A hydraulic tightening assembly system and method for aircraft engine blind cavity fasteners

Abstract

The present invention discloses a hydraulic tightening assembly system and method for blind cavity fasteners of an aero-engine, and relates to the field of engine assembly technology and equipment. The system includes a nut tightening mechanism, a nut feeding mechanism, and a first bracket and a display screen installed on a frame; the nut feeding mechanism is used to extend from one end of a multi-stage wheel along a turbine shaft hole, and feed the nut into the working head of the nut tightening mechanism extending from the other end of the multi-stage wheel; the nut tightening mechanism has 5 degrees of freedom consisting of 4 rotating shafts and 1 moving shaft, including a positioning seat, a telescopic arm, a middle swing arm, an upper swing arm and a working head. When in use, after the turbine blade is fixed, the nut feeding mechanism and the nut tightening mechanism are used to work together, and the tightening and precise torque control of the blind cavity fasteners are realized through a hydraulic system and a control system. The present invention has the function of realizing hydraulic tightening in the blind cavity of the turbine blade and precisely controlling the tightening torque, and real-time monitoring of the tightening process.

Description

Technical Field

[0001] The invention relates to the field of engine assembly technology and equipment, and in particular to a hydraulic tightening assembly system and method for blind cavity fasteners of an aero-engine. Background Art

[0002] During the assembly of aircraft engines, the three-stage wheels in some models of turbine aircraft engines need to be connected by 12 screws, but the screws are located in the narrow blind cavity between the three-stage wheels. The blind cavity is a narrow flat cylindrical space located inside the turbine shaft hole. Its radius is about 137mm and its maximum height is about 59mm. There are 12 screws distributed circumferentially. The axis of the screw is 10mm away from the inner wall of the blind cavity. It is necessary to tighten the 12 nuts and screws with a tightening torque of 25N·m. However, the blind cavity is located inside the turbine shaft hole, and the working space is extremely narrow. Ordinary robotic arms cannot reach into the blind cavity, and they cannot provide enough torque to tighten the screws. The current operation method is to tighten the screws and nuts manually, which is extremely inconvenient and laborious, and the torque cannot be guaranteed, which leaves a great safety hazard in the assembly process of aircraft engines. How to conveniently and quickly tighten the fasteners in the blind cavity of aircraft engines and ensure sufficient torque, there is a lack of corresponding assembly systems in the field. Summary of the invention

[0003] In view of the shortcomings of the prior art, the purpose of the present invention is to design and develop a blind cavity fastener assembly system, which can realize the tightening of 12 screws and nuts in a narrow blind cavity, and at the same time has a tightening torque control system to ensure that the required torque is met. The system also has functions such as blind cavity internal visualization, which maximizes the efficiency of blind cavity fastener assembly.

[0004] The specific technical solutions adopted by the present invention are as follows:

[0005] In a first aspect, the present invention provides a hydraulic tightening and assembly system for blind cavity fasteners of an aircraft engine, comprising a nut tightening mechanism, a nut feeding mechanism, and a first bracket and a display screen installed on a frame; the first bracket is located on a work surface on the top of the frame, and is used to fix a multi-stage wheel disc to be assembled, so that the multi-stage wheel disc is in a state where the turbine shaft hole is horizontal and the blind hole is vertical; the nut feeding mechanism is used to extend from one end of the multi-stage wheel disc along the turbine shaft hole, and feed the nut into the working head of the nut tightening mechanism extending from the other end of the multi-stage wheel disc;

[0006] The nut tightening mechanism has five degrees of freedom consisting of four rotating axes and one moving axis, and includes a positioning seat, a telescopic arm, a middle swing arm, an upper swing arm and a working head; the positioning seat is provided with a handwheel that can rotate the nut tightening mechanism as a whole around the X-axis, and the inner end is provided with a shaft hole positioning piece that matches the size of the turbine shaft hole; the telescopic arm is slidably connected to the positioning seat, and is driven by a hydraulic cylinder fixed to the positioning seat to achieve X-axial translation, and the inner end of the telescopic arm is rotatably connected to the middle swing arm; one end of the middle swing arm connected to the telescopic arm is driven by a first hydraulic swing cylinder to achieve rotation around the Y-axis, and the other end is rotatably connected to the upper swing arm; one end of the upper swing arm connected to the middle swing arm is driven by a second hydraulic swing cylinder to achieve rotation around the Y-axis, and the other end is provided with a working head for rotating around the X-axis to tighten the nut; a miniature camera with a light source is provided at the working head, and the internal image of the blind cavity acquired by the miniature camera can be reflected on the display screen in real time.

[0007] Preferably, the nut feeding mechanism includes a push rod seat, an axial hole positioning seat, a push rod, a positioning pin and a nut elastic collet; the push rod seat is fixed with an axial hole positioning seat matching the size of the turbine shaft hole, one end of which is provided with a nut elastic collet for clamping the nut and a positioning pin for positioning and assembling with the nut tightening mechanism; the push rod seat is provided with a push rod that can move axially; one end of the push rod is slidably connected to the push rod seat, and the other end is in the same horizontal plane as the nut elastic collet, and the nut clamped on the nut elastic collet can be pushed out and enter the working head of the nut tightening mechanism by moving the push rod.

[0008] Furthermore, the working head is provided with a pin hole matching the positioning pin.

[0009] Preferably, a ratchet mechanism is provided at the working head, and the ratchet is driven by the third hydraulic swing cylinder to realize unidirectional rotation and tightening of the working head.

[0010] Preferably, the frame is also provided with a control system and a hydraulic system; the control system is connected to the display screen, and the hydraulic system is connected to the hydraulic cylinder, the first hydraulic swing cylinder, the second hydraulic swing cylinder and the third hydraulic swing cylinder to provide hydraulic driving force, and the control system can adjust the movement of the five degrees of freedom of the nut tightening mechanism through the hydraulic system.

[0011] Furthermore, the hydraulic system is placed on a frame below the hydraulic system, the control system is installed in a control cabinet, and the control cabinet is fixed to the side of the frame.

[0012] Preferably, one side of the first hydraulic swing cylinder is equipped with teeth, and its reciprocating motion can drive a multi-stage gear meshing transmission, wherein the last stage gear is connected to the rotating shaft between the middle swing arm and the telescopic arm, driving the middle swing arm as a whole to rotate around the Y axis.

[0013] Preferably, the reciprocating motion of the second hydraulic swing cylinder can drive a multi-stage gear meshing transmission, and the last stage gear is connected to the rotating shaft between the upper swing arm and the middle swing arm, driving the upper swing arm to rotate around the Y axis as a whole.

[0014] Preferably, a second bracket for placing a nut tightening mechanism is also provided on the work surface.

[0015] In a second aspect, the present invention provides an assembly method using any hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to the first aspect, which is specifically as follows:

[0016] S1: The multi-stage wheel disc to be assembled is fixed on the first bracket in a state where the blind cavity is vertical and the turbine shaft hole is horizontal, and then the nut tightening mechanism is inserted into the turbine shaft hole from one end of the multi-stage wheel disc through the shaft hole positioning piece, and the working head is located in the target blind cavity by adjusting the telescopic arm to translate along the X-axis direction;

[0017] S2: Place a nut on the nut elastic chuck of the nut feeding mechanism, then insert the nut feeding mechanism into the turbine shaft hole from the other end of the multi-stage wheel and assemble and position it with the nut tightening mechanism, send the nut into the working head by moving the push rod, and then withdraw the nut feeding mechanism from the target blind cavity;

[0018] S3: Using the internal image of the blind cavity obtained by the micro camera on the display screen, by controlling the coordinated work between the middle swing arm, the upper swing arm and the telescopic arm, the working head is driven to approach the target screw to be installed and the nut is pushed in, and then the working head rotates around the X-axis to tighten the nut;

[0019] S4: Reset the nut tightening mechanism and repeat steps S2 to S3; in this process, the working head is moved closer to the next target screw to be installed by rotating the hand wheel until all the target screws are tightened to complete the assembly process.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) In order to solve the problem that the space in the blind cavity is small and it is inconvenient to assemble and the tightening torque of the nut cannot be accurately controlled, the present invention designs a blind cavity fastener assembly system to realize the tightening operation of 12 screws and nuts in the narrow blind cavity space, thereby solving the problem of inconvenience in manual operation;

[0022] (2) In order to solve the problem of fuzzy tightening torque during assembly, the system designed a control system and a hydraulic system to achieve precise control of the tightening torque when tightening the screws and nuts, solving the problem of insufficient torque during tightening;

[0023] (3) In order to solve the problem that the tightening status of screws and nuts cannot be known when they are being tightened, the system is designed with a miniature camera with a light source to achieve the visual function inside the blind cavity, which can monitor the status inside the blind cavity in real time during tightening.

[0024] In summary, the present invention has the functions of tightening screws and nuts in a blind cavity, accurately realizing the tightening torque control and the visualization of the interior of the blind cavity, thereby greatly improving the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the hydraulic tightening assembly system of blind cavity fasteners of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the nut feeding mechanism;

[0027] Figure 3 and Figure 4 It is a structural schematic diagram of the nut tightening mechanism at different viewing angles;

[0028] Figure 5 It is a cross-sectional view of the nut feeding mechanism entering the working head of the nut tightening mechanism;

[0029] Figure 6 It is a cross-sectional view of the nut tightening mechanism when tightening the nut;

[0030] Figure 7 Schematic diagram of the transmission structure of the first hydraulic swing cylinder (a) and the second hydraulic swing cylinder (b);

[0031] In the figure: 1 frame, 2 first bracket, 3 nut tightening mechanism, 4 nut feeding mechanism, 5 display screen, 6 control system, 7 hydraulic system, 8 positioning seat, 9 telescopic arm, 10 middle swing arm, 11 upper swing arm, 12 hydraulic cylinder, 13 first hydraulic swing cylinder, 14 second hydraulic swing cylinder, 15 third hydraulic swing cylinder, 16 working head, 17 miniature camera, 18 push rod seat, 19 shaft hole positioning seat, 20 push rod, 21 positioning pin, 22 nut elastic chuck, 23 multi-stage wheel, 24 second bracket, 25 work table. DETAILED DESCRIPTION

[0032] The present invention is further described and illustrated below in conjunction with the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0033] It should be noted that, unless otherwise specified, the directions indicated by the X-axis and the Y-axis in the present invention are Figure 1 The coordinate axes are shown in , and will not be repeated later.

[0034] like Figure 1As shown, a hydraulic tightening assembly system for aircraft engine blind cavity fasteners provided by the present invention is provided, and the assembly system mainly includes a nut tightening mechanism 3, a nut feeding mechanism 4, and a first bracket 2 and a display screen 5 installed on the frame 1. Among them, the first bracket 2 is located on the work table 25 on the top of the frame 1, and is used to fix the multi-stage wheel 23 to be assembled (in this embodiment, a three-stage wheel is preferably used) so that the multi-stage wheel 23 is in a state where the turbine shaft hole is horizontal and the blind hole is vertical. The nut feeding mechanism 4 is used to extend from one end of the multi-stage wheel 23 along the turbine shaft hole, and feed the nut to the working head 16 of the nut tightening mechanism 3 extending from the other end of the multi-stage wheel 23. The nut tightening mechanism 3 is used to sequentially feed the nuts to the target screws in the blind cavity, and then perform the tightening operation.

[0035] In this embodiment, the frame 1 is composed of a plurality of long bars and a work surface 25. The long bars are connected in pairs by bolts to form an external frame structure, and then the work surface 25 is fixed to the top of the external frame structure by bolts, and the work surface 25 serves as a support plate for fixing the first bracket 2 and the display screen 5.

[0036] In this embodiment, if Figure 2 As shown, the nut feeding mechanism 4 mainly includes a push rod seat 18, an axis hole positioning seat 19, a push rod 20, a positioning pin 21 and a nut elastic collet 22. The push rod seat 18 is a long strip structure, on which an axis hole positioning seat 19 matching the size of the turbine shaft hole is fixed, that is, when the push rod seat 18 is inserted into the turbine shaft hole, it cannot rotate around the axis under the limit of the axis hole positioning seat 19, and can only move in translation along the turbine shaft hole. The end of the push rod seat 18 used for inserting into the turbine shaft hole is provided with a nut elastic collet 22 and a positioning pin 21, the nut elastic collet 22 is used to clamp the nut, and the positioning pin 21 is used to position and assemble with the nut tightening mechanism 3. A push rod 20 that can move in the axial direction is provided on the push rod seat 18. One end of the push rod 20 is slidably connected to the push rod seat 18, and the other end is in the same horizontal plane as the nut elastic collet 22. By moving the push rod 20, the nut clamped on the nut elastic collet 22 can be pushed out and enter the working head 16 of the nut tightening mechanism 3.

[0037] like Figure 3 and 4 As shown, the nut tightening mechanism 3 has 5 degrees of freedom, including 4 rotation axes (i.e., axis a1, axis a2, axis a3, and axis a4) and 1 moving axis. Structurally, the nut tightening mechanism 3 mainly includes a positioning seat 8, a telescopic arm 9, a middle swing arm 10, an upper swing arm 11, and a working head 16. A hand wheel is provided on the positioning seat 8, and by turning the hand wheel, the nut tightening mechanism 3 can be rotated as a whole around the X axis, i.e., around Figure 4The central axis a1 rotates. The end of the positioning seat 8 that is used to extend into the turbine shaft hole is provided with a shaft hole positioning piece that matches the size of the turbine shaft hole. The shaft hole positioning piece can make the hand wheel be located outside. The telescopic arm 9 is slidably connected to the positioning seat 8 and driven by the hydraulic cylinder 12 fixed to the positioning seat 8 to achieve X-axis translation, such as Figure 4 The front end of the telescopic arm 9 is rotatably connected to the middle swing arm 10; the middle swing arm 10 is driven by the first hydraulic swing cylinder 13 at one end connected to the telescopic arm 9 to realize rotation around the Y axis, that is, around Figure 4 The middle axis a2 rotates, and the other end is connected to the upper swing arm 11. The upper swing arm 11 is connected to the middle swing arm 10 through the second hydraulic swing cylinder 14 to realize the rotation around the Y axis, that is, around Figure 3 The central axis a3 rotates, and the other end is provided with a working head 16 for rotating around the X axis to tighten the nut. Figure 3 The working head 16 is provided with a micro camera 17 with a light source, and the micro camera 17 is used to obtain the internal image of the blind cavity. Meanwhile, the micro camera 17 is also connected to the display screen 5, and can reflect the internal image of the blind cavity obtained in real time on the display screen 5.

[0038] In actual use, the nut tightening mechanism 3 uses the cooperation between the middle swing arm 10, the upper swing arm 11 and the telescopic arm 9 to enter the working area, and the hand wheel is operated to realize the rotation of the nut tightening mechanism 3 around the axis a1, adjust the circumferential angle, and tighten the nut by hydraulic drive to meet the nut tightening force requirements. At the same time, the micro camera 17, the light source and the display screen 5 work together to check the situation inside the blind cavity, and operate the hand wheel for circumferential adjustment.

[0039] In this embodiment, in order to realize the positioning and assembly of the nut tightening mechanism 3 and the nut feeding mechanism 4, a pin hole matching the positioning pin 21 is provided on the working head 16. When the pin hole and the positioning pin 21 are assembled, the working head 16 and the nut elastic chuck 22 are also in the same horizontal plane, and the nut clamped on the nut elastic chuck 22 can be pushed out and enter the working head 16 through the push rod 20. The working head 16 can also be in the form of an elastic chuck. Since the working head 16 needs to ensure unidirectional rotation to realize the tightening of the nut, a ratchet mechanism is provided at the working head 16, and the ratchet is driven by the third hydraulic swing cylinder 15 to realize the unidirectional rotation and tightening of the working head 16.

[0040] In this embodiment, if Figure 7As shown, one side of the first hydraulic swing cylinder 13 is equipped with teeth, and its reciprocating motion can drive the multi-stage gear meshing transmission, and the last stage gear is connected to the rotating shaft between the middle swing arm 10 and the telescopic arm 9, driving the middle swing arm 10 to rotate around the Y axis as a whole. The reciprocating motion of the second hydraulic swing cylinder 14 can drive the multi-stage gear meshing transmission, and the last stage gear is connected to the rotating shaft between the upper swing arm 11 and the middle swing arm 10, driving the upper swing arm 11 to rotate around the Y axis as a whole.

[0041] In this embodiment, a control system 6 and a hydraulic system 7 are also provided on the frame 1. The hydraulic system 7 provides the required hydraulic driving force, and the control system 6 is used to integrate the required control and software systems. The control system 6 is connected to the display screen 5, and the hydraulic system 7 is connected to the hydraulic cylinder 12, the first hydraulic swing cylinder 13, the second hydraulic swing cylinder 14 and the third hydraulic swing cylinder 15 to provide hydraulic driving force. The control system 6 can adjust the movement of the five degrees of freedom of the nut tightening mechanism 3 through the hydraulic system 7. In actual application, the hydraulic system 7 can be placed on the frame 1 below the hydraulic system 7, and the control system 6 is installed in the control cabinet, and the control cabinet is fixed to the side of the frame 1.

[0042] For the convenience of operation, a second bracket 24 for placing the nut tightening mechanism 3 is also provided on the work surface 25. After each target screw of the multi-stage wheel 23 is tightened, the nut tightening mechanism 3 can be withdrawn and placed on the second bracket 24.

[0043] like Figure 5 and 6 As shown, the assembly method using the hydraulic tightening assembly system for the above-mentioned aircraft engine blind cavity fastener is as follows:

[0044] S1: Fix the multi-stage wheel 23 to be assembled on the first bracket 2 with the blind cavity vertical and the turbine shaft hole horizontal. Then, insert the nut tightening mechanism 3 into the turbine shaft hole from one end of the multi-stage wheel 23 through the shaft hole positioning piece. Adjust the telescopic arm 9 to translate along the X-axis so that the working head 16 is located in the target blind cavity.

[0045] S2: Place a nut on the nut elastic chuck 22 of the nut feeding mechanism 4, then insert the nut feeding mechanism 4 into the turbine shaft hole from the other end of the multi-stage wheel 23 and position and assemble it with the nut tightening mechanism 3 through the positioning pin and the pin hole, send the nut into the working head 16 by moving the push rod 20, and then withdraw the nut feeding mechanism 4 from the target blind cavity.

[0046] S3: Using the image inside the blind cavity obtained by the display screen 5 through the micro camera 17, by controlling the coordinated work between the middle swing arm 10, the upper swing arm 11 and the telescopic arm 9, the axis a2 and the axis a3 are rotated by a certain angle, driving the working head 16 to approach the target screw to be installed. Then the working head 16 is used to push the nut in, while rotating in one direction around the axis a4 and cooperating with the axis a1 to achieve the tightening target. In this process, the tightening torque requirement is met through the hydraulic system 7 and the control system 6.

[0047] S4: Reset the nut tightening mechanism 3 and repeat steps S2 to S3. In this process, the working head 16 is moved closer to the next target screw to be installed by rotating the hand wheel until all target screws are tightened to complete the assembly process.

[0048] The present invention has the functions of realizing hydraulic tightening in the blind cavity of a turbine blade, accurately controlling the tightening torque, and performing real-time monitoring of the tightening process.

[0049] The above-described embodiment is only a preferred solution of the present invention, but it is not intended to limit the present invention. A person skilled in the relevant technical field may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine, characterized in that: The invention comprises a nut tightening mechanism (3), a nut feeding mechanism (4), a first bracket (2) and a display screen (5) mounted on a frame (1); the first bracket (2) is located on a work surface (25) on the top of the frame (1) and is used to fix a multi-stage wheel (23) to be assembled so that the multi-stage wheel (23) is in a state where the turbine shaft hole is horizontal and the blind hole is vertical; the nut feeding mechanism (4) is used to extend from one end of the multi-stage wheel (23) along the turbine shaft hole and feed the nut to a working head (16) of the nut tightening mechanism (3) which extends from the other end of the multi-stage wheel (23); The nut tightening mechanism (3) has five degrees of freedom consisting of four rotating axes and one moving axis, and comprises a positioning seat (8), a telescopic arm (9), a middle swing arm (10), an upper swing arm (11) and a working head (16); the positioning seat (8) is provided with a hand wheel capable of rotating the nut tightening mechanism (3) as a whole around the X-axis, and the inner end portion is provided with an axis hole positioning piece matching the size of the turbine axis hole; the telescopic arm (9) is slidably connected to the positioning seat (8), and is driven by a hydraulic cylinder (12) fixed to the positioning seat (8) to achieve X-axial translation, and the inner end portion of the telescopic arm (9) is rotatably connected to the middle swing arm (10). The telescopic arm (10) is provided with a micro-camera (17) having a light source, and the internal image of the blind cavity captured by the micro-camera (17) can be displayed on the display screen (5) in real time.

2. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 1, characterized in that: The nut feeding mechanism (4) comprises a push rod seat (18), an axial hole positioning seat (19), a push rod (20), a positioning pin (21) and a nut elastic chuck (22); the push rod seat (18) is fixed with an axial hole positioning seat (19) matching the size of the turbine axial hole, one end of which is provided with a nut elastic chuck (22) for clamping the nut and a positioning pin (21) for positioning and assembling with the nut tightening mechanism (3); the push rod seat (18) is provided with a push rod (20) that can move in the axial direction; one end of the push rod (20) is slidably connected to the push rod seat (18), and the other end is in the same horizontal plane as the nut elastic chuck (22), and the nut clamped on the nut elastic chuck (22) can be pushed out and enter the working head (16) of the nut tightening mechanism (3) by moving the push rod (20).

3. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 2, characterized in that: The working head (16) is provided with a pin hole matching the positioning pin (21).

4. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 1, characterized in that: The working head (16) is provided with a ratchet mechanism, and the ratchet is driven by the third hydraulic swing cylinder (15) to realize unidirectional rotation and tightening of the working head (16).

5. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 1, characterized in that: The frame (1) is also provided with a control system (6) and a hydraulic system (7); the control system (6) is connected to the display screen (5), and the hydraulic system (7) is connected to the hydraulic cylinder (12), the first hydraulic swing cylinder (13), the second hydraulic swing cylinder (14) and the third hydraulic swing cylinder (15) to provide hydraulic driving force, and the control system (6) can adjust the movement of the five degrees of freedom of the nut tightening mechanism (3) through the hydraulic system (7).

6. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 5, characterized in that: The hydraulic system (7) is placed on the frame (1) below the hydraulic system (7), and the control system (6) is installed in a control cabinet, which is fixed to the side of the frame (1).

7. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 1, characterized in that: One side of the first hydraulic swing cylinder (13) is provided with teeth, and its reciprocating motion can drive a multi-stage gear meshing transmission, wherein the last stage of the gear is connected to the rotating shaft between the middle swing arm (10) and the telescopic arm (9), driving the middle swing arm (10) to rotate as a whole around the Y axis.

8. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 1, characterized in that: The reciprocating motion of the second hydraulic swing cylinder (14) can drive a multi-stage gear meshing transmission, wherein the last stage of the gear is connected to the rotating shaft between the upper swing arm (11) and the middle swing arm (10), driving the upper swing arm (11) to rotate as a whole around the Y axis.

9. The hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to claim 1, characterized in that: The work surface (25) is also provided with a second bracket (24) for placing the nut tightening mechanism (3).

10. An assembly method using the hydraulic tightening assembly system for blind cavity fasteners of an aircraft engine according to any one of claims 1 to 9, characterized in that: The details are as follows: S1: The multi-stage wheel (23) to be assembled is fixed on the first bracket (2) in a state where the blind cavity is vertical and the turbine shaft hole is horizontal, and then the nut tightening mechanism (3) is inserted into the turbine shaft hole from one end of the multi-stage wheel (23) through the shaft hole positioning piece, and the telescopic arm (9) is adjusted to translate along the X-axis direction so that the working head (16) is located in the target blind cavity; S2: placing a nut on the nut elastic chuck (22) of the nut feeding mechanism (4), then inserting the nut feeding mechanism (4) into the turbine shaft hole from the other end of the multi-stage wheel (23) and assembling and positioning it with the nut tightening mechanism (3), feeding the nut into the working head (16) by moving the push rod (20), and then withdrawing the nut feeding mechanism (4) from the target blind cavity; S3: Using the image of the interior of the blind cavity obtained by the display screen (5) through the micro camera (17), the middle swing arm (10), the upper swing arm (11) and the telescopic arm (9) are controlled to work in coordination, so as to drive the working head (16) to approach the target screw to be installed and push the nut in, and then the working head (16) rotates around the X-axis to tighten the nut; S4: Reset the nut tightening mechanism (3) and repeat steps S2 to S3; in this process, the working head (16) is moved closer to the next target screw to be installed by rotating the hand wheel until all the target screws are tightened, completing the assembly process.

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