 is parallel to the long side of the upper surface of the press-fitting motion platform frame (parallel to the direction of the linear guide rail for workpiece movement), and its two ends are respectively connected to the guide rails on the two short edges of the upper surface of the frame. This allows the press-fitting motion beam 2-2-1 to receive the press-fitting motion platform movement command from the control unit 7 and 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 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 beam 2-2-1. The pressing unit cantilever 2-2-3 can receive the pressing motion platform movement command from control unit 7 and translate along the direction of pressing motion beam 2-2-1. The pressing unit cantilever 2-2-3 is a telescopic cylinder. The pressing unit cantilever 2-2-3 can receive the pressing motion platform movement command from control unit 7 and extend and retract 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 dimensions 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.

[0024] Four guide rails are provided along the edges of each side of the upper surface of the repair motion platform 2-3 frame. The repair motion beam 2-3-1 is parallel to the long side of the upper surface of the repair motion platform frame, and its two ends are respectively connected to the guide rails on the two short edges of the upper surface of the frame. This allows the repair motion beam 2-3-1 to receive the repair movement command from the control unit 7 and translate in a direction perpendicular to itself. The repair unit cantilever 2-3-3 is hung on the repair motion beam 2-3-1, and the repair motion beam 2-3-1 is also provided with guide rails. Unit cantilever 2-3-3 can receive maintenance movement commands from control unit 7 and translate along the direction of maintenance motion beam 2-3-1; maintenance unit 6 is installed at the lower end of maintenance unit cantilever 2-3-3. Maintenance unit cantilever 2-3-3 is a telescopic cylinder, and maintenance unit cantilever 2-3-3 can receive maintenance movement commands from control unit 7 and extend and retract along the vertical direction of maintenance unit cantilever 2-3-3; maintenance unit 6 at the end of maintenance unit cantilever 2-3-3 can move in three dimensions to achieve positioning of maintenance unit 6. A fixed crossbeam 2-42-1 is added below the short side of the upper surface of the frame of maintenance motion platform 2-3 away from the press-fitting motion platform 2-2, and a guide rail is also provided on it; The detection motion platform 2-4 consists of two sets of two-dimensional moving stages and two laser rangefinders. The first moving stage is the first detection cantilever 2-41-3, which is suspended on the long side of the upper surface of the frame of the repair motion platform 2-3 and can translate along the long side of the upper surface of the frame. The first detection cantilever 2-41-3 is equipped with a guide rail and a guide rail support plate. The first laser rangefinder 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 repair motion platform 2-3. It can receive detection movement commands from 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 repair motion platform 2-3 to which it is suspended. The first laser rangefinder sensor is positioned by the movement of the control unit 6. The second moving stage includes a fixed crossbeam 2-42-1 added to the maintenance motion platform 2-3 and a second detection cantilever 2-42-3 hanging on the fixed crossbeam 2-42-1. The second detection cantilever 2-42-3 is equipped with a guide rail and a guide rail support plate. The second laser rangefinder sensor of the detection unit 6 is installed on the guide rail support plate of the second detection cantilever 2-42-3 facing the inside of the maintenance motion platform 2-3 frame. It can receive detection and movement commands from the control unit 7 and move in two dimensions on the plane formed by the fixed crossbeam 2-42-1 and the second detection cantilever 2-42-3 to achieve the positioning of the second laser rangefinder sensor.

[0025] III. Material Feeding, Detection and Conveying Unit 3 like Figure 5As 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 slotted platform 3-5, a conveyor ring belt 3-6, a transposition platform 3-7, a conveyor gripper 3-8, and a preparation platform 3-9. The feeding detection and conveying unit base 3-0 is a concave platform, providing an installation platform for the entire feeding detection and conveying unit. The feeding detection platform 3-1 is installed on one 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, with its movement direction perpendicular to the bottom edge 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 feeding detection conveyor belt 3-2 in the conveying direction, with its working direction perpendicular to the feeding detection conveyor belt 3-2. The laser sensor detection platform 3-4 is installed on the other side of the end of the feeding detection conveyor belt 3-2, opposite to the push shaft 3-3. The feeding and inspection conveyor belt 3-2 has multiple pin positions, each pin position holds one pin. The pin position between the laser sensor detection table 3-4 and the push shaft 3-3 is the position to be tested. The moving conveyor belt 3-2 moves each pin to the position to be tested in sequence. The funnel platform 3-5 is mounted on the conveyor belt 3-6 adjacent to the laser sensor detection platform 3-4. The conveyor belt 3-6 is perpendicular to the loading detection platform 3-1 and is set on the bottom edge of the concave platform of the loading detection and conveying unit base 3-0. Multiple pin support plates are arranged sequentially along the conveyor belt 3-6, each with a mounting hole. 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 detection, the push shaft 3-3 pushes the pin into the funnel platform 3-5. The funnel platform 3-5 is funnel-shaped, with a bottom hole that allows the pin to fall vertically and insert into the mounting hole on the support plate of the conveyor belt 3-6. The support plate of the conveyor belt 3-6 moves the pin to the transfer platform 3-7.Control unit 7 sends instructions to transfer table 3-7. For pins with the correct diameter, conveyor gripper 3-8 grips them; for pins with the incorrect diameter, conveyor gripper 3-8 does not grip them, and the incorrect pins rotate to the next station with conveyor belt 3-6. Transfer table 3-7 is a double-headed rotating table with a centrally symmetrical structure. It is mounted on the other vertical side of the concave platform of the loading detection and conveying unit base 3-0 via a cylinder below the central axis of symmetry. One end of transfer table 3-7 is the conveyor belt 3-6, and the other end is the 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 a cylinder. Both ends of the double-headed station are equipped with conveyor fingers 3-8. The length of the conveyor fingers 3-8 at one end reaches the mounting hole on the pallet of the conveyor belt 3-6, and the length of the conveyor fingers 3-8 at the other end reaches the material preparation table 3-9. The distance from the central axis of symmetry of the transposition table 3-7 to the above two ends is equal. The material preparation table 3-9 is a disc that can move in a circle around its own central axis. The upper surface of the disc has pin holes evenly distributed around its circumference. The transposition platform 3-7 rises under the action of the cylinder, opening the conveyor clamp 3-8 near the end of the conveyor belt 3-6 support plate. The transposition platform 3-7 then lowers, closing the conveyor clamp 3-8 to clamp the pin. The transposition platform 3-7 rises again, completing the pin pickup. The transposition platform 3-7 rotates 180 degrees around the cylinder, moving the pin from the position of the conveyor belt 3-6 support plate to the position of the preparation platform 3-9. The transposition platform 3-7 lowers, inserting the pin into the pin hole of the preparation platform 3-9, and opening the conveyor clamp 3-8, completing the pin placement. The preparation platform 3-9 rotates to align the empty pin hole, ready to place the next pin.

[0026] IV. Pressing Unit 4 like Figure 6As shown, the pressing unit 4 includes a camera 4-1 and a pressing head 4-2. The pressing head 4-2 is installed at the end of the pressing unit cantilever 2-2-3 of the pressing motion platform 2-2, and the camera 4-1 is installed on the side of the end of the pressing unit cantilever 2-2-3. The positions of the camera 4-1 and the pressing head 4-2 are fixed, that is, the relative positions of the axis of the camera 4-1 and the axis of the pressing head 4-2 are fixed. The pressing motion platform 2-2 drives the camera 4-1 and the pressing head 4-2 to move in two dimensions. The camera 4-1 receives the imaging command from the control unit 7 to take pictures 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 pressing motion platform 2-2, and after coordinate transformation, obtains the positional relationship between the axis of the pressing head 4-2 and the pin hole to be installed. By moving the pressing unit cantilever 2-2-3 of the pressing motion platform 2-2, the axis of the pressing head 4-2 is aligned with the axis of the pin hole to be installed. The pressing head 4-2 is used to pick up and press-fit pins. The pressing head 4-2 includes a first 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 clamping block 4-2-5. The first six-axis force sensor 4-2-1 is installed at the end of the cantilever 2-2-3 of the pressing unit on the pressing motion platform 2-2, and is used to measure and transmit the pressing torque. One end of the flexible hinge 4-2-2 is connected to the first six-axis force sensor 4-2-1, and the other end is connected to one side of the mounting plate 4-2-3, used to transmit torque and provide flexible compensation during the pressing process. The pin holder 4-2-4 is installed on the non-hinge connection surface of the mounting plate 4-2-3. The pin holder 4-2-4 is equipped with a clamping block 4-2-5 and has a centering V-block machined on it for pin axis positioning. The clamping block 4-2-5 is mounted on the pin holder 4-2-4 via a guide rail and can move towards the opening of the V-block to achieve positioning and locking. The clamping block 4-2-5 presses the outer circle of the pin tightly against the centering V-block, thus completing the clamping of the pin.

[0027] The pressing head 4-2 moves to the material preparation platform 3-9 of the feeding detection and conveying unit 3 via the pressing motion beam 2-2-1 and pressing unit cantilever 2-2-3 of the pressing motion platform 2-2, clamps the pin, and then moves to the workpiece clamping unit 1. The camera 4-1 takes a picture to identify the position of the pin hole to be installed on the inertial platform 1-5. The pressing motion platform 2-2 drives the pressing 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, carrying the pin, feeds downwards towards the pressing unit cantilever 2-2-3 in the direction of the telescopic cylinder. When it contacts the edge of the pin hole, a contact force is generated. This force is transmitted to the first six-axis force sensor 4-2-1 through the flexible hinge 4-2-2. The first 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 a certain distance in the horizontal plane in the direction to reduce the misalignment. Then, the pressing head 4-2 continues to feed downwards along the vertical direction of the pressing unit cantilever 2-2-3. If the first six-axis force sensor 4-2-1 can still sense the torque, it continues to adjust and feed downwards until no torque is sensed. Then, relying on the deformation compensation of the flexible hinge 4-2-2 to reduce the distance between the pin axis and the pin hole axis, the pin continues to be inserted downwards until the first six-axis force sensor 4-2-1 senses the maximum upward pressure, thus completing the pin pressing.

[0028] V. Detection Unit 5 like Figure 7As shown, the detection unit 5 includes a first laser rangefinder 5-1 and a second laser rangefinder 5-2. The first laser rangefinder 5-1 is mounted on the guide rail plate of the first detection cantilever 2-41-3 facing inside the frame of the repair motion platform 2-3. It can move in two dimensions along the plane formed by the first detection cantilever 2-41-3 and the long side of the repair motion platform 2-3 frame to achieve the positioning of the first laser rangefinder 5-1. The second laser rangefinder 5-2 is mounted on the guide rail plate of the second detection cantilever 2-42-3 hanging on the fixed crossbeam 2-42-1. It can move in two dimensions in the plane formed by the fixed crossbeam 2-42-1 and the second detection cantilever 2-42-3 to achieve the positioning of the second laser rangefinder. After the inertial platform A moves upwards to its position inside the repair unit 6, the first laser rangefinder performs a two-dimensional movement to align with and measure four points on the diagonal of the first reference plane 0a to fit the first pin positioning reference plane. The first laser rangefinder then performs a two-dimensional movement, sequentially measuring: the distance from the positions of five equally spaced points on the generatrix of the first pin 10-1 to the first pin positioning reference plane, with the smallest distance among the five measured points being denoted as h1; and the distance from the positions of five equally spaced points on the generatrix of the second pin 10-2 to the first pin positioning reference plane, with the smallest distance among the five measured points being denoted as h2. d1 = h1 - h2. d1 represents the parallelism between the pin cross-section a1a2 (the plane formed by a total of 10 measurement points on the generatrixes of the first and second pins) and the first pin positioning reference plane.

[0029] Similarly, with the rotating inertial platform B facing upwards, the second laser rangefinder 5-2 moves in two dimensions to align with and measure four points on the diagonal of the second reference plane 0b to fit the second pin positioning reference plane. The second laser rangefinder 5-2 moves in two dimensions to sequentially measure the distances from the positions of five equally spaced points on the generatrix of the third pin 10-3 to the second pin positioning reference plane. The smallest of these five distances is recorded as h3. The smallest of these five distances is recorded as h4. d2 = h3 - h4. d2 is the parallelism between the pin cross-section b1b2 (the plane formed by the 10 measurement points on the generatrixes of the third and fourth pins) and the second pin positioning reference plane.

[0030] VI. Study Unit 6 like Figure 8As shown, the grinding unit 6 includes a second six-axis force sensor 6-1, a drive wheel 6-2, a tension 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 grinding unit cantilever 2-3-3 of the grinding motion platform 2-3. Specifically: the second six-axis force sensor 6-1 is installed at the end of the grinding unit cantilever 2-3-3 to measure the force generated during grinding; one end of the drive wheel 6-2 is connected to the second six-axis force sensor 6-1, and the other end is fitted onto one end of the sanding belt 6-4, driving the sanding belt 6-4 to rotate; the tension wheel 6-3 is fitted onto the other end of the sanding belt 6-4, keeping the sanding belt 6-4 in a tensioned state; the drive wheel 6-2 and the tension wheel 6-3 are connected and positioned by the connecting rod 6-5.

[0031] The workpiece motion platform 2-1 moves the workpiece clamping unit 1 to the grinding unit 6. The grinding motion platform 2-3 moves the grinding unit 6 to the pin that needs to be ground. The working part of the abrasive belt gradually comes into close contact with the outer surface of the pin being 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 drive 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 surface of the pin.

[0032] The parallelism d1 and d2 between the pin's cross-section and the reference surface 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 pin needs to be repaired by the finishing unit 6, with finishing amounts of d1-d and d2-d respectively. After finishing, the measurement is repeated until the parallelism requirement is met.

[0033] Control unit 7 controls each unit to complete its related functions, including: controlling the rotation and positioning of the workpiece clamping unit 1; controlling the precision 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 pressing process of the pressing unit 4; controlling the detection unit 5 to detect the parallelism between the pin's cross-section and the reference surface; and controlling the finishing unit 6 to finish the finishing process of the pin. Specifically: Send a rotation command to the rotary motor 1-3 of the workpiece clamping unit 1; Send a workpiece movement command to the workpiece motion platform 2-1 of motion unit 2; The device receives pin diameter data sent by the laser sensor detection table 3-4 of the feeding detection and conveying unit 3, and after judgment, sends a gripping command to the transfer table 3-7 of the feeding detection and conveying unit 3 to grip the pin with qualified diameter. Send motion commands to the pressing motion platform 2-2 to enable the pressing motion beam 2-2-1 and the pressing unit cantilever 2-2-3 to complete the precise movement and positioning of each stage; send imaging commands to the camera 4-1 of the pressing unit 4, receive image data from 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 opening or closing commands to the clamping block 4-2-5; and receive contact force information from the first six-axis force sensor 4-2-1. Send a detection movement command 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 rangefinder 5-1 and the second laser rangefinder 5-2 of the detection unit 5, calculate the parallelism between the pin cut surface and the reference surface, and determine the amount to be repaired. Send a maintenance movement command to the maintenance motion platform 2-3 to enable the maintenance motion crossbeam 2-3-1 and the maintenance unit cantilever 2-3-3 to complete the precise movement and positioning of the maintenance process, and send a maintenance command to the maintenance unit 6.

[0034] A method for automatically adjusting positioning pins in an inertial system, comprising: S1: Install the inertial platform 1-5 into the workpiece clamping unit 1. Insert the fixed shaft inside the clamping inner frame 1-2 into one side of the inertial platform 1-5 and fix it with screws. Insert the fixed shaft of the moving platform 1-4 into the other side of the inertial platform 1-5 and fix it with screws. Place the inertial platform 1-5 with side A facing upwards. Then install the workpiece clamping unit 1 onto the workpiece motion platform 2-1.

[0035] S2: Place the pin mounting code on the pin position of the feeding and inspection conveyor belt 3-2, and the feeding and inspection conveyor belt 3-2 will move the pin to the position to be tested.

[0036] S3: Push shaft 3-3 pushes the pin at the position to be tested onto the laser sensor detection stage 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, push shaft 3-3 pushes the pin into the slot 3-5.

[0037] S4: The pin is inserted into the mounting hole on the conveyor belt 3-6 support plate via the slot 3-5. The conveyor belt 3-6 support plate moves the pin to the transposition station 3-7. For a pin with a qualified diameter, the control unit 7 sends a command to the transposition stage 3-7, and after the delivery gripper 3-8 grasps it, the process proceeds to step S5. For pins with unqualified diameter, the conveyor grippers 3-8 do not grip them, and the unqualified pins are rotated to the next station by the conveyor belt 3-6; return to step S3, until qualified pins are obtained, and then proceed to step S5.

[0038] S5: The transposition table 3-7 is raised, and the conveyor clamp finger 3-8 at one end of the pallet position of the conveyor belt 3-6 is opened. The transposition table 3-7 is lowered until the conveyor clamp finger 3-8 is flush with the pin. The conveyor clamp finger 3-8 is closed to clamp the pin. The transposition table 3-7 is raised to complete the pin pickup. The transposition table 3-7 is rotated 180 degrees, and the pin is moved from the pallet position of the conveyor belt 3-6 to the position of the preparation table 3-9. The transposition table 3-7 is lowered to insert the pin into the pin hole of the preparation table 3-9. The conveyor clamp finger 3-8 is opened to complete the pin placement.

[0039] S6: After the pins are placed, the preparation table 3-9 rotates to prepare the next pin hole for the next pin to be placed.

[0040] S7: Control unit 7 sends a motion command to the pressing motion platform 2-2. The pressing motion beam 2-2-1 and the pressing unit cantilever 2-2-3 of the pressing motion platform 2-2 move the pressing unit 4 (camera 4-1, pressing head 4-2) above the material preparation table 3-9. Control unit 7 sends an imaging command to camera 4-1 of pressing unit 4. Camera 4-1 takes a picture. Control unit 7 receives the image data from camera 4-1, identifies the position of the pin to be installed, and sends a motion command to the pressing motion platform based on the identified position information, causing the pressing motion beam 2-2-1 and the pressing unit cantilever 2-2-3 to move the pressing head 4-2. Upon reaching the pin, the control unit 7 sends an opening command to the clamping block 4-2-5, causing the clamping block 4-2-5 to open. The pressing unit cantilever 2-2-3 moves the pressing head 4-2 downwards, and the top surface of the pin contacts the bottom surface of the pin holder 4-2-4. The control unit 7 receives contact force information from the first six-axis force sensor 4-2-1. When the first six-axis force sensor 4-2-1 senses the preset contact force, the pressing unit cantilever 2-2-3 stops moving downwards. The control unit 7 then sends a closing command to the clamping block 4-2-5, closing the clamping block 4-2-5. The pressing unit cantilever 2-2-3 moves the pressing head 4-2 upwards, completing the pickup of the pin to be installed.

[0041] S8: Control unit 7 sends a motion command to the pressing motion platform 2-2. The pressing motion beam 2-2-1 and pressing unit cantilever 2-2-3 of the pressing motion platform 2-2, along with camera 4-1 and pressing head 4-2, move above the workpiece clamping unit 1. Control unit 7 sends an imaging command to camera 4-1 of pressing unit 4. Camera 4-1 takes a picture of the pin hole to be installed and sends it to control unit 7. Control unit 7 determines the position of the pin hole to be installed on inertial platform 1-5 under pressing motion platform 2-2. Through coordinate transformation, it obtains the positional relationship between the axis of pressing head 4-2 and the pin hole to be installed. It then sends a motion command to pressing motion platform 2-2 to move pressing unit cantilever 2-2-3 of pressing motion platform 2-2, so that the axis of pressing head 4-2 is aligned with the axis of pin hole to be installed.

[0042] S9: The pressing unit cantilever 2-2-3 drives the pressing head 4-2 to move downward, inserting the pin to be installed into the pin hole of the inertial platform 1-5. The control unit 7 receives the contact force information from the first six-axis force sensor 4-2-1. When the first six-axis force sensor 4-2-1 senses the preset contact force, the pressing unit cantilever 2-2-3 stops moving downward, the clamping block 4-2-5 opens, and the pressing unit cantilever 2-2-3 drives the pressing head 4-2 to move upward, completing the pressing of the pin to be installed.

[0043] S10: Repeat S6-S9 to complete the pressing of another pin to be installed.

[0044] S11: Control unit 7 sends a rotation command to the rotary motor 1-3 of workpiece clamping unit 1, causing it to rotate the inner frame 1-2 of workpiece clamping unit 1 by 90 degrees, so that the B side of the inertial platform 1-5 faces upward.

[0045] S12: Repeat S6-S9 to complete the pressing of the two pins on side B.

[0046] S13: The control unit 7 sends a workpiece movement command to the workpiece motion platform 2-1, moving the workpiece motion platform 2-1 so that the workpiece motion platform 2-1 carries the inertial platform 1-5 on the workpiece clamping unit 1 to the preset position for monitoring by the detection unit 5.

[0047] S14: Control unit 7 sends a detection movement command to the repair motion platform 2-3, causing the second detection cantilever 2-42-3 to move in two dimensions with the second laser rangefinder 5-2, and inputs the measurement results into control unit 7. Control unit 7 calculates the parallelism between the two pins on surface B and the reference surface, and determines the amount of repair to be done on the two pins on surface B.

[0048] S15: Control unit 7 sends a repair movement command to repair motion platform 2-3, and repair motion platform 2-3 repair unit cantilever 2-3-3 moves repair unit 6 to the position of the pin to be repaired; control unit 7 sends repair command and repair quantity to repair unit 6, and repair unit 6 repairs the two pins on side B.

[0049] S16: After the revision is completed, repeat S14-S15 until the parallelism is qualified.

[0050] S17: Control unit 7 sends a rotation command to the rotary motor 1-3 of workpiece clamping unit 1, causing it to drive the inner frame 1-2 of workpiece clamping unit 1 to rotate 90 degrees in the opposite direction, so that the A side of the inertial platform 1-5 faces upward.

[0051] S18: Control unit 7 sends a detection movement command to the repair motion platform 2-3, causing the first detection cantilever 2-41-3 to move in two dimensions with the first laser rangefinder 5-1, and inputs the measurement results into control unit 7. Control unit 7 calculates the parallelism between the two pins on surface A and the reference surface, and determines the amount of repair to be done on the two pins on surface A.

[0052] S19: Control unit 7 sends a repair movement command to repair motion platform 2-3, and repair motion platform 2-3 repair unit cantilever 2-3-3 moves repair unit 6 to the position of the pin to be repaired; control unit 7 sends repair command and repair quantity to repair unit 6, and repair unit 6 repairs the two pins on surface A.

[0053] S20: After the finishing work is completed, repeat S18-S19 until the parallelism is qualified, and complete the finishing work of the two pins on surface A.

[0054] S21: Remove the inertial platform 1-5 from the workpiece clamping unit 1.

[0055] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A device for automatically adjusting positioning pins in an inertial system, characterized in that... include: The workpiece clamping unit (1), motion unit (2), loading detection and conveying unit (3), pressing unit (4), detection unit (5), grinding unit (6), control unit (7), and inertial platform (1-5) waiting for assembly pins; specifically: The inertial platform (1-5) is clamped on the workpiece clamping unit (1). The workpiece clamping unit (1) is installed at the bottom of the motion unit (2) and can rotate the inertial platform (1-5) clamped on the workpiece clamping unit (1) under the action of the control unit (7). The motion unit (2) consists of two frame structures with movable crossbeams and cantilever arms. The pressing unit (4), detection unit (5), and grinding unit (6) are respectively installed on the corresponding cantilever arms in the motion unit (2). The motion unit (2) can receive instructions from the control unit (7) to move the workpiece clamping unit (1), pressing unit (4), detection unit (5), and grinding unit (6) to the designated position. The pressing unit (4) can insert the 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's cross-section and the reference surface 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 instructions sent by the control unit (7) and the amount to be ground. The loading detection and conveying unit (3) is adjacent to the workpiece clamping unit (1) and is installed on one side of the motion unit (2). It can detect whether the pin is qualified and convey it under the action of the control unit (7). The motion unit (2) includes a motion unit base (2-0), a workpiece motion platform (2-1), a pressing motion platform (2-2), a grinding motion platform (2-3), and a detection motion platform (2-4). Among them: the motion unit base (2-0) is a rectangular plate, which provides an installation platform for the entire motion unit; the workpiece motion platform (2-1) consists of two parallel workpiece motion linear guides and a workpiece tray. The workpiece motion linear guides are set parallel to the long side of the motion unit base (2-0), and the workpiece clamping unit (1) is installed on the workpiece tray. The main body of the pressing motion platform (2-2) and the repair motion platform (2-3) are both frame structures. The upper surface of the frames of the pressing motion platform (2-2) and the repair motion platform (2-3) is located directly above the workpiece motion linear guide. The two frames are arranged in sequence along the direction parallel to the workpiece motion linear guide. The workpiece pallet can receive the workpiece movement command from the control unit (7) and move the workpiece clamping unit (1) between the frames of the pressing motion platform (2-2) and the repair motion platform (2-3) along the direction of the workpiece motion linear guide to complete the movement of the work station. The upper surface of the press-fitting motion platform (2-2) frame is equipped with a press-fitting motion crossbeam (2-2-1). The press-fitting motion crossbeam (2-2-1) is parallel to the linear guide rail for workpiece movement and can be translated in a direction perpendicular to itself by receiving the press-fitting motion platform movement command from the control unit (7). The press-fitting unit cantilever (2-2-3) is hung on the press-fitting motion crossbeam (2-2-1) and can be translated in the direction of the press-fitting motion crossbeam (2-2-1) by receiving the press-fitting motion platform movement command from the control unit (7). The press-fitting unit cantilever (2-2-3) is a telescopic cylinder and can be extended and retracted in the vertical direction by receiving the press-fitting motion platform movement command from the control unit (7). The frame of the repair motion platform (2-3) is equipped with a repair motion crossbeam (2-3-1). The repair motion crossbeam (2-3-1) is parallel to the linear guide rail of the workpiece and can be translated in a direction perpendicular to itself by receiving the repair movement command from the control unit (7). The repair unit cantilever (2-3-3) is hung on the repair motion crossbeam (2-3-1) and can be translated in the direction of the repair motion crossbeam (2-3-1) by receiving the repair movement command from the control unit (7). The repair unit cantilever (2-3-3) is a telescopic cylinder and can be extended and retracted in the vertical direction of the repair unit cantilever (2-3-3) by receiving the repair movement command from the control unit (7). A fixed crossbeam (2-42-1) perpendicular to the linear guide rail of the workpiece is added to the end of the frame of the repair motion platform (2-3) away from the press-fitting motion platform (2-2). The detection motion platform (2-4) consists of two sets of two-dimensional moving stages and two laser rangefinders. The first moving stage is a first detection cantilever (2-41-3) suspended on the upper surface of the frame of the repair motion platform (2-3) parallel to the workpiece motion linear guide rail. It can receive detection movement commands from the control unit (7) and translate along the direction parallel to the workpiece motion linear guide rail. The first detection cantilever (2-41-3) is equipped with a mechanism that can receive detection movement commands from the control unit (7) and translate along the first detection cantilever (2-41-3) along the direction parallel to the workpiece motion linear guide rail. 3) Movable guide rail plate; The second moving stage includes a fixed crossbeam (2-42-1) added to the repair motion platform (2-3) and a second detection cantilever (2-42-3) hanging on the fixed crossbeam (2-42-1). The second detection cantilever (2-42-3) can receive the detection movement command from the control unit (7) and move along the fixed crossbeam (2-42-1). The second detection cantilever (2-42-3) is provided with a guide rail plate that can receive the detection movement command from the control unit (7) and move along the guide rail.

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

3. The device for automatic installation and adjustment of positioning pins in an inertial system according to claim 1, characterized in that: The workpiece clamping unit (1) includes a clamping outer frame (1-1), a clamping inner frame (1-2), a rotary motor (1-3), and a moving platform (1-4); specifically: Both the outer clamping frame (1-1) and the inner clamping frame (1-2) are concave. The inner clamping frame (1-2) is fitted onto the concave inner side of the outer clamping frame (1-1) via rotating joints on both sides. The rotary motor (1-3) is installed on the outer side of the outer clamping frame (1-1) and connected to the rotating shaft of the corresponding rotating joint. The bottom of the inner clamping frame (1-2) is higher than the bottom of the outer clamping frame (1-1). The inner clamping frame (1-2) rotates 360 degrees around the rotating shaft of the rotating joint via the rotary motor (1-3) and can be locked at a fixed angle. The inner clamping frame (1-2) is located on one side away from the rotary motor (1-3). A fixed shaft is provided on the wall, and the fixed shaft has threaded holes that are radially evenly distributed and correspond to the screw through holes that are radially evenly distributed at the end of the inertial platform mounting shaft. A movable platform (1-4) is installed on the other side of the inner frame (1-2). A fixed shaft is also provided on the inner side of the movable platform (1-4), and this fixed shaft is aligned with the fixed shaft on the inner frame (1-2). The fixed shaft on the inner side of the movable platform (1-4) has threaded holes that are radially evenly distributed and correspond to the screw through holes that are radially evenly distributed at the end of the inertial platform mounting shaft. The movable platform (1-4) can move along the line connecting the two fixed shafts and lock at a certain distance. The line connecting the two fixed shafts is collinear with the rotation axis of the rotating 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 shaft end of the inertial platform (1-5) and fixed by screws; the fixed shaft on the moving platform (1-4) is inserted into the shaft end of the inertial platform (1-5) and fixed by screws.

4. The device for automatic installation and adjustment of positioning pins in an inertial system according to claim 1, characterized in that: The feeding, inspection, and conveying unit (3) includes a feeding, inspection, and conveying unit base (3-0), a feeding inspection table (3-1), a feeding inspection conveyor belt (3-2), a push shaft (3-3), a laser sensor inspection table (3-4), a slotting table (3-5), a conveyor ring belt (3-6), a transfer table (3-7), conveyor grippers (3-8), and a preparation table (3-9); specifically: The base (3-0) of the feeding inspection and conveying unit is a concave platform, providing an installation platform for the entire feeding inspection and conveying unit. The feeding inspection platform (3-1) is installed on one vertical side of the concave platform of the feeding inspection and conveying unit base (3-0). The feeding inspection conveyor belt (3-2) is installed on the feeding inspection platform (3-1), with its movement direction perpendicular to the bottom edge of the concave platform of the feeding inspection and conveying unit base (3-0). The push shaft (3-3) is installed at the end of the conveying direction of the feeding inspection conveyor belt (3-2). On one side of the end, its working direction is perpendicular to the feeding and inspection conveyor belt (3-2); the laser sensor detection station (3-4) is installed on the other side of the end of the feeding and inspection conveyor belt (3-2) relative to the push shaft (3-3); there are multiple pin positions distributed on the feeding and inspection conveyor belt (3-2), each pin position is used to place a pin, the pin position between the laser sensor detection station (3-4) and the push shaft (3-3) is the position to be tested, and the moving conveyor belt (3-2) moves each pin to the position to be tested in sequence; The slotted platform (3-5) is adjacent to the laser sensor detection platform (3-4) and installed on the conveyor belt (3-6). The conveyor belt (3-6) is perpendicular to the loading detection platform (3-1) and is set on the bottom edge of the concave platform of the loading detection and conveying unit base (3-0). Multiple pin support plates are arranged sequentially along the conveyor belt (3-6), and each pin support plate is provided with a mounting hole. The push shaft (3-3) pushes the pin at the position to be tested onto the laser sensor detection platform (3-4). The sensor detects the diameter of the pin and transmits the diameter data to the control unit (7). After detection, the push shaft (3-3) pushes the pin into the slot (3-5). The slot (3-5) is funnel-shaped, with a hole at the bottom that allows the pin to fall vertically and be inserted into the mounting hole on the conveyor belt (3-6). The conveyor belt (3-6) moves the pin to the transfer station (3-7), where the transfer station (3-7) receives the control unit (7) sending data for pins with the correct diameter. The gripping command causes the conveyor gripper (3-8) to grip; for pins with unqualified diameters, the conveyor gripper (3-8) does not grip, and the unqualified pins rotate to the next station with the conveyor belt (3-6); the transfer station (3-7) is a double-headed rotating platform with a centrally symmetrical structure. It is mounted on the other vertical side of the concave platform of the loading detection and conveying unit base (3-0) via a cylinder below the central axis of symmetry. One end of the transfer station (3-7) is the conveyor belt (3-6), and the other end is... The end is the material preparation platform (3-9); the transfer platform (3-7) can rotate 360 ​​degrees along the central axis of symmetry, and can be raised and lowered under the action of a cylinder. A conveyor clamp (3-8) is installed at each end of the double-headed station. The length of the conveyor clamp (3-8) at one end reaches the mounting hole on the conveyor belt (3-6) support plate, and the length of the conveyor clamp (3-8) at the other end reaches the material preparation platform (3-9). The distance from the central axis of symmetry of the transfer platform (3-7) to the above two ends is equal. The material preparation platform (3-9) is installed on the base (3-0) of the material feeding, detection and conveying unit. It is a disc that can make circular motion around its own central axis. The upper surface of the disc has pin holes evenly distributed around its circumference.

5. The device for automatic installation and adjustment of positioning pins in an inertial system according to claim 1, characterized in that: The pressing unit (4) includes a camera (4-1) and a pressing head (4-2); the pressing head (4-2) is installed at the end of the pressing unit cantilever (2-2-3) of the pressing motion platform (2-2), and the camera (4-1) is installed on the side of the end of the pressing unit cantilever (2-2-3). The relative positions of the camera (4-1) and the pressing head (4-2) are fixed. The camera (4-1) receives the imaging command from the control unit (7) to take pictures of the pin holes to be installed on the inertial platform (1-5) and sends the image data to the control unit (7). The press-fit head (4-2) includes a first 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 clamping block (4-2-5). The first six-axis force sensor (4-2-1) is mounted at the end of the cantilever (2-2-3) of the press-fit unit and is used to measure and transmit the press-fit torque. One end of the flexible hinge (4-2-2) is connected to the first six-axis force sensor (4-2-1), and the other end is connected to one side of the mounting plate (4-2-3). The connection is used to transmit torque and provide flexible compensation for the pressing process; a pin holder (4-2-4) is installed on the non-hinge connection surface of the mounting plate (4-2-3), and a clamping block (4-2-5) is provided on the pin holder (4-2-4), and a fixed centering V block is machined thereon for positioning the pin axis; the clamping block (4-2-5) is installed on the pin holder (4-2-4) through the guide rail, and can receive the closing command of the control unit (7) to move towards the opening direction of the V block to achieve positioning and locking.

6. The device for automatic installation and adjustment of positioning pins in an inertial system according to claim 1, characterized in that: The detection unit (5) includes a first laser rangefinder (5-1) and a second laser rangefinder (5-2); The first laser rangefinder (5-1) is installed on the guide rail plate of the first detection cantilever (2-41-3) inside the frame of the research and development platform (2-3), and can move in two dimensions to realize the positioning of the first laser rangefinder (5-1); The second laser rangefinder (5-2) is mounted on the guide rail plate of the second detection cantilever (2-42-3) which is suspended on the fixed crossbeam (2-42-1). It can move in two dimensions to realize the positioning of the second laser rangefinder (5-2).

7. The device for automatic installation and adjustment of positioning pins in an inertial system according to claim 1, characterized in that: The repair unit (6) is installed at the end of the repair unit cantilever (2-3-3) of the repair motion platform (2-3), including a second six-axis force sensor (6-1), a drive wheel (6-2), a tensioning wheel (6-3), a sanding belt (6-4), and a connecting rod (6-5); specifically: The second six-axis force sensor (6-1) is installed at the end of the cantilever (2-3-3) of the repair unit to measure the force generated during repair. One end of the drive wheel (6-2) is connected to the second six-axis force sensor (6-1), and the other end is fitted onto one end of the sanding belt (6-4) to drive the sanding belt (6-4) to rotate. The tension wheel (6-3) is fitted onto the other end of the sanding belt (6-4) to keep the sanding belt (6-4) in a tensioned state. The drive wheel (6-2) and the tension wheel (6-3) are connected and positioned by the connecting rod (6-5).

8. A method for automatically assembling and adjusting positioning pins for an inertial system using the device described in any one of claims 1 to 7, characterized in that... Includes the following steps: S1: Install the inertial platform (1-5) in the workpiece clamping unit (1); insert the fixed shaft of the clamping inner frame (1-2) into one side of the inertial platform (1-5) and install the shaft end, and fix it by screws; insert the fixed shaft of the moving platform (1-4) into the other side of the inertial platform (1-5) and install the shaft end, and fix it by screws; place the inertial platform (1-5) with its A side facing up, and then install the workpiece clamping unit (1) on the workpiece moving platform (2-1); S2: Place the pin mounting bracket on the pin position of the feeding inspection conveyor belt (3-2), and the feeding inspection conveyor belt (3-2) will move 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 stage (3-4). The diameter of the pin is detected by the laser sensor and the diameter data is transmitted to the control unit (7). After the detection is completed, the push shaft (3-3) pushes the pin into the slot (3-5). S4: The pin is inserted into the mounting hole on the conveyor belt (3-6) support plate through the slot (3-5); the conveyor belt (3-6) support plate moves the pin to the transposition table (3-7): For a pin with a qualified diameter, the control unit (7) sends a gripping command to the transposition stage (3-7), and after the delivery gripper (3-8) grips it, it proceeds to step S5; For pins with unqualified diameter, the conveyor gripper (3-8) will not grab them, and the unqualified pins will rotate to the next station with the conveyor belt (3-6); Return to step S3 until a qualified pin is obtained, then proceed to step S5; S5: The transposition platform (3-7) is raised, and the conveyor clamp (3-8) at one end of the pallet position of the conveyor belt (3-6) is opened. The transposition platform (3-7) is lowered until the conveyor clamp (3-8) is flush with the pin. The conveyor clamp (3-8) is closed to clamp the pin. The transposition platform (3-7) is raised to complete the pin pickup. The transposition platform (3-7) is rotated 180 degrees, and the pin is moved from the pallet position of the conveyor belt (3-6) to the position of the preparation platform (3-9). The transposition platform (3-7) is lowered to insert the pin into the pin hole of the preparation platform (3-9). The conveyor clamp (3-8) is opened to complete the pin placement. S6: The preparation table (3-9) rotates to make the next pin hole position ready for the next pin to be placed; S7: The control unit (7) sends a pressing motion platform movement command to the pressing motion platform (2-2). The pressing motion beam (2-2-1) and pressing unit cantilever (2-2-3) of the pressing motion platform (2-2) move the pressing unit (4) above the material preparation table (3-9). The control unit (7) sends an imaging command to the camera (4-1) of the pressing unit (4). The camera (4-1) takes a picture. The control unit (7) receives the image data from the camera (4-1), identifies the position of the pin to be installed, and sends a pressing motion platform movement command based on the identified position information, so that the pressing motion beam (2-2-1) and pressing unit cantilever (2-2-3) drive the pressing head (4-2) to move above the pin. The control unit (7) sends an opening command to the clamping block (4-2-5), and the clamping block (4-2-5) opens; the grinding unit cantilever (2-3-3) 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). The control unit (7) receives the contact force information from the first six-axis force sensor (4-2-1). When the first six-axis force sensor (4-2-1) senses the preset contact force, the grinding unit cantilever (2-3-3) stops moving downward; the control unit (7) sends a closing command to the clamping block (4-2-5), and the clamping block (4-2-5) closes. The grinding unit cantilever (2-3-3) drives the pressing head (4-2) to move upward, completing the picking up of the pin to be installed; S8: The control unit (7) sends a pressing motion platform movement command to the pressing motion platform (2-2). The pressing motion beam (2-2-1) and pressing unit cantilever (2-2-3) of the pressing motion platform (2-2) move the pressing unit (4) above the inertial platform (1-5) of the workpiece clamping unit (1). The control unit (7) sends an imaging command to the camera (4-1) of the pressing 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 on the inertial platform (1-5) under the pressing motion platform (2-2). Through coordinate transformation, it obtains the positional relationship between the axis of the pressing head (4-2) and the pin hole to be installed. It sends a pressing motion platform movement command to the pressing motion platform (2-2) and moves the pressing unit cantilever (2-2-3) of the pressing motion platform (2-2) so that the axis of the pressing head (4-2) is aligned with the axis of the pin hole to be installed. S9: The cantilever arm (2-3-3) of the repair unit drives the pressing head (4-2) to move downward, inserting the pin to be installed into the pin hole of the inertial platform (1-5). The control unit (7) receives the contact force information of the first six-axis force sensor (4-2-1). When the first six-axis force sensor (4-2-1) senses the preset contact force, the cantilever arm (2-3-3) of the repair unit stops moving downward, the clamping block (4-2-5) opens, and the cantilever arm (2-3-3) of the repair unit drives the pressing head (4-2) to move upward, completing the pressing of the pin to be installed. S10: Repeat S6-S9 to complete the pressing of the other pin to be installed; S11: The control unit (7) sends a rotation command to the rotary motor (1-3) of the workpiece clamping unit (1), causing it to drive the workpiece clamping unit (1) to clamp the inner frame (1-2) to rotate 90 degrees, so that the B side of the inertial platform (1-5) faces upward. S12: Repeat S6-S9 to complete the pressing of the two pins to be installed on side B; S13: The control unit (7) sends a workpiece movement command to the workpiece motion platform (2-1) to move the workpiece motion platform (2-1) so that the workpiece motion platform (2-1) carries the inertial platform (1-5) on the workpiece clamping unit (1) to the preset position when the detection unit (5) performs monitoring. S14: The control unit (7) sends a detection movement command to the repair motion platform (2-3) so that the second detection cantilever (2-42-3) moves in two dimensions with the second laser range sensor (5-2) and inputs the measurement results into 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 repair to be done on the two pins on the B surface. S15: The control unit (7) sends a repair movement command to the repair motion platform (2-3), and the repair unit cantilever (2-3-3) of the repair motion platform (2-3) moves the repair unit (6) to the position of the pin to be repaired; the control unit (7) sends a repair command and the amount to be repaired to the repair unit (6), and the repair unit (6) repairs the two pins on the B side; S16: After the revision is completed, repeat S14-S15 until the parallelism is qualified. S17: The control unit (7) sends a rotation command to the rotary motor (1-3) of the workpiece clamping unit (1), causing the workpiece clamping unit (1) to clamp the inner frame (1-2) and rotate 90 degrees in the opposite direction, so that the A side of the inertial platform (1-5) faces upward. S18: The control unit (7) sends a detection movement command to the repair motion platform (2-3) so that the first detection cantilever (2-41-3) moves in two dimensions with the first laser range sensor (5-1) and inputs the measurement results into the control unit (7). The control unit (7) calculates the parallelism between the two pins on surface A and the reference surface and determines the amount of repair to be done on the two pins on surface A. S19: The control unit (7) sends a repair movement command to the repair motion platform (2-3), and the repair unit cantilever (2-3-3) of the repair motion platform (2-3) moves the repair unit (6) to the position of the pin to be repaired; the control unit (7) sends a repair command and the amount to be repaired to the repair unit (6), and the repair unit (6) repairs the two pins on the A side; S20: After the finishing work is completed, repeat S18-S19 until the parallelism is qualified, and complete the finishing work of the two pins on surface A. S21: Remove the inertial platform (1-5) from the workpiece clamping unit (1).

9. The method for automatically adjusting positioning pins in an inertial system according to claim 8, characterized in that: The method for measuring the parallelism between two pins and the reference surface is as follows: After the inertial platform A moves upward to the position inside the repair unit (6), the first laser ranging sensor (5-1) moves in two dimensions to align with and measure four points on the diagonal of the first reference surface, fitting the first pin positioning reference surface; the first laser ranging sensor moves in two dimensions and measures in sequence: the distance from the position of five equally spaced points on the first pin generatrix to the first pin positioning reference surface, and selects the smallest distance among the five distances as h1, and the distance from the position of five equally spaced points on the second pin generatrix to the first pin positioning reference surface, and selects the smallest distance among the five distances as h2; d1=h1-h2; d1 is the parallelism between the first pin and the second pin and the first pin positioning reference surface; Similarly, when the B-side of the rotating inertial platform faces upward, the second laser rangefinder (5-2) moves in two dimensions to align with and measure four points on the diagonal of the second reference surface, thus fitting the second pin positioning reference surface; the second laser rangefinder (5-2) moves in two dimensions to measure the distance from the positions of five equally spaced points on the third pin generatrix to the second pin positioning reference surface, and selects the smallest distance among the five distances as h3, and the distance from the positions of five equally spaced points on the fourth pin generatrix to the second pin positioning reference surface, and selects the smallest distance among the five distances as h4, d2=h3-h4; d2 is the parallelism between the third and fourth pins and the positioning reference surface of the second pin.

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