A fully automatic installation device for aviation equipment nuts

Abstract

A fully automatic nut installation device for aviation equipment includes a nut installation position adjustment mechanism, a nut feeding mechanism and a nut picking and tightening mechanism; the nut feeding mechanism and the nut picking and tightening mechanism are arranged in parallel on the nut installation position adjustment mechanism; the nut installation position adjustment mechanism includes a frame, an indexing drive motor, an indexing active gear, an indexing driven gear ring, an adapter support cylinder and an adapter support flange; the nut feeding mechanism includes a feeding mechanism bracket, a nut storage assembly and a nut delivery assembly; the feeding mechanism bracket adopts a straight rod structure and is vertically arranged and fixedly connected to the frame; the nut storage assembly and the nut delivery assembly are arranged in parallel on the feeding mechanism bracket; the nut picking and tightening mechanism includes a nut tightening execution assembly, a nut picking and transporting execution assembly and a nut screwing execution assembly; the nut picking and transporting execution assembly is arranged on the nut tightening execution assembly; the nut screwing execution assembly is arranged on the nut picking and transporting execution assembly.

Description

Technical Field

[0001] The invention belongs to the technical field of aviation equipment assembly, and in particular relates to a fully automatic installation device for aviation equipment nuts. Background Art

[0002] In the aviation field, many aviation equipment are fastened together in the circumferential direction by bolts and nuts, and the nut installation work is currently mainly completed manually. Due to the particularity of aviation equipment, there are usually strict requirements on the tightening torque of the nuts. In addition, the nut installation process usually has the requirements of "tighten → loosen → tighten again", which leads to very high labor intensity and very low work efficiency for workers.

[0003] In addition, the fastening locations of some aviation equipment may exist in harsh working environments such as high temperature and confined space. It is difficult for workers to install nuts in such harsh working environments for a long time, which further reduces work efficiency. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides a fully automatic installation device for nuts of aviation equipment, which has the characteristics of simple structure and reliable operation. It can replace manual methods to complete the fully automatic installation of nuts, effectively reduce the labor intensity of workers, and even if the fastening position is in a harsh working environment, the nut installation operation can be completed efficiently.

[0005] In order to achieve the above-mentioned objectives, the present invention adopts the following technical solution: a fully automatic nut installation device for aviation equipment, comprising a nut installation position adjustment mechanism, a nut feeding mechanism and a nut picking and tightening mechanism; the nut installation position adjustment mechanism is installed at the position on the aviation equipment where nuts need to be installed, and the nut feeding mechanism and the nut picking and tightening mechanism are arranged in parallel on the nut installation position adjustment mechanism.

[0006] The nut installation position adjustment mechanism includes a frame, an indexing drive motor, an indexing active gear, an indexing driven gear ring, a transfer support cylinder and a transfer support flange; the indexing drive motor is vertically fixed on the frame, and the motor shaft of the indexing drive motor is set downward; the indexing active gear is coaxially fixed on the motor shaft of the indexing drive motor; the transfer support cylinder is vertically fixed at the bottom center of the frame; the transfer support flange is connected to the outside of the transfer support cylinder through a bearing sleeve; the indexing driven gear ring is coaxially fixed on the outside of the transfer support flange, and the indexing driven gear ring is meshed with the indexing active gear.

[0007] A nut picking and tightening mechanism lifting and posture adjustment component is provided on the frame, and the nut picking and tightening mechanism lifting and adjustment component includes a lifting and adjustment driving motor, a lifting and adjustment driving gear, a lifting and adjustment driven gear, a lifting and adjustment screw, a lifting and adjustment nut, a lifting and adjustment slider and a lifting and adjustment slide rail; the lifting and adjustment driving motor is vertically fixed on the frame, and the motor shaft of the lifting and adjustment driving motor is set downward; the lifting and adjustment driving gear is coaxially fixed on the motor shaft of the lifting and adjustment driving motor; the lifting and adjustment screw is vertically installed on the frame through a bearing; the lifting and adjustment driven gear is coaxially fixed at the bottom end of the lifting and adjustment screw, and the lifting and adjustment driven gear is meshed with the lifting and adjustment driving gear; the lifting and adjustment slide rail adopts a parallel double-track structure, and the lifting and adjustment slide rail is vertically fixed on the frame; the lifting and adjustment screw is located in the middle of the two lifting and adjustment slide rails; the lifting and adjustment nut is arranged on the lifting and adjustment screw; the lifting and adjustment slider is arranged on the lifting and adjustment slide rail.

[0008] The nut feeding mechanism includes a feeding mechanism bracket, a nut storage assembly and a nut picking and delivering assembly; the feeding mechanism bracket adopts a straight rod structure, the feeding mechanism bracket is vertically arranged, and the feeding mechanism bracket is fixedly connected to the frame; the nut storage assembly and the nut picking and delivering assembly are arranged side by side on the feeding mechanism bracket.

[0009] The nut storage assembly includes a nut releasing drive motor, a nut releasing drive shaft, a nut releasing active gear, a first nut releasing active cam, a second nut releasing active cam, a nut releasing driven gear ring, a nut releasing driven gear, a first nut releasing driven cam, a second nut releasing driven cam, a nut storage tube, a nut centering guide rod and a guide rod positioning block; the nut releasing drive motor is vertically fixed on the top of the feeding mechanism bracket, and the motor shaft of the nut releasing drive motor is set downward; a first support plate is provided directly below the nut releasing drive motor, and a second support plate is provided directly below the first support plate; the gear shaft of the nut releasing active gear is connected to the first support plate and the second support plate through a bearing. The two support plates are connected, and the gear shaft of the nut releasing active gear and the motor shaft of the nut releasing driving motor are coaxially fixedly connected through the nut releasing driving shaft; the first nut releasing active cam and the second nut releasing active cam are located between the first support plate and the second support plate, and the first nut releasing active cam and the second nut releasing active cam are coaxially fixed on the gear shaft of the nut releasing active gear from top to bottom, and there is a phase angle of 180° between the first nut releasing active cam and the second nut releasing active cam; the nut storage tube is vertically arranged, the top end of the nut storage tube is fixedly connected to the top of the feeding mechanism bracket, and the bottom end of the nut storage tube passes through the first support plate and is fixedly connected to the second support plate; the nut releasing The driven gear ring is sleeved on the outside of the nut storage tube through a bearing, and the nut releases the driven gear ring and meshes with the nut release driving gear; the gear shaft of the nut release driven gear is connected to the first support plate and the second support plate through a bearing, and the nut releases the driven gear and meshes with the nut release driven gear ring; the first nut release driven cam and the second nut release driven cam are located between the first support plate and the second support plate, and the first nut release driven cam and the second nut release driven cam are coaxially fixed on the gear shaft of the nut release driven gear from top to bottom, and there is a phase angle of 180° between the first nut release driven cam and the second nut release driven cam; the first nut release active cam and the first nut The releasing driven cam has the same phase angle; the second nut releasing active cam has the same phase angle as the second nut releasing driven cam; the nut centering guide rod is vertically installed in the nut storage tube; the guide rod positioning block is fixedly installed on the upper end of the nut centering guide rod, and several nuts are placed in a stacked state inside the nut storage tube and are sleeved on the nut centering guide rod; two groups of cam cutting grooves are provided on the nut storage tube between the first support plate and the second support plate, and the upper group of cam cutting grooves are used in conjunction with the first nut releasing active cam and the first nut releasing driven cam, and the lower group of cam cutting grooves are used in conjunction with the second nut releasing active cam and the second nut releasing driven cam.

[0010] The nut transfer assembly includes a nut transfer drive motor, a nut transfer active gear, a nut transfer driven rack, a nut transfer push-pull rod and a nut transfer buffer seat; the nut transfer drive motor is horizontally fixed on the top of the feeding mechanism bracket; the nut transfer active gear is coaxially fixed on the motor shaft of the nut transfer drive motor; a rack guide slot is vertically opened on the feeding mechanism bracket, and the nut transfer driven rack is located in the rack guide slot; the nut transfer push-pull rod is vertically arranged, and the top of the nut transfer push-pull rod is connected to the nut transfer driven rack Fixedly connected, the nut transfer cache seat is fixedly connected to the bottom end of the nut transfer push-pull rod, and the nut transfer cache seat is located directly below the nut storage tube; a push-pull rod telescopic amount measuring sensor is installed on the top of the nut transfer push-pull rod, and a push-pull rod telescopic amount measuring transmission gear is coaxially fixed on the measuring axis of the push-pull rod telescopic amount measuring sensor, and the push-pull rod telescopic amount measuring transmission gear is meshed with the nut transfer driven rack; a push-pull rod guide limit block is fixedly installed on the first support plate and the second support plate, and the push-pull rod guide limit block is fixedly connected to the transfer support tube.

[0011] The nut picking and tightening mechanism includes a nut tightening execution component, a nut picking and transporting execution component and a nut screwing execution component; the nut picking and transporting execution component is arranged on the nut tightening execution component; the nut screwing execution component is arranged on the nut picking and transporting execution component.

[0012] The nut tightening execution assembly includes a tightening machine, a tightening machine fixing bracket, a tightening force transmission shaft and a rocker arm; the tightening machine fixing bracket is fixedly installed on the lifting adjustment slider, and the tightening machine fixing bracket is fixedly connected to the lifting adjustment nut; the tightening machine is vertically fixed on the top of the tightening machine fixing bracket, and the power output shaft of the tightening machine is arranged vertically downward; the tightening force transmission shaft is vertically installed on the tightening machine fixing bracket through a bearing, and the tightening force transmission shaft is coaxially fixed with the power output shaft of the tightening machine; one end of the rocker arm is fixedly connected to the tightening force transmission shaft; rocker arm swing angle limit sensors are provided on the tightening machine fixing brackets on the left and right sides of the rocker arm; a tightening machine fixing bracket lifting displacement sensor is fixedly installed on the tightening machine fixing bracket.

[0013] The nut picking and transporting execution component includes a nut picking and transporting execution motor, a nut picking and transporting execution worm, a nut picking and transporting execution worm gear, a worm gear mounting seat, a rotating frame, a rotating frame slider, a rotating frame guide rail and a fixed frame; the fixed frame is fixedly connected to the rocker arm; the worm gear mounting seat is fixedly installed on the top of the fixed frame; the nut picking and transporting execution motor is horizontally fixed on the worm gear mounting seat, the motor shaft of the nut picking and transporting execution motor is coaxially fixedly connected to one end of the nut picking and transporting execution worm gear, and the other end of the nut picking and transporting execution worm gear is connected to the worm gear mounting seat through a bearing; the nut picking and transporting execution worm gear is installed in the worm gear mounting seat through a bearing, and the nut picking and transporting execution worm gear is fixed to the worm gear mounting seat through a bearing. The picking and transporting execution worm gear is meshed with the nut picking and transporting execution worm; the turret is located on the inner side of the fixed frame, the turret is connected to the fixed frame through a bearing, and the top of the turret is fixedly connected to the nut picking and transporting execution worm gear; the turret slider is fixedly connected to the turret, and the turret slider is set on the turret guide rail; a worm rotation angle sensor is provided on the worm gear mounting seat; a worm rotation angle measurement driving gear is coaxially fixed on the nut picking and transporting execution worm; a worm rotation angle measurement driven gear is coaxially fixed on the measuring shaft of the worm rotation angle sensor, and the worm rotation angle measurement driven gear is meshed with the worm rotation angle measurement driving gear.

[0014] The nut tightening actuator assembly includes a nut tightening actuator motor, a hollow support rod, a nut tightening force transmission shaft and a nut tightening wrench; the hollow support rod is vertically arranged, the hollow support rod passes through the worm gear mounting seat, the rotating frame and the fixed frame respectively, the hollow support rod and the nut picking and transporting execution worm gear in the worm gear mounting seat have no contact, the hollow support rod and the rotating frame have no contact, and the hollow support rod and the fixed frame are connected by a bearing; the rotating frame guide rail is vertically fixed on the hollow support rod; a limited support buffer spring is provided between the rotating frame and the hollow support rod; the nut tightening actuator motor is vertically fixedly mounted on the top of the hollow support rod, and the motor shaft of the nut tightening actuator motor is arranged downward; the nut tightening wrench is arranged at the bottom of the hollow support rod; the nut tightening force transmission shaft is concentrically arranged inside the hollow support rod, the top end of the nut tightening force transmission shaft is coaxially fixedly connected with the motor shaft of the nut tightening actuator motor, and the bottom end of the nut tightening force transmission shaft is coaxially fixedly connected with the power input shaft of the nut tightening wrench.

[0015] Beneficial effects of the present invention:

[0016] The fully automatic installation equipment for aviation equipment nuts of the present invention has the characteristics of simple structure and reliable operation. It can replace manual methods to complete the fully automatic installation of nuts, effectively reducing the labor intensity of workers. Even if the fastening position is in a harsh working environment, the nut installation operation can be completed efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a fully automatic nut installation device for aviation equipment according to the present invention;

[0018] Figure 2 Schematic diagram of the structure of the nut installation position adjustment mechanism of the present invention (viewing angle 1);

[0019] Figure 3 Schematic diagram of the structure of the nut installation position adjustment mechanism of the present invention (viewing angle 2);

[0020] Figure 4 Schematic diagram of the structure of the nut feeding mechanism of the present invention (viewing angle 1);

[0021] Figure 5 Schematic diagram of the structure of the nut feeding mechanism of the present invention (viewing angle 2);

[0022] Figure 6 It is a partial exploded schematic diagram of the nut storage assembly of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the nut picking and tightening mechanism of the present invention;

[0024] Figure 8 This is a structural schematic diagram of a nut tightening actuator assembly of the present invention;

[0025] Figure 9 Schematic diagram of the assembly of the nut picking and handling actuator and the nut screwing actuator of the present invention (viewpoint one);

[0026] Figure 10 Schematic diagram of the assembly of the nut picking and handling actuator and the nut twisting actuator of the present invention (viewpoint 2);

[0027] In the figure, I—nut installation position adjustment mechanism, II—nut feeding mechanism, III—nut picking and tightening mechanism, 1—frame, 2—indexing drive motor, 3—indexing active gear, 4—indexing driven gear ring, 5—adaptation support cylinder, 6—adaptation support flange, 7—lifting adjustment drive motor, 8—lifting adjustment active gear, 9—lifting adjustment driven gear, 10—lifting adjustment screw, 11—lifting adjustment nut, 12—lifting adjustment slider, 13—lifting adjustment slide rail, 14—feeding mechanism bracket , 15—nut release drive motor, 16—nut release drive shaft, 17—nut release driving gear, 18—first nut release active cam, 19—second nut release active cam, 20—nut release driven ring gear, 21—nut release driven gear, 22—first nut release driven cam, 23—second nut release driven cam, 24—nut storage tube, 25—nut centering guide rod, 26—guide rod positioning block, 27—first support plate, 28—second support plate, 29—nut, 30 —Cam cutting groove, 31—nut transfer driving motor, 32—nut transfer driving gear, 33—nut transfer driven rack, 34—nut transfer push-pull rod, 35—nut transfer buffer seat, 36—rack guide slide, 37—push-pull rod extension and contraction measurement sensor, 38—push-pull rod extension and contraction measurement transmission gear, 39—push-pull rod guide limit block, 40—tightening machine, 41—tightening machine fixing bracket, 42—tightening force transmission shaft, 43—rocker arm, 44—rocker arm swing angle limit sensor, 45—tightening machine fixing Bracket lifting displacement sensor, 46—nut picking and transporting execution motor, 47—nut picking and transporting execution worm, 48—worm gear mounting seat, 49—turntable, 50—turntable slider, 51—turntable guide rail, 52—fixed frame, 53—worm rotation angle sensor, 54—worm rotation angle measurement driving gear, 55—worm rotation angle measurement driven gear, 56—nut tightening execution motor, 57—hollow support rod, 58—nut tightening force transmission shaft, 59—nut tightening wrench, 60—limit support buffer spring. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figures 1 to 10 As shown, a fully automatic nut installation device for aviation equipment includes a nut installation position adjustment mechanism I, a nut feeding mechanism II and a nut picking and tightening mechanism III; the nut installation position adjustment mechanism I is installed at a position on the aviation equipment where nuts need to be installed, and the nut feeding mechanism II and the nut picking and tightening mechanism III are arranged in parallel on the nut installation position adjustment mechanism I.

[0030] The nut installation position adjustment mechanism I includes a frame 1, an indexing drive motor 2, an indexing active gear 3, an indexing driven gear ring 4, a transfer support cylinder 5 and a transfer support flange 6; the indexing drive motor 2 is vertically fixed on the frame 1, and the motor shaft of the indexing drive motor 2 is set downward; the indexing active gear 3 is coaxially fixed on the motor shaft of the indexing drive motor 2; the transfer support cylinder 5 is vertically fixed at the bottom center of the frame 1; the transfer support flange 6 is connected to the outside of the transfer support cylinder 5 through a bearing sleeve; the indexing driven gear ring 4 is coaxially fixedly sleeved on the outside of the transfer support flange 6, and the indexing driven gear ring 4 is meshed with the indexing active gear 3.

[0031] A nut picking and tightening mechanism lifting and posture adjustment assembly is provided on the frame 1, and the nut picking and tightening mechanism lifting and adjustment assembly includes a lifting and adjustment drive motor 7, a lifting and adjustment driving gear 8, a lifting and adjustment driven gear 9, a lifting and adjustment screw 10, a lifting and adjustment nut 11, a lifting and adjustment slider 12 and a lifting and adjustment slide rail 13; the lifting and adjustment drive motor 7 is vertically fixed on the frame 1, and the motor shaft of the lifting and adjustment drive motor 7 is set downward; the lifting and adjustment driving gear 8 is coaxially fixed on the motor shaft of the lifting and adjustment drive motor 7; The lifting adjustment screw 10 is vertically mounted on the frame 1 through a bearing; the lifting adjustment driven gear 9 is coaxially fixed to the bottom end of the lifting adjustment screw 10, and the lifting adjustment driven gear 9 is engaged with the lifting adjustment driving gear 8; the lifting adjustment slide rail 13 adopts a parallel double-track structure, and the lifting adjustment slide rail 13 is vertically fixed on the frame 1; the lifting adjustment screw 10 is located between the two lifting adjustment slide rails 13; the lifting adjustment nut 11 is arranged on the lifting adjustment screw 10; the lifting adjustment slider 12 is arranged on the lifting adjustment slide rail 13.

[0032] The nut feeding mechanism II includes a feeding mechanism bracket 14, a nut storage assembly and a nut picking and delivering assembly; the feeding mechanism bracket 14 adopts a straight rod structure, the feeding mechanism bracket 14 is vertically arranged, and the feeding mechanism bracket 14 is fixedly connected to the frame 1; the nut storage assembly and the nut picking and delivering assembly are arranged side by side on the feeding mechanism bracket 14.

[0033] The nut storage assembly includes a nut releasing drive motor 15, a nut releasing drive shaft 16, a nut releasing active gear 17, a first nut releasing active cam 18, a second nut releasing active cam 19, a nut releasing driven gear ring 20, a nut releasing driven gear 21, a first nut releasing driven cam 22, a second nut releasing driven cam 23, a nut storage tube 24, a nut centering guide rod 25 and a guide rod positioning block 26; the nut releasing drive motor 15 is vertically fixed on the top of the feeding mechanism bracket 14, and the motor shaft of the nut releasing drive motor 15 is set downward; a first support plate 27 is provided directly below the nut releasing drive motor 15, and a second support plate 26 is provided directly below the first support plate 26. Support plate 28; the gear shaft of the nut releasing active gear 17 is connected to the first support plate 27 and the second support plate 28 through a bearing, and the gear shaft of the nut releasing active gear 17 and the motor shaft of the nut releasing drive motor 15 are coaxially fixedly connected through the nut releasing drive shaft 16; the first nut releasing active cam 18 and the second nut releasing active cam 19 are located between the first support plate 27 and the second support plate 28, and the first nut releasing active cam 18 and the second nut releasing active cam 19 are coaxially fixed on the gear shaft of the nut releasing active gear 17 from top to bottom, and there is a phase angle of 180° between the first nut releasing active cam 18 and the second nut releasing active cam 19; the nut storage tube 2 3 is vertically arranged, the top of the nut storage tube 23 is fixedly connected to the top of the feeding mechanism bracket 14, and the bottom end of the nut storage tube 23 passes through the first support plate 27 and is fixedly connected to the second support plate 28; the nut releasing driven gear ring 20 is sleeved on the outside of the nut storage tube 23 through a bearing, and the nut releasing driven gear ring 20 is meshed with the nut releasing active gear 17; the gear shaft of the nut releasing driven gear 21 is connected to the first support plate 27 and the second support plate 28 through a bearing, and the nut releasing driven gear 21 is meshed with the nut releasing driven gear ring 20; the first nut releasing driven cam 22 and the second nut releasing driven cam 23 are located between the first support plate 27 and the second support plate 28, and the first nut releasing driven cam The wheel 22 and the second nut releasing driven cam 23 are coaxially fixed on the gear shaft of the nut releasing driven gear 21 from top to bottom. The first nut releasing driven cam 22 and the second nut releasing driven cam 23 have a phase angle of 180°. The first nut releasing active cam 18 and the first nut releasing driven cam 22 have the same phase angle. The second nut releasing active cam 19 and the second nut releasing driven cam 23 have the same phase angle. The nut centering guide rod 25 is vertically installed in the nut storage tube 23. The guide rod positioning block 26 is fixedly installed on the upper end of the nut centering guide rod 25. A plurality of nuts 29 are stacked and placed inside the nut storage tube 23 and sleeved on the nut centering guide rod 25.Two sets of cam slots 30 are defined on the nut storage tube 23 between the first support plate 27 and the second support plate 28. The upper set of cam slots 30 cooperates with the first nut release active cam 18 and the first nut release driven cam 22, while the lower set of cam slots 30 cooperates with the second nut release active cam 19 and the second nut release driven cam 23.

[0034] The nut transfer assembly includes a nut transfer drive motor 31, a nut transfer active gear 32, a nut transfer driven rack 33, a nut transfer push-pull rod 34 and a nut transfer buffer seat 35; the nut transfer drive motor 31 is horizontally fixed on the top of the feeding mechanism bracket 14; the nut transfer active gear 32 is coaxially fixed on the motor shaft of the nut transfer drive motor 31; a rack guide groove 36 is vertically opened on the feeding mechanism bracket 14, and the nut transfer driven rack 33 is located in the rack guide groove 36; the nut transfer push-pull rod 34 is vertically set, and the top of the nut transfer push-pull rod 34 is connected to the nut transfer driven rack 3 3 is fixedly connected, the nut picking up and delivering cache seat 35 is fixedly connected to the bottom end of the nut picking up and delivering push-pull rod 34, and the nut picking up and delivering cache seat 35 is located directly below the nut storage tube 23; a push-pull rod telescopic amount measuring sensor 37 is installed on the top of the nut picking up and delivering push-pull rod 34, and a push-pull rod telescopic amount measuring transmission gear 38 is coaxially fixed on the measuring axis of the push-pull rod telescopic amount measuring sensor 37, and the push-pull rod telescopic amount measuring transmission gear 38 is meshed with the nut picking up and delivering driven rack 33; a push-pull rod guide limit block 39 is fixedly installed on the first support plate 27 and the second support plate 28, and the push-pull rod guide limit block 39 is fixedly connected to the transfer support cylinder 5.

[0035] The nut picking and tightening mechanism III includes a nut tightening execution component, a nut picking and transporting execution component and a nut screwing execution component; the nut picking and transporting execution component is arranged on the nut tightening execution component; the nut screwing execution component is arranged on the nut picking and transporting execution component.

[0036] The nut tightening execution assembly includes a tightening machine 40, a tightening machine fixing bracket 41, a tightening force transmission shaft 42 and a rocker arm 43; the tightening machine fixing bracket 41 is fixedly mounted on the lifting adjustment slider 12, and the tightening machine fixing bracket 41 is fixedly connected to the lifting adjustment nut 11; the tightening machine 40 is vertically fixed on the top of the tightening machine fixing bracket 41, and the power output shaft of the tightening machine 40 is vertically arranged downward; the tightening force transmission shaft 42 is vertically mounted on the tightening machine fixing bracket 41 through a bearing, and the tightening force transmission shaft 42 is coaxially fixedly connected to the power output shaft of the tightening machine 40; one end of the rocker arm 43 is fixedly connected to the tightening force transmission shaft 42; rocker arm swing angle limit sensors 44 are provided on the tightening machine fixing bracket 41 on the left and right sides of the rocker arm 43; a tightening machine fixing bracket lifting displacement sensor 45 is fixedly mounted on the tightening machine fixing bracket 41.

[0037] The nut picking and transporting execution assembly includes a nut picking and transporting execution motor 46, a nut picking and transporting execution worm 47, a nut picking and transporting execution worm gear, a worm gear mounting seat 48, a rotating frame 49, a rotating frame slider 50, a rotating frame guide rail 51 and a fixed frame 52; the fixed frame 52 is fixedly connected to the rocker arm 43; the worm gear mounting seat 48 is fixedly mounted on the top of the fixed frame 52; the nut picking and transporting execution motor 46 is horizontally fixed on the worm gear mounting seat 48, the motor shaft of the nut picking and transporting execution motor 46 is coaxially fixedly connected to one end of the nut picking and transporting execution worm gear 47, and the other end of the nut picking and transporting execution worm gear 47 is connected to the worm gear mounting seat 48 through a bearing; the nut picking and transporting execution worm gear is mounted in the worm gear mounting seat 48 through a bearing, The picking and transporting execution worm gear is meshed with the nut picking and transporting execution worm 47; the rotating frame 49 is located on the inner side of the fixed frame 52, and the rotating frame 49 is connected to the fixed frame 52 through a bearing, and the top of the rotating frame 49 is fixedly connected to the nut picking and transporting execution worm gear; the rotating frame slider 50 is fixedly connected to the rotating frame 49, and the rotating frame slider 50 is set on the rotating frame guide rail 51; a worm rotation angle sensor 53 is provided on the worm gear mounting seat 48; a worm rotation angle measurement driving gear 54 is coaxially fixed on the nut picking and transporting execution worm 47; a worm rotation angle measurement driven gear 55 is coaxially fixed on the measuring axis of the worm rotation angle sensor 53, and the worm rotation angle measurement driven gear 55 is meshed with the worm rotation angle measurement driving gear 54.

[0038] The nut tightening execution assembly includes a nut tightening execution motor 56, a hollow support rod 57, a nut tightening force transmission shaft 58 and a nut tightening wrench 59 (the structure and control method of the nut tightening wrench adopt the technical solution in CN114986137A); the hollow support rod 57 is vertically arranged, and the hollow support rod 57 passes through the worm gear mounting seat 48, the rotating frame 49 and the fixed frame 52 respectively. The hollow support rod 57 has no contact with the nut picking and transporting execution worm gear in the worm gear mounting seat 48, the hollow support rod 57 has no contact with the rotating frame 49, and the hollow support rod 57 and the fixed frame 52 are connected by a bearing; the rotating frame guide rail 51 is vertically fixed on the hollow support rod 57; a limited support buffer spring 60 is provided between the rotating frame 49 and the hollow support rod 57; the nut tightening execution motor 56 is vertically fixed on the top of the hollow support rod 57, and the motor shaft of the nut tightening execution motor 56 is set downward; the nut tightening wrench 59 is set at the bottom of the hollow support rod 57; the nut tightening force transmission shaft 58 is concentrically arranged inside the hollow support rod 57, the top end of the nut tightening force transmission shaft 58 is coaxially fixedly connected to the motor shaft of the nut tightening execution motor 56, and the bottom end of the nut tightening force transmission shaft 58 is coaxially fixedly connected to the power input shaft of the nut tightening wrench 59.

[0039] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0040] The fully automatic nut installation equipment for aviation equipment of the present invention is assembled at the position on the aviation equipment where nuts need to be installed. Specifically, it is fixedly connected to the aviation equipment through the adapter support flange 6. At this time, the nut installation position adjustment mechanism 1 can drive the frame 1 and the adapter support cylinder 5 to rotate in a circle through the rotation drive motor 2, thereby covering all points where nuts need to be installed in the circumferential direction.

[0041] First, select one of the nut installation points, then start the indexing drive motor 2, and the indexing drive motor 2 drives the indexing active gear 3 to rotate. Since the indexing driven gear ring 4 is fixed relative to the transfer support flange 6, the rotational motion of the indexing active gear 3 will be converted into a circular motion around the indexing driven gear ring 4, and then the circular motion of the indexing active gear 3 around the indexing driven gear ring 4 will drive the frame 1 and the transfer support cylinder 5 to rotate synchronously until the nut picking and tightening mechanism III moves to the front of the selected nut installation point.

[0042] When the nut picking and tightening mechanism III moves into place, the lifting and adjusting driving motor 7 is started to drive the lifting and adjusting active gear 8 to rotate, and then drive the lifting and adjusting driven gear 9 engaged with it to rotate. The rotating lifting and adjusting driven gear 9 drives the lifting and adjusting screw 10 to rotate synchronously. The rotating lifting and adjusting screw 10 will be converted into a linear motion of the lifting and adjusting nut 11, and then drive the tightening machine fixed bracket 41 to perform linear motion, thereby realizing the overall height adjustment of the nut picking and tightening mechanism III, until the nut tightening wrench 59 protrudes downward from the adapter support tube 5, and the height position of the nut tightening wrench 59 is slightly higher than the height of the nut installation position.

[0043] When the nut tightening wrench 59 completes the height adjustment, the nut releasing drive motor 15 is started to drive the nut releasing drive shaft 16 to rotate, thereby driving the nut releasing driving gear 17, the first nut releasing driving cam 18 and the second nut releasing driving cam 19 to rotate coaxially. At the same time, the rotating nut releasing driving gear 17 will drive the nut releasing driven gear ring 20 meshing with it to rotate synchronously, thereby driving the nut releasing driven gear 21, the first nut releasing driven cam 22 and the second nut releasing driven cam 23 to rotate coaxially.

[0044] In the initial state, the outer protruding ends of the first nut releasing active cam 18 and the first nut releasing driven cam 22 are located in a group of cam cutting grooves 30 in the upper layer to block and lock the nuts 29 stacked in the nut storage tube 23. When all the cams rotate 90°, the blocking and locking of the nuts 29 by the first nut releasing active cam 18 and the first nut releasing driven cam 22 are temporarily released, so that the nuts 29 stacked in the nut storage tube 23 can be dropped to a height as a whole under the action of gravity. At the same time, the outer protruding ends of the second nut releasing active cam 19 and the second nut releasing driven cam 23 are screwed into a group of cam cutting grooves 30 in the lower layer to block and lock the nuts 29 that have dropped to a height. When all the cams continue to rotate 90°, the outer protruding ends of the first nut releasing active cam 18 and the first nut releasing driven cam 22 are screwed back into a group of cam cutting grooves 30 on the upper layer, forming a blocking position for the second-to-last nut 29 in the stacked nuts 29, while the second nut releasing active cam 19 and the second nut releasing driven cam 23 synchronously release the blocking position of the penultimate nut 29 in the stacked nuts 29, causing the nut 29 to fall out of the nut storage tube 23 and fall on the nut receiving and buffering seat 35 below.

[0045] When the nut 29 falls on the nut transfer cache seat 35, the nut transfer drive motor 31 is started, driving the nut transfer active gear 32 to rotate, and then driving the nut transfer driven rack 33 engaged with it to move straight downward along the rack guide groove 36, and synchronously driving the nut transfer push-pull rod 34 and the nut transfer cache seat 35 to move downward until the height position of the nut transfer cache seat 35 is slightly lower than the height position of the nut tightening wrench 59.

[0046] When the nut picking and transporting buffer seat 35 drops to the set height, the nut picking and transporting execution motor 46 is started, driving the nut picking and transporting execution worm 47 to rotate, and then driving the nut picking and transporting execution worm gear engaged with it to rotate, and the turret 49 is synchronously driven to rotate by the nut picking and transporting execution worm gear. During the rotation of the turret 49, since the turret slider 50 and the turret guide rail 51 are self-locking structures in the rotation direction, the rotational movement of the turret 49 can be synchronously transmitted to the hollow support rod 57 through the circumferentially self-locking turret slider 50 and the turret guide rail 51, and drive the hollow support rod 57 to rotate, and the rotating hollow support rod 57 will drive the nut tightening wrench 59 at its lower end to perform rotational movement until the front end of the nut tightening wrench 59 moves to just above the nut 29 placed on the nut picking and transporting buffer seat 35.

[0047] After the front end of the nut tightening wrench 59 moves into place, the lifting and adjusting drive motor 7 is started again, so that the nut picking and tightening mechanism III moves downward by a height as a whole, so that the nut 29 placed on the nut receiving and caching seat 35 accurately enters the nut tightening wrench 59, and then the nut tightening wrench 59 is controlled to clamp the nut 29, and then the nut picking and tightening mechanism III is controlled to lift upward by a height as a whole, so that the nut 29 is separated from the nut receiving and caching seat 35, completing the picking of the nut 29, and then the nut receiving and caching seat 35 is controlled to lift and return to its original position, and then another nut 29 is released on the nut receiving and caching seat 35 that has returned to its original position for standby use.

[0048] When the nut tightening wrench 59 completes the clamping and picking up of the nut 29, the nut picking and transporting execution motor 46 is started again, causing the nut tightening wrench 59 to perform a rotation action until the nut tightening wrench 59 carries the clamped nut 29 to move to just above the screw at the nut installation point. At this time, the screw at the nut installation point and the power output shaft of the tightening machine 40 are in a coaxial state. Then the lifting and adjusting drive motor 7 is started to move the nut picking and tightening mechanism III downward as a whole by a height, so that the nut 29 falls accurately to the top of the screw, and the instantaneous impact force received by the nut 29 when it falls to the top of the screw can be offset by the limit support buffer spring 60 between the rotating frame 49 and the hollow support rod 57, thereby avoiding the occurrence of hard impact.

[0049] When the nut 29 falls to the top of the screw, the nut tightening wrench 59 is controlled to release the clamping of the nut 29, and then the nut tightening execution motor 56 is started to drive the nut tightening force transmission shaft 58 to rotate, and the rotational power is transmitted to the power input shaft of the nut tightening wrench 59 through the nut tightening force transmission shaft 58, and finally the nut 29 is tightened by the nut tightening sleeve in the nut tightening wrench 59. During the tightening process of the nut 29, the nut 29 will produce axial displacement. At this time, the lifting and adjusting drive motor 7 is started to make the nut picking and tightening mechanism III move downward as a whole, and then the nut tightening wrench 59 is moved along the axial direction of the screw until the nut 29 is screwed into place.

[0050] When the nut 29 is screwed into place on the screw, the nut tightening wrench 59 is controlled to resume clamping the nut 29, and then the tightening machine 40 is started in the forward direction, and the power output shaft of the tightening machine 40 drives the rocker arm 43 to swing, and the swinging action of the rocker arm 43 can be completely transmitted to the nut tightening wrench 59 through the hollow support rod 57, so that the nut tightening wrench 59 swings with the central axis of the screw at the nut installation point as the center of the circle, thereby synchronously converting the swinging motion of the rocker arm 43 into the swinging motion of the nut tightening wrench 59, and finally the nut 29 is tightened with a large torque through the swinging motion of the nut tightening wrench 59.

[0051] After the nut 29 is tightened with a high torque, according to the process requirements, the nut 29 that was tightened for the first time needs to be loosened and then tightened for a second time. Therefore, in order to meet the process requirements, the tightening machine 40 needs to be started in reverse, and the tightening machine 40 drives the nut tightening wrench 59 to swing in the opposite direction, and finally the nut 29 is loosened with a high torque through the swinging motion of the nut tightening wrench 59.

[0052] When the nut 29 is loosened with a large torque, under the process requirements, the tightening machine 40 is started forward again, and the tightening machine 40 drives the nut tightening wrench 59 to swing forward. Finally, the nut 29 is loosened with a large torque through the swinging motion of the nut tightening wrench 59, thereby realizing the secondary tightening of the nut.

[0053] When the nut 29 completes the process requirements of "tightening → loosening → re-tightening", the nut tightening wrench 59 is controlled to release the clamping of the nut 29, and then the lifting and adjusting drive motor 7 is started to move the nut picking and tightening mechanism III upward as a whole to a certain height, so that the tightened nut 29 is disengaged from the nut tightening sleeve in the nut tightening wrench 59.

[0054] When the nut tightening sleeve in the nut tightening wrench 59 is disengaged from the tightened nut 29, the indexing drive motor 2 is restarted to move the nut picking and tightening mechanism III to the front of the next selected nut installation point, and then the nut pick-up and buffer seat 35 pre-installed with the nut 29 is controlled to move down to the specified height position, and then the nut tightening wrench 59 is controlled to rotate so that the front end of the nut tightening wrench 59 moves to the top of the nut 29 placed on the nut pick-up and buffer seat 35, and then the nut 29 is picked up and transferred. Then, the installation of the nut 29 is completed with reference to the installation process of the first nut 2. At the same time, the nut pick-up and buffer seat 35 is controlled to reset, and after returning to its original position, a nut 29 is released again on the nut pick-up and buffer seat 35 for standby use. By analogy, the installation of all nuts in the circumferential direction can be completed.

[0055] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. Any equivalent implementation or modification that does not deviate from the present invention is included in the patent scope of this case.

Claims

1. A fully automatic installation device for nuts of aviation equipment, characterized by: It includes a nut installation position adjustment mechanism, a nut feeding mechanism, and a nut picking and tightening mechanism; the nut installation position adjustment mechanism is installed at a position on the aviation equipment where the nut needs to be installed, and the nut feeding mechanism and the nut picking and tightening mechanism are arranged in parallel on the nut installation position adjustment mechanism; The nut installation position adjustment mechanism includes a frame, an indexing drive motor, an indexing active gear, an indexing driven gear ring, a transfer support cylinder and a transfer support flange; the indexing drive motor is vertically fixed on the frame, and the motor shaft of the indexing drive motor is arranged downward; the indexing active gear is coaxially fixed on the motor shaft of the indexing drive motor; the transfer support cylinder is vertically fixed at the bottom center of the frame; the transfer support flange is connected to the outside of the transfer support cylinder through a bearing sleeve; the indexing driven gear ring is coaxially fixedly sleeved on the outside of the transfer support flange, and the indexing driven gear ring is meshed with the indexing active gear; The nut feeding mechanism includes a feeding mechanism bracket, a nut storage assembly and a nut delivery assembly; the feeding mechanism bracket adopts a straight rod structure, the feeding mechanism bracket is vertically arranged, and the feeding mechanism bracket is fixedly connected to the frame; the nut storage assembly and the nut delivery assembly are arranged side by side on the feeding mechanism bracket; The nut storage assembly includes a nut releasing drive motor, a nut releasing drive shaft, a nut releasing active gear, a first nut releasing active cam, a second nut releasing active cam, a nut releasing driven gear ring, a nut releasing driven gear, a first nut releasing driven cam, a second nut releasing driven cam, a nut storage tube, a nut centering guide rod and a guide rod positioning block; the nut releasing drive motor is vertically fixed on the top of the feeding mechanism bracket, and the motor shaft of the nut releasing drive motor is set downward; a first support plate is provided directly below the nut releasing drive motor, and a second support plate is provided directly below the first support plate; the gear shaft of the nut releasing active gear is connected to the first support plate and the second support plate through a bearing. The two support plates are connected, and the gear shaft of the nut releasing active gear and the motor shaft of the nut releasing driving motor are coaxially fixedly connected through the nut releasing driving shaft; the first nut releasing active cam and the second nut releasing active cam are located between the first support plate and the second support plate, and the first nut releasing active cam and the second nut releasing active cam are coaxially fixed on the gear shaft of the nut releasing active gear from top to bottom, and there is a phase angle of 180° between the first nut releasing active cam and the second nut releasing active cam; the nut storage tube is vertically arranged, the top end of the nut storage tube is fixedly connected to the top of the feeding mechanism bracket, and the bottom end of the nut storage tube passes through the first support plate and is fixedly connected to the second support plate; the nut releasing The driven gear ring is sleeved on the outside of the nut storage tube through a bearing, and the nut releases the driven gear ring and meshes with the nut release driving gear; the gear shaft of the nut release driven gear is connected to the first support plate and the second support plate through a bearing, and the nut releases the driven gear and meshes with the nut release driven gear ring; the first nut release driven cam and the second nut release driven cam are located between the first support plate and the second support plate, and the first nut release driven cam and the second nut release driven cam are coaxially fixed on the gear shaft of the nut release driven gear from top to bottom, and there is a phase angle of 180° between the first nut release driven cam and the second nut release driven cam; the first nut release active cam and the first nut The releasing driven cam has the same phase angle; the second nut releasing active cam has the same phase angle as the second nut releasing driven cam; the nut centering guide rod is vertically installed in the nut storage tube; the guide rod positioning block is fixedly installed on the upper end of the nut centering guide rod, and a plurality of nuts are placed in a stacked state inside the nut storage tube and sleeved on the nut centering guide rod; two groups of cam cutting grooves are provided on the nut storage tube between the first support plate and the second support plate, the upper group of cam cutting grooves are used in conjunction with the first nut releasing active cam and the first nut releasing driven cam, and the lower group of cam cutting grooves are used in conjunction with the second nut releasing active cam and the second nut releasing driven cam; The nut transfer assembly includes a nut transfer drive motor, a nut transfer active gear, a nut transfer driven rack, a nut transfer push-pull rod and a nut transfer buffer seat; the nut transfer drive motor is horizontally fixed on the top of the feeding mechanism bracket; the nut transfer active gear is coaxially fixed on the motor shaft of the nut transfer drive motor; a rack guide slot is vertically opened on the feeding mechanism bracket, and the nut transfer driven rack is located in the rack guide slot; the nut transfer push-pull rod is vertically arranged, and the top of the nut transfer push-pull rod is connected to the nut transfer driven rack Fixedly connected, the nut transfer cache seat is fixedly connected to the bottom end of the nut transfer push-pull rod, and the nut transfer cache seat is located directly below the nut storage tube; a push-pull rod telescopic amount measuring sensor is installed on the top of the nut transfer push-pull rod, and a push-pull rod telescopic amount measuring transmission gear is coaxially fixed on the measuring axis of the push-pull rod telescopic amount measuring sensor, and the push-pull rod telescopic amount measuring transmission gear is meshed with the nut transfer driven rack; a push-pull rod guide limit block is fixedly installed on the first support plate and the second support plate, and the push-pull rod guide limit block is fixedly connected to the transfer support tube.

2. The fully automatic installation device for aviation equipment nuts according to claim 1, characterized in that: A nut picking and tightening mechanism lifting and posture adjustment component is provided on the frame, and the nut picking and tightening mechanism lifting and adjustment component includes a lifting and adjustment driving motor, a lifting and adjustment driving gear, a lifting and adjustment driven gear, a lifting and adjustment screw, a lifting and adjustment nut, a lifting and adjustment slider and a lifting and adjustment slide rail; the lifting and adjustment driving motor is vertically fixed on the frame, and the motor shaft of the lifting and adjustment driving motor is set downward; the lifting and adjustment driving gear is coaxially fixed on the motor shaft of the lifting and adjustment driving motor; the lifting and adjustment screw is vertically installed on the frame through a bearing; the lifting and adjustment driven gear is coaxially fixed at the bottom end of the lifting and adjustment screw, and the lifting and adjustment driven gear is meshed with the lifting and adjustment driving gear; the lifting and adjustment slide rail adopts a parallel double-track structure, and the lifting and adjustment slide rail is vertically fixed on the frame; the lifting and adjustment screw is located in the middle of the two lifting and adjustment slide rails; the lifting and adjustment nut is arranged on the lifting and adjustment screw; the lifting and adjustment slider is arranged on the lifting and adjustment slide rail.

3. The fully automatic nut installation device for aviation equipment according to claim 1, characterized in that: The nut picking and tightening mechanism includes a nut tightening execution component, a nut picking and transporting execution component and a nut screwing execution component; the nut picking and transporting execution component is arranged on the nut tightening execution component; the nut screwing execution component is arranged on the nut picking and transporting execution component.

4. The fully automatic nut installation device for aviation equipment according to claim 3, characterized in that: The nut tightening execution assembly includes a tightening machine, a tightening machine fixing bracket, a tightening force transmission shaft and a rocker arm; the tightening machine fixing bracket is fixedly installed on the lifting adjustment slider, and the tightening machine fixing bracket is fixedly connected to the lifting adjustment nut; the tightening machine is vertically fixed on the top of the tightening machine fixing bracket, and the power output shaft of the tightening machine is arranged vertically downward; the tightening force transmission shaft is vertically installed on the tightening machine fixing bracket through a bearing, and the tightening force transmission shaft is coaxially fixed with the power output shaft of the tightening machine; one end of the rocker arm is fixedly connected to the tightening force transmission shaft; rocker arm swing angle limit sensors are provided on the tightening machine fixing brackets on the left and right sides of the rocker arm; a tightening machine fixing bracket lifting displacement sensor is fixedly installed on the tightening machine fixing bracket.

5. The fully automatic installation device for nuts of aviation equipment according to claim 4, characterized in that: The nut picking and transporting execution component includes a nut picking and transporting execution motor, a nut picking and transporting execution worm, a nut picking and transporting execution worm gear, a worm gear mounting seat, a rotating frame, a rotating frame slider, a rotating frame guide rail and a fixed frame; the fixed frame is fixedly connected to the rocker arm; the worm gear mounting seat is fixedly installed on the top of the fixed frame; the nut picking and transporting execution motor is horizontally fixed on the worm gear mounting seat, the motor shaft of the nut picking and transporting execution motor is coaxially fixedly connected to one end of the nut picking and transporting execution worm gear, and the other end of the nut picking and transporting execution worm gear is connected to the worm gear mounting seat through a bearing; the nut picking and transporting execution worm gear is installed in the worm gear mounting seat through a bearing, and the nut picking and transporting execution worm gear is fixed to the worm gear mounting seat through a bearing. The picking and transporting execution worm gear is meshed with the nut picking and transporting execution worm; the turret is located on the inner side of the fixed frame, the turret is connected to the fixed frame through a bearing, and the top of the turret is fixedly connected to the nut picking and transporting execution worm gear; the turret slider is fixedly connected to the turret, and the turret slider is set on the turret guide rail; a worm rotation angle sensor is provided on the worm gear mounting seat; a worm rotation angle measurement driving gear is coaxially fixed on the nut picking and transporting execution worm; a worm rotation angle measurement driven gear is coaxially fixed on the measuring shaft of the worm rotation angle sensor, and the worm rotation angle measurement driven gear is meshed with the worm rotation angle measurement driving gear.

6. The fully automatic nut installation device for aviation equipment according to claim 5, characterized in that: The nut tightening actuator assembly includes a nut tightening actuator motor, a hollow support rod, a nut tightening force transmission shaft and a nut tightening wrench; the hollow support rod is vertically arranged, the hollow support rod passes through the worm gear mounting seat, the rotating frame and the fixed frame respectively, the hollow support rod and the nut picking and transporting execution worm gear in the worm gear mounting seat have no contact, the hollow support rod and the rotating frame have no contact, and the hollow support rod and the fixed frame are connected by a bearing; the rotating frame guide rail is vertically fixed on the hollow support rod; a limited support buffer spring is provided between the rotating frame and the hollow support rod; the nut tightening actuator motor is vertically fixedly mounted on the top of the hollow support rod, and the motor shaft of the nut tightening actuator motor is arranged downward; the nut tightening wrench is arranged at the bottom of the hollow support rod; the nut tightening force transmission shaft is concentrically arranged inside the hollow support rod, the top end of the nut tightening force transmission shaft is coaxially fixedly connected with the motor shaft of the nut tightening actuator motor, and the bottom end of the nut tightening force transmission shaft is coaxially fixedly connected with the power input shaft of the nut tightening wrench.

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